CN113110577A - Unmanned aerial vehicle flight route planning management system is patrolled and examined to electric wire netting - Google Patents
Unmanned aerial vehicle flight route planning management system is patrolled and examined to electric wire netting Download PDFInfo
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- 238000007726 management method Methods 0.000 title claims abstract description 11
- 238000007689 inspection Methods 0.000 claims abstract description 24
- 238000000034 method Methods 0.000 claims abstract description 11
- 238000004891 communication Methods 0.000 claims description 28
- 238000010191 image analysis Methods 0.000 claims description 10
- 230000002159 abnormal effect Effects 0.000 claims description 7
- 238000013507 mapping Methods 0.000 claims description 3
- 206010061619 Deformity Diseases 0.000 claims 1
- 206010070245 Foreign body Diseases 0.000 claims 1
- 238000013528 artificial neural network Methods 0.000 description 5
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- 238000012549 training Methods 0.000 description 3
- 238000013527 convolutional neural network Methods 0.000 description 2
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- 210000005036 nerve Anatomy 0.000 description 2
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
- B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
- B64D47/02—Arrangements or adaptations of signal or lighting devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
- B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
Abstract
The utility model discloses a power grid inspection unmanned aerial vehicle flight route planning management system, include: an unmanned aerial vehicle control system; a remote control center; a cloud server; the unmanned aerial vehicle control system further comprises a path fitting unit, wherein the path fitting unit is configured to download map information of a line patrol task area from the cloud server, take a remote control center as an origin point, take a geographic position south as a vertical coordinate and a geographic position east as a vertical coordinate and a horizontal coordinate respectively, and establish a projection coordinate system; acquiring tower position information of a task area from a remote control center; acquiring preset parameters of a high-definition camera on the unmanned aerial vehicle, and calculating the maximum object distance V of the high-definition camera according to the focal distance; and taking the geographical position information of the tower in the projection coordinate system as scattered points, performing linear fitting based on a least square method aiming at the scattered points, and setting the maximum deviation of the linear fitting to be smaller than the maximum object distance V when the linear fitting is performed.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to a power grid inspection unmanned aerial vehicle flight route planning and management system.
Background
At present, the scale of a domestic power grid is continuously enlarged, and a plurality of power transmission lines are distributed among Chongshan mountains and mountains, so that the accuracy rate of traditional manual line patrol data is not high. Therefore, unmanned aerial vehicle inspection technology is gradually developed in China in recent years. Unmanned aerial vehicle patrols the line and can closely carry out the multi-angle observation to high tension transmission line aloft, hovers the image video data of shooting the multi-angle, can be directly perceived, all-round, high accuracy carry out short-term test, investigation to transmission line body defect, passageway hidden danger, can acquire best on-the-spot information under complicated topography and bad weather condition, effectively compensate traditional mode and patrol the shortcoming that has the dead angle to a ray of personnel's that patrols work efficiency has been improved. At present actual work, when using unmanned aerial vehicle to patrol transmission line, all need the operating personnel manual work to operate unmanned aerial vehicle, this means that present efficiency of patrolling is closely related with operating personnel to the operation familiarity degree, the environmental complexity degree of aircraft, and unmanned aerial vehicle can not independently control patrolling the line route. Therefore, the inventor believes that the technical solution disclosed in the patent is very difficult to be applied in practice.
Disclosure of Invention
In view of the above problems in the prior art, the invention aims to provide a power grid inspection unmanned aerial vehicle flight route planning management system which is easier to deploy in actual work, and the system can replace manual inspection to a greater extent, improve inspection efficiency and ensure the safety of inspection personnel.
