CN113111714A - Risk prevention and control system applied to power transmission field operation - Google Patents
Risk prevention and control system applied to power transmission field operation Download PDFInfo
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- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/10—Terrestrial scenes
- G06V20/13—Satellite images
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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
- G05D1/106—Change initiated in response to external conditions, e.g. avoidance of elevated terrain or of no-fly zones
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
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- G06Q50/00—Systems or methods specially adapted for specific business sectors, e.g. utilities or tourism
- G06Q50/06—Electricity, gas or water supply
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C1/00—Registering, indicating or recording the time of events or elapsed time, e.g. time-recorders for work people
- G07C1/20—Checking timed patrols, e.g. of watchman
Abstract
The invention relates to the technical field of automatic inspection of power grids, and provides a risk prevention and control system applied to power transmission field operation, which comprises an information acquisition unit, a risk detection unit and a risk control unit, wherein the information acquisition unit comprises an unmanned aerial vehicle body, a laser radar scanning assembly and a dual-optical pod, the unmanned aerial vehicle body flies according to a planned flight route, and the laser radar scanning assembly and the dual-optical pod are respectively mounted at the bottom and the front end of the unmanned aerial vehicle body, wherein the laser radar scanning assembly is used for acquiring high-precision point cloud of a power transmission line, and the dual-optical pod is used for dynamically acquiring real-time visible light images and thermal images of the power transmission; the invention solves the problems that in the prior art, the working quality is poor, the working efficiency is low, and the safe use requirement of a power grid is difficult to guarantee when a worker manually controls the unmanned aerial vehicle to carry out routing inspection.
Description
Technical Field
The invention relates to the technical field of automatic inspection of power grids, in particular to a risk prevention and control system applied to transmission field operation.
Background
The inspection of the power lines in most areas of China still mainly adopts manual inspection, and the inspection mode is not only low in efficiency, but also seriously threatens the safety of inspection personnel.
In recent years, the unmanned aerial vehicle technology is mature day by day, the artificial intelligence technology is continuously developed, the electric power industry has started to use the unmanned aerial vehicle to patrol the electric power line in a large area, and the unmanned aerial vehicle becomes the best tool for patrolling personnel to efficiently and safely finish the patrol operation.
However, in the practical inspection application of the unmanned aerial vehicle for the power transmission line, a large number of unmanned aerial vehicles operated by flying hands are required to arrive at an operation site to manually operate the unmanned aerial vehicle to execute an inspection task, the level of the unmanned aerial vehicle operated by flying hands directly determines whether the inspection quality reaches the standard, the operation efficiency, the operation quality and the operation frequency are difficult to guarantee the safe use requirement of the power grid, the acquired picture image and thermal image information are required to be post-processed, the hidden defect danger can be determined and risk assessment can be made, and the efficiency is low.
Disclosure of Invention
Solves the technical problem
Aiming at the defects of the prior art, the invention provides a risk prevention and control system applied to power transmission field operation, and solves the problems that in the prior art, a worker manually controls an unmanned aerial vehicle to patrol, the operation quality is poor, the operation efficiency is low, and the safe use requirement of a power grid is difficult to guarantee.
Technical scheme
In order to achieve the purpose, the invention is realized by the following technical scheme:
a risk prevention and control system applied to transmission field operation comprises:
the system comprises an information acquisition unit, a data acquisition unit and a data acquisition unit, wherein the information acquisition unit comprises an unmanned aerial vehicle body, a laser radar scanning assembly and a dual-optical pod, the unmanned aerial vehicle body flies according to a planned flight route, the laser radar scanning assembly and the dual-optical pod are respectively mounted at the bottom and the front end of the unmanned aerial vehicle body, the laser radar scanning assembly is used for acquiring high-precision point cloud of a power transmission line, and the dual-optical pod is used for dynamically acquiring real-time visible light images and thermal images of the power transmission line;
the system comprises an information management center, a cloud processing module, an automatic identification module and an infrared analysis module, wherein the cloud processing module is used for acquiring three-dimensional space information and a three-dimensional model of the power transmission line according to imported high-precision point cloud information; the automatic identification module is used for identifying objects and defects in the real-time image, and the infrared analysis module is used for displaying the temperature data of the power transmission line on the thermal image;
the visual early warning platform is used for visually displaying data of the information management center and providing an early warning function for the automatic identification module and the infrared analysis module, the visual early warning platform is in two-way communication with the information management center through an optical cable, and the information management center is in wireless communication interconnection with the information acquisition unit through a relay station.
