CN112615301A - Unmanned aerial vehicle electric power inspection video identification laser obstacle clearing system - Google Patents
Unmanned aerial vehicle electric power inspection video identification laser obstacle clearing system Download PDFInfo
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- CN112615301A CN112615301A CN202011435479.3A CN202011435479A CN112615301A CN 112615301 A CN112615301 A CN 112615301A CN 202011435479 A CN202011435479 A CN 202011435479A CN 112615301 A CN112615301 A CN 112615301A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
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Abstract
The invention relates to an unmanned aerial vehicle power inspection video identification laser obstacle clearing system, which comprises an unmanned aerial vehicle and a ground control terminal which are connected through wireless communication, wherein the unmanned aerial vehicle is connected with a laser obstacle clearing unit for emitting laser to clear obstacles, and the laser obstacle clearing unit comprises a laser for emitting laser and a focusing module for adjusting laser focal length; and adopt unmanned aerial vehicle machine to carry the laser unit of removing obstacles in to the power transmission network and clear away, adjust the focus that the laser instrument sent laser through the focusing module, improve the efficiency of removing obstacles effectively to practice thrift the electric quantity effectively, improved the length of work of removing obstacles.
Description
Technical Field
The invention relates to the technical field of power inspection, in particular to a video identification laser obstacle clearing system for power inspection of an unmanned aerial vehicle.
Background
An overhead line in a power grid mainly refers to an overhead open line, is erected above the ground and is a power transmission line for transmitting electric energy by fixing a power transmission conductor on a tower erected on the ground through an insulator. Along with the action of air flow and wind power, plastic wastes along the overhead line are hung on the conducting wire, so that the line is easy to be tripped due to grounding and interphase short circuit, and the bird nest straws near the cross arm of the iron tower are too long to be tripped by the transmission line, so that the transmission line needs to be patrolled and cleared.
Obstacles in the power transmission network adopt the manual work to blow fire towards obstacle department most and clear up the barrier, the obstacle clearance is lower, and intensity of labour is big, and can cause the damage of conflagration hidden danger and power transmission network, and carry the barrier through unmanned aerial vehicle and can reduce operating personnel's intensity of labour, among the prior art, be difficult to pinpoint unmanned aerial vehicle, and clear up the in-process of obstacle at laser, laser emission is difficult to guarantee the distance, the consumption of electric quantity has been strengthened, the efficiency of clearing away of obstacle has been reduced, be difficult to guarantee the stable use of whole equipment.
Disclosure of Invention
The invention aims to provide a video identification laser obstacle clearing system for power inspection of an unmanned aerial vehicle, which aims to solve the problems that the unmanned aerial vehicle is difficult to accurately position, the distance is difficult to ensure by laser emission in the process of clearing obstacles by laser, the consumption of electric quantity is increased, and the clearing efficiency of the obstacles is reduced in the prior art.
In order to achieve the purpose, the invention provides the following technical scheme: the utility model provides an unmanned aerial vehicle electric power inspection video discernment laser clearance system, includes unmanned aerial vehicle and ground control terminal through wireless communication connection, unmanned aerial vehicle is connected with the laser clearance unit that is used for launching laser to clear away the barrier, the laser clearance unit is including the laser instrument of transmission laser and the focusing module of regulation laser focus, including the unmanned aerial vehicle treater that is used for handling information data in the unmanned aerial vehicle, the positioning unit is connected to the unmanned aerial vehicle treater, positioning unit real-time supervision unmanned aerial vehicle's location and barrier information, the positioning unit is connected with the state monitoring module that is used for surveing the unmanned aerial vehicle state, the state monitoring module is saved unmanned aerial vehicle's real-time status information in data storage module, image information transmission to the video identification unit that data storage module will gather carries out image identification, ground control terminal is including the remote control module that is used for remote control unmanned aerial vehicle and the data that are used for handling unmanned aerial vehicle and and the terminal processors of the machine are respectively connected with the display modules for displaying data.
Preferably, the unmanned aerial vehicle further comprises a remote communication module for wireless communication connection with the ground control terminal, and the ground control terminal further comprises a ground communication module in wireless communication connection with the remote communication module.