In order to achieve the above object, an embodiment of the present invention provides a system for planning and managing a flight path of a power grid inspection unmanned aerial vehicle, including:
the unmanned aerial vehicle control system at least comprises an image acquisition unit, a first communication unit and a guiding laser receiving module, wherein the image acquisition unit is configured to inspect image information of a tower part on a line, and the guiding laser receiving module is configured to receive laser rays;
the remote control center at least comprises a third communication unit, a second storage unit and a path fitting unit, the third communication unit is configured to establish communication connection with the unmanned aerial vehicle control system through the first communication unit, and the second storage unit is configured to prestore tower position information of a plurality of line patrol task areas;
the cloud server at least comprises an image analysis unit and a first storage unit, wherein the image analysis unit is configured as an image analysis unit for analyzing the image data acquired by the image acquisition unit to obtain abnormal information; the first storage unit is configured to store map information including a patrol task area;
the unmanned aerial vehicle control system further comprises a path fitting unit, wherein the path fitting unit is configured to download map information of a line patrol task area from the cloud server, take a remote control center as an origin point, take a geographic position south as a vertical coordinate and a geographic position east as a vertical coordinate and a horizontal coordinate respectively, and establish a projection coordinate system; acquiring tower position information of a task area from a remote control center, and mapping the tower position information to the projection coordinate system; acquiring preset parameters of a high-definition camera on an unmanned aerial vehicle, wherein the preset parameters at least comprise a focal length, and calculating the maximum object distance V of the high-definition camera according to the focal length; taking the geographical position information of the tower in the projection coordinate system as scattered points, performing linear fitting based on a least square method aiming at the scattered points, and setting the maximum deviation of the linear fitting to be smaller than the maximum object distance V when the linear fitting is performed; and setting navigation by taking a straight line obtained by linear fitting as a line patrol path of the line patrol unmanned aerial vehicle.
Preferably, the obtaining of the tower position information of the task area comprises obtaining a starting tower position, a turning tower position and a tail end tower position of task ending, and performing linear fitting for multiple times respectively according to the starting tower position, the turning tower position and the turning tower position so as to obtain multiple sections of line patrol paths.
Preferably, when the number of the corner tower positions is more than two, the method further comprises performing linear fitting by taking two adjacent corner tower positions as scatter points.
Preferably, the guiding laser emitting module is a vehicle-scale LiDAR integrated laser emitting module, and the guiding laser receiving module is a laser receiving module for receiving LiDAR integrated laser light.
Preferably, the unmanned aerial vehicle control system further comprises a GPS positioning module, the GPS positioning module is configured to acquire position information of the unmanned aerial vehicle in real time and send the position information to a ground control vehicle through the first communication module, the ground control vehicle at least comprises a second communication unit and a control intervention unit, the second communication unit is used for establishing communication connection with the first communication unit, and the control intervention unit is configured to perform manual intervention on a flight task of the unmanned aerial vehicle according to user operation.
Preferably, the unmanned aerial vehicle control system further comprises mounting equipment, and the mounting equipment optionally comprises a flaming device or a cutting device for carrying out damage treatment on the foreign matters on the inspection line.
Preferably, the unmanned aerial vehicle control system further comprises a loudspeaker for sending a guide password to the ground or playing high-frequency driving audio to wild animals on the inspection line.
Compared with the prior art, the power grid inspection unmanned aerial vehicle flight route planning and management system provided by the invention can automatically plan the most reasonable inspection route for the unmanned aerial vehicle inspection line while providing tower position information of tasks in the inspection area for the unmanned aerial vehicle cruise through the remote control center, and the inspection route is based on a straight line fitting algorithm, so that the electric quantity can be saved to the greatest extent, and the problem of low efficiency caused by frequent charging is avoided.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.
This document provides an overview of various implementations or examples of the technology described in this disclosure, and is not a comprehensive disclosure of the full scope or all features of the disclosed technology.
Drawings
Fig. 1 is a schematic diagram of a power grid inspection unmanned aerial vehicle flight route planning management system according to the present invention.
Fig. 2 is a structural block diagram of the power grid inspection unmanned aerial vehicle flight route planning management system of the invention.
Fig. 3 is a schematic flow chart of the power grid inspection unmanned aerial vehicle flight route planning management system in the implementation process.