Furthermore, the unmanned aerial vehicle body comprises a pair of fixed-wing unmanned aerial vehicles, and the unmanned aerial vehicle body flies along one side of the power transmission line by using the flight control system and the obstacle avoidance system of the unmanned aerial vehicle body respectively.
Furthermore, the lidar scanning assembly adopts an L iAir250 light lidar point cloud data acquisition system, integrates a medium-distance lidar scanner, a GNSS (global navigation satellite system), an IMU (inertial measurement unit) positioning and attitude determination system and a storage control unit, can acquire high-precision point cloud data and abundant image information in real time, dynamically and massively, and the dual-optical pod comprises a holder, a visible light camera and an infrared thermal imager which are fixedly arranged on the holder.
Furthermore, the three-dimensional spatial information includes point cloud data of terrain, landform, vegetation and buildings in a corridor of the power transmission line, and point cloud data of components of the power transmission line, including towers, wires, insulators and hardware fittings.
Further, the point cloud processing module is built with a three-dimensional model based on the three-dimensional spatial information, and the flight path is formed by building successive waypoints on the three-dimensional model, wherein the flight is decelerated when approaching the waypoints.
Furthermore, the specific steps of the flight route establishment are as follows: establishing a space model of the safe flight distance of the unmanned aerial vehicle body; performing punctuation on an object acquired by the heavy points on the three-dimensional model; identifying the boundary of the object, and generating a waypoint by combining a space model of the unmanned aerial vehicle body; and generating a safe flight path by adjacent flight points, and connecting the safe flight paths to form a flight route.
Furthermore, the automatic identification module is communicated with the visible light camera, and the automatic identification module controls the visible light camera to accurately identify and lock the target by using an image identification technology and an image control algorithm, automatically analyzes and detects the defect and generates a report.
Furthermore, the relay station comprises two relay modes of a ground relay station and an air relay station, wherein the ground relay mode is that a wireless terminal is set on a transmission tower, and the air relay mode is completed by setting a relay aircraft terminal and is in data interaction with an information management center through a 4G or 5G network.
Advantageous effects
The invention provides a risk prevention and control system applied to transmission site operation, compared with the prior art, the risk prevention and control system has the following beneficial effects:
the unmanned aerial vehicle body is used as a carrier, a laser radar scanning assembly for collecting information of the power transmission line and the dual-optical pod are arranged on the unmanned aerial vehicle body, a planned route and a preset mode are controlled to be installed on the unmanned aerial vehicle body for flying and checking, real-time visible light images and thermal images of the power transmission line are dynamically acquired through the dual-optical pod, the visible light images are used for acquiring the information of defects and damages of all parts of the power transmission line, the defects generated by specific parts can be timely and accurately acquired through the automatic identification module, and risk early warning and risk reports can be timely generated after hidden dangers are determined; the thermal faults generated by various exposed joints, connectors and the like are obtained through the thermal images, and the infrared analysis module is matched for performing temperature datamation display on the transmission line on the thermal images, so that the heating source and the specific heating temperature can be obtained visually, and the fault hidden danger can be determined in time conveniently; meanwhile, the visual platform is matched for carrying out multidimensional and omnibearing panoramic visual display, intelligent inspection is realized, the labor intensity and labor time of inspection workers are reduced, and the inspection operation quality and the inspection operation efficiency are greatly improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a block diagram of a risk prevention and control system of the present invention;
FIG. 2 is a schematic diagram of the unmanned aerial vehicle inspection operation of the present invention;
FIG. 3 is a schematic view of the flight path establishment principle of the present invention;
FIG. 4 is a flow chart of flight path establishment steps of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, 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 some, but not all, embodiments of the present invention. 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.