Preferably, the positioning unit comprises an altimeter module, a GPS navigation module and a laser ranging module, the altimeter module is used for monitoring the altitude of the unmanned aerial vehicle in real time, the GPS navigation module is used for GPS positioning of the unmanned aerial vehicle, and the laser ranging module is used for monitoring the real-time distance between the barrier node and the laser obstacle clearing unit.
Preferably, the positioning unit further comprises an infrared monitoring module and a camera module, the infrared monitoring module is used for monitoring infrared information of obstacles, and the camera module is used for collecting external image information of the unmanned aerial vehicle in real time.
Preferably, the monitoring data of the state monitoring module comprises the altitude of the unmanned aerial vehicle, the distance between the unmanned aerial vehicle and the ground control terminal, the electric quantity of the unmanned aerial vehicle, the infrared image of the barrier, the real-time photographic video and the real-time linear distance between the unmanned aerial vehicle and the barrier.
Preferably, the image recognition unit includes a zoom scanning module and an image acquisition module, the zoom scanning module is used for scanning obstacles and zooming to adjust the image definition, and the image acquisition module acquires a clear image processed by the zoom scanning module.
Preferably, the video identification unit further comprises an image processing module and an image identification module, the image processing module processes the image collected by the image collection module to obtain lossless video information of the image, and the image identification module is used for identifying the image processed by the image processing module.
Preferably, the laser obstacle clearance unit further comprises a heat dissipation module for dissipating heat, and the heat dissipation module adopts one of an air-cooled radiator and a water-cooled radiator.
Preferably, the ground control terminal further comprises a reminding module for reminding the warning state of the unmanned aerial vehicle.
Preferably, the ground control terminal further comprises a GPS positioning module for positioning the unmanned aerial vehicle body.
The invention has at least the following beneficial effects:
the unmanned aerial vehicle is positioned in real time through the positioning unit, the external image condition of the unmanned aerial vehicle and the distance between the position of the node of the obstacle and the power transmission equipment and the laser obstacle clearing unit are measured, meanwhile, the unmanned aerial vehicle can take off and land, hover and position and park conveniently, the unmanned aerial vehicle is positioned more accurately, an operator can conveniently master the state information of the unmanned aerial vehicle in real time, and the obstacle clearing operation accuracy of the unmanned aerial vehicle is improved; and adopt unmanned aerial vehicle machine to carry the laser unit of removing obstacles in to the power transmission network, simultaneously according to the distance of the node position distance laser unit of barrier and transmission of electricity equipment, adjust the focus that the laser instrument sent laser through the focusing module, improve the efficiency of removing obstacles effectively to practice thrift the electric quantity effectively, improved the work duration of removing obstacles, equipment work is more stable.
Drawings
FIG. 1 is a block diagram of the overall architecture of the present invention;
FIG. 2 is a block diagram of the structure of the unmanned aerial vehicle according to the present invention;
fig. 3 is a block diagram of a ground control terminal according to the present invention.