Fig. 4 is a schematic diagram of path fitting of the power grid inspection unmanned aerial vehicle flight path planning management system.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present disclosure more clear, the technical solutions of the embodiments of the present disclosure will be described below clearly and completely with reference to the accompanying drawings of the embodiments of the present disclosure.
It is to be understood that the described embodiments are only a few embodiments of the present disclosure, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the described embodiments of the disclosure without any inventive step, are within the scope of protection of the disclosure.
To maintain the following description of the embodiments of the present disclosure clear and concise, a detailed description of known functions and known components have been omitted from the present disclosure.
As shown in fig. 1 and fig. 2, an unmanned aerial vehicle power grid line patrol system provided by an embodiment of the present invention includes:
the unmanned aerial vehicle control system 30 at least comprises an image acquisition unit 31, a first communication unit 32 and a guiding laser receiving module 34, wherein the image acquisition unit 31 is configured to inspect image information of a tower part on a line, and the guiding laser receiving module 34 is configured to receive laser light;
the remote control center 20 at least includes a third communication unit 21, a second storage unit 22 and a path fitting unit 23, the third communication unit 21 is configured to establish a communication connection with the unmanned aerial vehicle control system 30 through the first communication unit 32, the second storage unit 22 is configured to pre-store tower position information of a plurality of patrol task areas, the remote control center further includes a cloud server 10 at least including an image analysis unit 11 and a first storage unit 12, the image analysis unit 11 is configured to analyze image data collected by the image collection unit 31 to obtain an image analysis unit 11 of abnormal information; the first storage unit 12 is configured to store image frames containing abnormality information. The image analysis unit 11 may use a neural network algorithm model when analyzing the image information, specifically, the used neural network algorithm module may be based on a plurality of first data sets when being constructed, the plurality of first data sets respectively represent different abnormal situations, and a corresponding number of forward neural networks (FFN) are set according to the number of the first data sets, each FFN corresponds to one abnormal type, the number of input nerves of each network is 8, the number of output nerves of each network is 2, and each network uses Back Propagation (BP) supervised training, and trains using 10 to 30 abnormal situations (for example, circuit foreign objects, plastic bags, branches, etc.) with different standard forms until the error variance is less than 20%. For the acquisition of the intake amount, the same neural network can be used for supervised training with reference, for example, for foreign matters, standard references such as common plastic bags and kites are set for supervised training, and the identification accuracy is improved. Further, it is to be understood that the above algorithm is merely exemplary, and that any machine-recognition based algorithm may be suitable for use with the present invention, such as a Convolutional Neural Network (CNN) or a Recurrent Neural Network (RNN).
Specifically, the system of the present invention further includes a path fitting unit 23, where the path fitting unit 23 is configured to download map information of the patrol mission area from the cloud server when planning the patrol flight route, establish a projection coordinate system with the remote control center 20 as an origin and the geographic position south as a vertical coordinate and the geographic position east as a horizontal coordinate, respectively, obtain tower position information of the mission area from the remote control center, and obtain the tower position information of the mission area from the remote control centerProjecting the geographical position information of the tower as scattered points on the projection coordinate system, acquiring preset parameters of a high-definition camera on the unmanned aerial vehicle, wherein the preset parameters at least comprise a focal length, and calculating the maximum object distance V of the high-definition camera according to the focal length; taking the geographical position information of the tower in the projection coordinate system as scattered points, performing linear fitting based on a least square method aiming at the scattered points, and setting the maximum deviation of the linear fitting to be smaller than the maximum object distance V when the linear fitting is performed; and setting navigation by taking a straight line obtained by linear fitting as a line patrol path of the line patrol unmanned aerial vehicle. As shown in fig. 4, in the coordinate system, a plurality of towers are distributed in a scattered manner, and the object distance V is calculated by using the focal distance f and the image distance V of the high-definition camera on the line patrol unmanned aerial vehicle, wherein the relationship is 1/V + 1/V-1/f. And adopt object distance V to fit as the biggest dispersion, can make the unmanned aerial vehicle of patrolling line set for the straight line between the biggest stadia and patrol and examine the route to realize shorter flight path, optimize duration. As can be seen from fig. 4, the drone D does not fly from tower to tower, but flies in a straight line between towers. Of course, on the actual line, there may be a tangent tower and a corner tower, such as tangent tower T in the figure1And corner tower T2In this case, the tower position information of the task area is obtained, including obtaining the starting tower position, the turning tower position and the end tower position of the task end, and performing linear fitting for multiple times respectively according to the starting tower position, the turning tower position and the end tower position to obtain multiple sections of line patrol paths. Preferably, when the number of the corner tower positions is more than two, the method further comprises performing linear fitting by taking two adjacent corner tower positions as scatter points.