Example (b):
the risk prevention and control system applied to power transmission field operation disclosed by the embodiment is as shown in fig. 1, and comprises an information acquisition unit, an unmanned aerial vehicle body, a laser radar scanning assembly and a dual-light pod, wherein the unmanned aerial vehicle body flies according to a planned flight line, the laser radar scanning assembly and the dual-light pod are respectively mounted at the bottom and the front end of the unmanned aerial vehicle body, the laser radar scanning assembly is used for acquiring high-precision point cloud of a power transmission line, and the dual-light pod is used for dynamically acquiring real-time visible light images and thermal images of the power transmission line;
the information management center at least comprises a point cloud processing module, an automatic identification module and an infrared analysis module, wherein the point cloud processing module is used for obtaining three-dimensional space information and a three-dimensional model of the power transmission line according to the imported high-precision point cloud information; the infrared analysis module is used for displaying the temperature data of the power transmission line on the thermal image;
and the visual early warning platform is used for visually displaying the data of the information management center and providing an early warning function for the automatic identification module and the infrared analysis module, the visual early warning platform is in two-way communication with the information management center through an optical cable, and the information management center is in communication interconnection with the information acquisition unit through a relay station. In the implementation, the visual early warning platform adopts the PC terminal to visually process the data information uploaded by the information management center.
Referring to fig. 2, the unmanned aerial vehicle body in this embodiment includes a pair of fixed-wing unmanned aerial vehicles, and the unmanned aerial vehicle body flies along one side of the power transmission line respectively by using the flight control system and the obstacle avoidance system thereof. Wherein, adopt the electronic vertical take-off and landing fixed wing unmanned aerial vehicle of E6, E6 unmanned aerial vehicle has the load capacity reinforce, and the advantage of duration of endurance of a long time, once take-off and landing sustainable flight is more than 3 hours at most, and operation passageway length can reach 200 kilometers at most, compares many rotor unmanned aerial vehicle and has improved the operating efficiency greatly. Simultaneously, adopt a pair of fixed wing unmanned aerial vehicle to distribute in this embodiment and patrol and examine in transmission line's both sides, can 2 times effectively patrol and examine efficiency, reduce fixed wing unmanned aerial vehicle and shift the waste that produces on a large amount of strokes in shaft tower both sides, reduced orbit complexity and unmanned aerial vehicle's flight control, improved the stability that the flight was patrolled and examined to a certain extent.
The laser radar scanning assembly adopts an L iAir250 light laser radar point cloud data acquisition system, integrates a middle distance laser radar scanner, a GNSS and I MU positioning and attitude determination system and a storage control unit, can acquire high-precision point cloud data and abundant image information in real time, dynamically and massively, and the dual-light pod comprises a holder, a visible light camera and an infrared thermal imager which are fixedly arranged on the holder.
The three-dimensional spatial information comprises point cloud data of landforms, vegetations and buildings in corridors of the power transmission line, and point cloud data of components of the power transmission line, including towers, wires, insulators and hardware fittings. Leading-in the three-dimensional spatial information who obtains to the point cloud processing module in, can all-round current state that obtains transmission of electricity passageway, the clear operation point crossing condition, close to electrified body distance, the condition such as topography landform, guide to discern operation dangerous point, for example: before the tree obstacle clearance operation, utilize machine-mounted laser radar scanning accuracy measurement line tree distance, when the analysis trees lodging with electrified body the most dangerous distance, formulate the trees scheme of felling.