In the reference symbols: 1. an unmanned aerial vehicle; 11. an unmanned aerial vehicle processor; 12. a remote communication module; 13. a positioning unit; 131. an altimeter module; 132. a GPS navigation module; 133. a laser ranging module; 134. an infrared monitoring module; 135. a camera module; 14. a state monitoring module; 15. a data storage module; 16. a visual image recognition unit; 161. a zoom scanning module; 162. an image acquisition module; 163. an image processing module; 164. an image recognition module; 2. a ground control terminal; 21. a terminal processor; 22. a remote control module; 23. a display module; 24. a reminding module; 25. a GPS positioning module; 26. a ground communication module; 3. a laser obstacle clearing unit; 31. a laser; 32. a focusing module; 33. and a heat dissipation module.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Examples
Referring to fig. 1-3, the present invention provides a technical solution: the utility model provides an unmanned aerial vehicle electric power inspection video discernment laser clearance system, include unmanned aerial vehicle 1 and ground control terminal 2 through wireless communication connection, unmanned aerial vehicle 1 is connected with the laser clearance unit 3 that is used for launching laser to clear away the barrier, laser clearance unit 3 is including laser 31 of transmission laser and the focusing module 32 of adjusting laser focus, including the unmanned aerial vehicle treater 11 that is used for handling information data in unmanned aerial vehicle 1, unmanned aerial vehicle treater 11 connects locating unit 13, locating unit 13 real-time supervision unmanned aerial vehicle 1's location and barrier information, locating unit 13 is connected with the state monitoring module 14 that is used for surveing unmanned aerial vehicle 1 state, state monitoring module 14 saves unmanned aerial vehicle 1's real-time state information in data storage module 15, data storage module 15 carries out image identification with the image information transmission of gathering to video identification unit 16, ground control terminal 2 is including the remote control module 22 that is used for remote control unmanned aerial vehicle 1 and the focusing module 14 that is used for handling Data and control unmanned aerial vehicle 1's terminal processor 21, terminal processor 21 connects the display module 23 that is used for the display data respectively, it is specific, display module 23 shows unmanned aerial vehicle 1's altitude in real time, the location, the infrared image of barrier, real-time photographic video and unmanned aerial vehicle 1 and the real-time linear distance of barrier, can carry laser obstacle clearing unit 3 to clear away the barrier in the power transmission network through unmanned aerial vehicle 1, and adjust the focus that laser 31 launched laser according to the range finding of positioning unit 13 through focusing module 32, improve obstacle clearing efficiency, and practice thrift the electric quantity effectively, obstacle clearing up is long in service time, and grasp unmanned aerial vehicle 1's status information in real time through positioning unit 13, improve the degree of accuracy of unmanned aerial vehicle 1's obstacle clearing operation.
Wherein, unmanned aerial vehicle 1 still includes the remote communication module 12 that is used for wireless communication to connect ground control terminal 2, and ground control terminal 2 still includes the ground communication module 26 with remote communication module 12 wireless communication connection, can be through remote communication module 12 and ground communication module 26's wireless communication, real-time transmission data.
Wherein, the positioning unit 13 includes altimeter module 131, GPS navigation module 132, laser ranging module 133, altimeter module 131 is used for real-time supervision unmanned aerial vehicle 1's altitude, GPS navigation module 132 is used for unmanned aerial vehicle 1's GPS location, laser ranging module 133 is used for monitoring barrier node and the real-time distance of laser clearance unit 3, can cooperate through altimeter module 131 and GPS navigation module 132, fix a position unmanned aerial vehicle 1 in real time, and survey the node position distance laser clearance unit 3's of barrier and transmission of electricity equipment distance through laser ranging module 133, be convenient for adjust the focus of transmission laser, improve clearance efficiency, and avoid equipment impaired.
Wherein, the positioning unit 13 still includes infrared monitoring module 134 and camera module 135, infrared monitoring module 134 is used for monitoring the infrared information of barrier, camera module 135 is used for gathering the outside image information of unmanned aerial vehicle 1 in real time, can carry out infrared and image monitoring to the barrier through infrared monitoring module 134 and camera module 135, whether the attribute of differentiateing the barrier and inside have a living thing, be favorable to unmanned aerial vehicle 1 to take off and land simultaneously, hover and the location is parked.
Wherein, the monitoring data of state monitoring module 14 includes the altitude of unmanned aerial vehicle 1, unmanned aerial vehicle 1 and ground control terminal 2's distance, unmanned aerial vehicle 1's electric quantity, the infrared image of barrier, the real-time video of shooing and unmanned aerial vehicle 1 and the real-time straight line distance of barrier.
Wherein, the video identification unit 16 includes zooming scanning module 161, image acquisition module 162, and zooming scanning module 161 is used for scanning the barrier to adjust the image definition zooms, and image acquisition module 162 gathers the clear image that zooming scanning module 161 handled, can gather clear image information through zooming scanning module 161, image acquisition module 162, and the ground operating personnel of being convenient for remotely knows unmanned aerial vehicle 1 situation and differentiatees the barrier around.
The image recognition unit 16 further includes an image processing module 163 and an image recognition module 164, the image processing module 163 processes the image acquired by the image acquisition module 162 to obtain lossless image video information, the image recognition module 164 is configured to recognize the image processed by the image processing module 163, and the clear image and recognition attribute of the obstacle can be obtained by processing and recognizing the image through the image processing module 163 and the image recognition module 164, so that an operator can conveniently perform obstacle clearance according to the attribute of the obstacle, and the obstacle clearance efficiency is improved.