As shown in fig. 2, in the invention, because the unmanned aerial vehicle inspection task is executed, manual intervention is not completely unnecessary, in order to ensure the safety of workers, a ground control vehicle can be arranged, the ground control vehicle can accompany the road closest to the inspection line, and the unmanned aerial vehicle simultaneously transmits the acquired image information to the ground control vehicle, so that the ground control vehicle can perform manual intervention control on the unmanned aerial vehicle through the returned image information. Specifically, unmanned aerial vehicle still includes GPS orientation module, orientation module configures to and acquires unmanned aerial vehicle's positional information in real time, and passes through first communication module sends positional information to a ground control car, ground control car at least including be used for with first communication unit establishes communication connection's second communication unit and a control intervention unit, control intervention unit configures to according to user operation, and is right unmanned aerial vehicle's flight task carries out manual intervention.
Since the inspection process requires further treatment of the foreign matter, animals, or animal nests on the line, it is preferable that the unmanned aerial vehicle control system 30 further includes a mounting device 35, and the mounting device 35 optionally includes a flaming device or a cutting device for performing damage treatment on the foreign matter on the inspection line. For the flaming device or the cutting device, the application is already carried out on the traditional unmanned aerial vehicle at present, so the specific structure of the flaming device or the cutting device is not described in detail in the invention.
In another application scenario, when the processing by the mounting device 10 is not available, the processing is performed manually, and the ground staff may not know the condition of the abnormal line well due to the problem of view. Also, in some cases, animals such as birds may be parked on the tower. Thus, in some embodiments, it is contemplated that the drone 30 may further include a speaker 36 for transmitting a boot password to the ground or playing high frequency drive away audio to wildlife on the patrol route.
Still further, as shown in figure 2,
fig. 3 is a schematic diagram of an implementation process of the unmanned aerial vehicle power grid line patrol system, and as shown in fig. 3, the process includes:
downloading map information of a line patrol task area from a cloud server, and establishing a projection coordinate system by taking a remote control center as an origin and a geographical position south as a vertical coordinate and a geographical position east as a vertical coordinate and a horizontal coordinate respectively; acquiring tower position information of a task area from a remote control center, and mapping the tower position information to the projection coordinate system; acquiring preset parameters of a high-definition camera on an unmanned aerial vehicle, wherein the preset parameters at least comprise a focal length, and calculating the maximum object distance V of the high-definition camera according to the focal length; taking the geographical position information of the tower in the projection coordinate system as scattered points, performing linear fitting based on a least square method aiming at the scattered points, and setting the maximum deviation of the linear fitting to be smaller than the maximum object distance V when the linear fitting is performed; and setting navigation by taking a straight line obtained by linear fitting as a line patrol path of the line patrol unmanned aerial vehicle.
The above embodiments are only exemplary embodiments of the present invention, and are not intended to limit the present invention, and the scope of the present invention is defined by the claims. Various modifications and equivalents may be made by those skilled in the art within the spirit and scope of the present invention, and such modifications and equivalents should also be considered as falling within the scope of the present invention.