Referring to fig. 3, wherein the point cloud processing module establishes a three-dimensional model based on three-dimensional spatial information, a flight path is formed by establishing successive waypoints on the three-dimensional model, wherein the flight is decelerated as the waypoints are approached; and the suspension posture is kept during the navigation point, the machine body is kept fixed, and the visible light camera can conveniently take pictures or collect videos at the position.
Referring to fig. 4, the specific steps established for the flight path in this embodiment are as follows:
step one, establishing a space model of the safe flight distance of the unmanned aerial vehicle body;
secondly, performing punctuation on the object acquired by the heavy points on the three-dimensional model;
identifying the boundary of the object, and generating a waypoint by combining a space model of the unmanned aerial vehicle body;
and fourthly, generating a safe flight path by adjacent flight points, and connecting the safe flight paths to form a flight route.
In the third step, when the space model generates the safe track at the adjacent waypoints, the space model moves along the safe boundary between the adjacent waypoints. Wherein, for the punctuation on the three-dimensional model, for example: and (3) performing punctuation operation on all parts of the power transmission line, including the top of a tower, an insulator or hardware as key image acquisition objects at the corresponding positions of the three-dimensional model. Wherein, in order to realize the mode of patrolling and examining that the unmanned aerial vehicle body flies along one side of transmission line respectively, only carry out the punctuation to one side of shaft tower during the punctuation.
The automatic identification module is communicated with the visible light camera, and the automatic identification module controls the visible light camera to accurately identify and lock the target by using an image identification technology and an image control algorithm, automatically analyzes and detects the defect and generates a report. The storage system of the automatic identification module can support the defect identification of more than 9 common major categories and 50 common minor categories in the power inspection, and an inspection report is derived according to the standard specification of national network and south network.
The relay station comprises two relay modes of a ground relay station and an air relay station, referring to fig. 2, the ground relay mode is to set a wireless terminal on a transmission tower, the wireless terminal cannot be set in a complex ground environment, the relay mode can be completed by setting a relay aircraft terminal in the air relay mode, and data interaction is performed with an information management center through a 4G or 5G network.
The unmanned aerial vehicle body is used as a carrier, the laser radar scanning component for collecting information of the power transmission line and the double-light pod are arranged on the unmanned aerial vehicle body, the static attribute information of the power transmission line is obtained through the laser radar scanning component, a landform model and a ground condition model of the power transmission line and the periphery of the power transmission line are established through point cloud processing software, a flight track is planned, and the unmanned aerial vehicle body is controlled to install a planned route and a preset mode to carry out flying and inspection.
The real-time visible light image and the real-time thermal image of the power transmission line are dynamically acquired through the dual-optical pod, the information of the defects and the damages of all parts of the power transmission line is acquired by utilizing the visible light image, the defects generated by the specific parts can be timely and accurately acquired through the automatic identification module, and the risk early warning and the risk report can be timely generated after the hidden danger is determined; the thermal faults generated by various exposed joints, connectors and the like are obtained through the thermal images, and the infrared analysis module is matched for performing temperature datamation display on the transmission line on the thermal images, so that the heating source and the specific heating temperature can be obtained visually, and the fault hidden danger can be determined in time conveniently; meanwhile, the visual platform is matched for carrying out multidimensional and omnibearing panoramic visual display, intelligent inspection is realized, the labor intensity and labor time of inspection workers are reduced, and the inspection operation quality and the inspection operation efficiency are greatly improved.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (8)
1. A risk prevention and control system applied to transmission site operation is characterized by comprising:
the system comprises an information acquisition unit, a data acquisition unit and a data acquisition unit, wherein the information acquisition unit comprises an unmanned aerial vehicle body, a laser radar scanning assembly and a dual-optical pod, the unmanned aerial vehicle body flies according to a planned flight route, the laser radar scanning assembly and the dual-optical pod are respectively mounted at the bottom and the front end of the unmanned aerial vehicle body, the laser radar scanning assembly is used for acquiring high-precision point cloud data of a power transmission line, and the dual-optical pod is used for acquiring real-time visible light images and thermal images of the power transmission line;
the information management center at least comprises a point cloud processing module, an automatic identification module and an infrared analysis module, wherein the point cloud processing module is used for obtaining three-dimensional space information and a three-dimensional model of the power transmission line according to imported high-precision point cloud data; the automatic identification module is used for identifying objects and defects in the real-time image, and the infrared analysis module is used for displaying the temperature data of the power transmission line on the thermal image;
the visual early warning platform is used for visually displaying data of the information management center and providing an early warning function for the automatic identification module and the infrared analysis module, the visual early warning platform is in two-way communication with the information management center through an optical cable, and the information management center is in wireless communication with the information acquisition unit through a relay station.