The laser obstacle clearing unit 3 further comprises a heat dissipation module 33 for dissipating heat, the heat dissipation module 33 adopts one of an air cooling radiator and a water cooling radiator, and the heat dissipation module 33 is used for dissipating heat of the laser obstacle clearing unit 3 to ensure normal use of the laser 31.
Wherein, ground control terminal 2 is still including being used for reminding the warning module 24 of unmanned aerial vehicle 1 warning state, warns through reminding module 24 to the electric quantity of unmanned aerial vehicle 1, altitude, the distance of laser obstacle removal unit 3 and barrier and the distance of unmanned aerial vehicle 1 and ground control terminal 2, and the operating personnel of being convenient for is real-time to the in service behavior of accuse unmanned aerial vehicle 1.
Wherein, ground control terminal 2 still shows unmanned aerial vehicle 1 and ground control terminal 2's positional information through display module 23 including the GPS orientation module 25 that is used for fixing a position unmanned aerial vehicle body 1 through GPS orientation module 25, makes things convenient for the long-range position of mastering unmanned aerial vehicle 1 of operating personnel.
The working principle is as follows:
the unmanned aerial vehicle 1 is remotely controlled to ascend, descend and hover through the remote control module 22, the unmanned aerial vehicle 1 is positioned in real time through the matching of the altimeter module 131 and the GPS navigation module 132, the position information of the unmanned aerial vehicle 1 and the ground control terminal 2 is displayed through the display module 23 by the GPS positioning module 25, the position of the unmanned aerial vehicle 1 is conveniently and remotely mastered by an operator, and the reminding module 24 can warn and remind the operator through the display module 23 of a series of warning information such as the electric quantity, the altitude height, the distance between the laser obstacle clearing unit 3 and an obstacle, the distance between the unmanned aerial vehicle 1 and the ground control terminal 2 and the like, so that the operator can conveniently control the use condition of the unmanned aerial vehicle 1 in real time, and the altitude height, the positioning, the infrared image of the obstacle, the real-time photography video and the real-time linear distance between the unmanned aerial vehicle 1 and the, ground personnel master the state information of the unmanned aerial vehicle 1 in real time;
during obstacle clearing, infrared and image monitoring is carried out on the obstacle through the infrared monitoring module 134 and the camera module 135, whether the attribute of the obstacle and the inside of the obstacle have living objects or not is distinguished, the attribute of the obstacle is identified through the image identification unit 16, the processed obstacle image is displayed through the display module 23, the distance between the position of the node of the obstacle and the power transmission equipment and the laser obstacle clearing unit 3 is measured through the laser ranging module 133, namely, the laser 31 can be controlled to emit laser through the remote control module 22, the focal length of the laser emitted by the laser 31 is adjusted through the focusing module 32 according to the distance between the position of the obstacle and the node of the power transmission equipment and the laser obstacle clearing unit 3, the laser is focused on the node of the obstacle and the power transmission line, the obstacle clearing efficiency is improved, electric quantity is effectively saved, and the obstacle clearing working time is prolonged.
While there have been shown and described what are at present considered the fundamental principles and essential features of the invention and its advantages, it will be apparent to those skilled in the art that the invention is not limited to the details of the foregoing exemplary embodiments, but is capable of other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (10)
1. The utility model provides an unmanned aerial vehicle electric power inspection video discernment laser clearance barrier system, includes unmanned aerial vehicle (1) and ground control terminal (2) through wireless communication connection, its characterized in that, unmanned aerial vehicle (1) is connected with the laser clearance barrier unit (3) that is used for launching laser to clear away the barrier, laser clearance barrier unit (3) are including laser instrument (31) of transmission laser and focusing module (32) of adjusting the laser focus, including unmanned aerial vehicle treater (11) for handling information data in unmanned aerial vehicle (1), unmanned aerial vehicle treater (11) connect positioning unit (13), positioning unit (13) real-time supervision unmanned aerial vehicle's (1) location and barrier information, positioning unit (13) are connected with state monitoring module (14) that is used for surveing unmanned aerial vehicle (1) state, state monitoring module (14) save the real-time state information of unmanned aerial vehicle (1) in data storage module (15), data storage module (15) transmit the image information who gathers to video identification unit (16) and carry out image recognition, ground control terminal (2) are including remote control module (22) that are used for remote control unmanned aerial vehicle (1) and terminal processor (21) that are used for handling the data of unmanned aerial vehicle (1) and control unmanned aerial vehicle (1), display module (23) that are used for the display data are connected respectively in terminal processor (21).