Claims (7)
1. Unmanned aerial vehicle flight route planning management system is patrolled and examined to power grid includes:
the unmanned aerial vehicle control system at least comprises an image acquisition unit, a first communication unit and a guiding laser receiving module, wherein the image acquisition unit is configured to inspect image information of a tower part on a line, and the guiding laser receiving module is configured to receive laser rays;
the remote control center at least comprises a third communication unit, a second storage unit and a path fitting unit, the third communication unit is configured to establish communication connection with the unmanned aerial vehicle control system through the first communication unit, and the second storage unit is configured to prestore tower position information of a plurality of line patrol task areas;
the cloud server at least comprises an image analysis unit and a first storage unit, wherein the image analysis unit is configured as an image analysis unit for analyzing the image data acquired by the image acquisition unit to obtain abnormal information; the first storage unit is configured to store map information including a patrol task area;
the unmanned aerial vehicle control system further comprises a path fitting unit, wherein the path fitting unit is configured to download map information of a line patrol task area from the cloud server, take a remote control center as an origin point, take a geographic position south as a vertical coordinate and a geographic position east as a vertical coordinate and a horizontal coordinate respectively, and establish a projection coordinate system; acquiring tower position information of a task area from a remote control center, and mapping the tower position information to the projection coordinate system; acquiring preset parameters of a high-definition camera on an unmanned aerial vehicle, wherein the preset parameters at least comprise a focal length, and calculating the maximum object distance V of the high-definition camera according to the focal length; taking the geographical position information of the tower in the projection coordinate system as scattered points, performing linear fitting based on a least square method aiming at the scattered points, and setting the maximum deviation of the linear fitting to be smaller than the maximum object distance V when the linear fitting is performed; and setting navigation by taking a straight line obtained by linear fitting as a line patrol path of the line patrol unmanned aerial vehicle.
2. The system of claim 1, wherein the obtaining of tower position information in the task area comprises obtaining a starting tower position, a corner tower position, and a terminal tower position at which the task is completed, and performing linear fitting for multiple times respectively according to the starting tower position, the corner tower position, and the terminal tower position to obtain multiple sections of line patrol paths.
3. The system of claim 2, further comprising performing a linear fit with adjacent two turret locations as scatter points when there are more than two turret locations.
4. The system of claim 1, the guided laser emitting module being a vehicle-scale LiDAR ensemble laser emitting module and the guided laser receiving module being a laser receiving module for receiving LiDAR ensemble laser light.
5. The system of claim 1, wherein the drone control system further comprises a GPS positioning module, the GPS positioning module is configured to acquire the position information of the drone in real time and send the position information to a ground control vehicle through the first communication module, the ground control vehicle at least comprises a second communication unit for establishing communication connection with the first communication unit and a control intervention unit, and the control intervention unit is configured to perform manual intervention on the flight mission of the drone according to user operation.
6. The system of claim 1, the drone control system further comprising a mounting device, the mounting device optionally including a sparkplug or cutting device for performing a disfigurement treatment of foreign objects on the inspection line.
7. The system of claim 1, the drone control system further comprising a speaker for sending a boot password to the ground or playing high frequency drive away audio to wildlife on the patrol route.
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| CN113689589A (en) * | 2021-09-02 | 2021-11-23 | 广东电网有限责任公司 | Cable line inspection method and device based on unmanned aerial vehicle |
| CN114442658A (en) * | 2021-12-23 | 2022-05-06 | 河南福多电力工程有限公司 | Automatic inspection system for unmanned aerial vehicle of power transmission and distribution line and operation method thereof |
| CN114442665A (en) * | 2022-01-20 | 2022-05-06 | 北京华能新锐控制技术有限公司 | Wind power blade inspection line planning method based on unmanned aerial vehicle |
| CN117576598A (en) * | 2024-01-19 | 2024-02-20 | 中国民用航空飞行学院 | Unmanned aerial vehicle system of patrolling and examining based on high in clouds database |
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