2. The risk prevention and control system applied to the transmission site operation is characterized in that the unmanned aerial vehicle body comprises a pair of fixed-wing unmanned aerial vehicles, and the unmanned aerial vehicle body flies along one side of the transmission line by using a flight control system and an obstacle avoidance system of the unmanned aerial vehicle body respectively.
3. The risk prevention and control system applied to transmission site operation as claimed in claim 1, wherein the lidar scanning assembly adopts a LiAir250 light lidar point cloud data acquisition system, integrates a medium-distance lidar scanner, a GNSS and IMU positioning and attitude determination system and a storage control unit, can acquire high-precision point cloud data and rich image information in real time, dynamically and in large quantities, and the dual-optical pod comprises a holder, a visible light camera and a thermal infrared imager which are fixedly arranged on the holder.
4. The risk prevention and control system applied to transmission site operation according to claim 1, wherein the three-dimensional spatial information comprises point cloud data of terrain, landform, vegetation and buildings in a corridor of the transmission line, and point cloud data of components of the transmission line, including towers, wires, insulators and hardware fittings.
5. The risk prevention and control system applied to the transmission field operation is characterized in that the point cloud processing module is built with a three-dimensional model based on three-dimensional space information, the flight route is formed by building continuous waypoints on the three-dimensional model, and the flight route is decelerated when approaching the waypoints.
6. The risk prevention and control system applied to the transmission site operation is characterized in that the flight route is established by the following specific steps:
establishing a space model of the safe flight distance of the unmanned aerial vehicle body;
performing punctuation on an object acquired by the heavy points on the three-dimensional model;
identifying the boundary of the object, and generating a waypoint by combining a space model of the unmanned aerial vehicle body;
and generating a safe flight path by adjacent flight points, and connecting the safe flight paths to form a flight route.
7. The risk prevention and control system applied to power transmission field operation according to claim 1, wherein the automatic identification module is in communication with the visible light camera, and the automatic identification module controls the visible light camera to accurately identify and lock the target, automatically analyze and detect the defect and generate a report by using an image identification technology and an image control algorithm.
8. The risk prevention and control system applied to transmission site operation according to claim 1, wherein the relay station comprises two relay modes, namely a ground relay mode and an aerial relay mode, the ground relay mode is that a wireless terminal is set on a transmission tower, the aerial relay mode is that a relay aircraft terminal is set to complete, and data interaction is performed with an information management center through a 4G or 5G network.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113628499A (en) * | 2021-09-02 | 2021-11-09 | 浙江图盛输变电工程有限公司温州科技分公司 | Collaborative virtual operation training platform for unmanned aerial vehicle power grid operation and inspection |
| CN113867386A (en) * | 2021-09-26 | 2021-12-31 | 郑州电力高等专科学校 | Unmanned aerial vehicle inspection method and system for pipe belt machine |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113628499A (en) * | 2021-09-02 | 2021-11-09 | 浙江图盛输变电工程有限公司温州科技分公司 | Collaborative virtual operation training platform for unmanned aerial vehicle power grid operation and inspection |
| CN113867386A (en) * | 2021-09-26 | 2021-12-31 | 郑州电力高等专科学校 | Unmanned aerial vehicle inspection method and system for pipe belt machine |
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