2. The unmanned aerial vehicle power inspection video identification laser system of removing obstacles of claim 1, characterized in that: the unmanned aerial vehicle (1) further comprises a remote communication module (12) used for being in wireless communication connection with the ground control terminal (2), and the ground control terminal (2) further comprises a ground communication module (26) in wireless communication connection with the remote communication module (12).
3. The unmanned aerial vehicle power inspection video identification laser system of removing obstacles of claim 1, characterized in that: the positioning unit (13) comprises an altimeter module (131), a GPS navigation module (132) and a laser ranging module (133), wherein the altimeter module (131) is used for monitoring the altitude of the unmanned aerial vehicle (1) in real time, the GPS navigation module (132) is used for positioning the GPS of the unmanned aerial vehicle (1), and the laser ranging module (133) is used for monitoring the real-time distance between an obstacle node and the laser obstacle clearing unit (3).
4. The unmanned aerial vehicle power inspection video identification laser clearance system of claim 3, characterized in that: the positioning unit (13) further comprises an infrared monitoring module (134) and a camera module (135), the infrared monitoring module (134) is used for monitoring infrared information of obstacles, and the camera module (135) is used for acquiring image information outside the unmanned aerial vehicle (1) in real time.
5. The unmanned aerial vehicle power inspection video identification laser system of removing obstacles of claim 1, characterized in that: the monitoring data of the state monitoring module (14) comprise the altitude of the unmanned aerial vehicle (1), the distance between the unmanned aerial vehicle (1) and the ground control terminal (2), the electric quantity of the unmanned aerial vehicle (1), the infrared image of the obstacle, real-time shooting video and the real-time linear distance between the unmanned aerial vehicle (1) and the obstacle.
6. The unmanned aerial vehicle power inspection video identification laser system of removing obstacles of claim 1, characterized in that: the visual image identification unit (16) comprises a zooming scanning module (161) and an image acquisition module (162), wherein the zooming scanning module (161) is used for scanning obstacles and zooming to adjust the image definition, and the image acquisition module (162) acquires a clear image processed by the zooming scanning module (161).
7. The unmanned aerial vehicle power inspection video identification laser clearance system of claim 6, characterized in that: the video identification unit (16) further comprises an image processing module (163) and an image identification module (164), wherein the image processing module (163) processes the image acquired by the image acquisition module (162) to obtain lossless video information of the video, and the image identification module (164) is used for identifying the video processed by the image processing module (163).
8. The unmanned aerial vehicle power inspection video identification laser system of removing obstacles of claim 1, characterized in that: the laser obstacle clearing unit (3) further comprises a heat dissipation module (33) used for dissipating heat, and the heat dissipation module (33) adopts one of an air cooling radiator and a water cooling radiator.
9. The unmanned aerial vehicle power inspection video identification laser system of removing obstacles of claim 1, characterized in that: ground control terminal (2) still include be used for reminding unmanned aerial vehicle (1) warning state remind module (24).
10. The unmanned aerial vehicle power inspection video identification laser system of removing obstacles of claim 1, characterized in that: ground control terminal (2) still include GPS orientation module (25) that are used for fixing a position unmanned aerial vehicle body (1).
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| CN114201560A (en) * | 2021-11-29 | 2022-03-18 | 中国科学院计算机网络信息中心 | Web-based real-time multi-user action path planning method and system in 5G environment |
| CN115318759A (en) * | 2022-07-29 | 2022-11-11 | 武汉理工大学 | Insulator laser cleaning method and system based on unmanned aerial vehicle |
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Application publication date: 20210406 |