CN113126649A - Control system for intelligent patrol inspection unmanned aerial vehicle of power transmission line - Google Patents
Control system for intelligent patrol inspection unmanned aerial vehicle of power transmission line Download PDFInfo
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- CN113126649A CN113126649A CN202110231668.7A CN202110231668A CN113126649A CN 113126649 A CN113126649 A CN 113126649A CN 202110231668 A CN202110231668 A CN 202110231668A CN 113126649 A CN113126649 A CN 113126649A
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- XHCLAFWTIXFWPH-UHFFFAOYSA-N [O-2].[O-2].[O-2].[O-2].[O-2].[V+5].[V+5] Chemical compound [O-2].[O-2].[O-2].[O-2].[O-2].[V+5].[V+5] XHCLAFWTIXFWPH-UHFFFAOYSA-N 0.000 claims description 3
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
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Abstract
The invention discloses a control system for an intelligent inspection unmanned aerial vehicle of a power transmission line, which comprises a holder controller, wherein one side of the holder controller is electrically connected with the unmanned aerial vehicle, the bottom of the unmanned aerial vehicle is fixedly connected with a three-dimensional laser radar module, and the top of the unmanned aerial vehicle is fixedly connected with an embedded computing unit; according to the control system for the intelligent inspection unmanned aerial vehicle of the power transmission line, the embedded computing unit is arranged, so that the tree barrier distance measured by the three-dimensional laser radar can be corrected according to real-time I MU data of the unmanned aerial vehicle, and the actual accurate tree barrier distance can be obtained; the flight control of the unmanned aerial vehicle is realized through the arranged embedded computing unit, and the data of the three-dimensional laser radar sensor is responded and processed in real time, so that the unmanned aerial vehicle wire following flight function is realized, and the wire sag distance is recorded; the tower head is scanned and identified through the set image and the laser radar, and the identification accuracy is increased. And meanwhile, estimating the tower head to determine the position of the tower head.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to a control system for an intelligent inspection unmanned aerial vehicle of a power transmission line.
Background
The transmission line is realized by using a transformer to boost the electric energy generated by the generator and then connecting the electric energy to the transmission line through control equipment such as a breaker and the like. The structure form, transmission line divide into overhead transmission line and cable run. The overhead transmission line consists of a line tower, a lead, an insulator, a line hardware fitting, a stay wire, a tower foundation, a grounding device and the like and is erected on the ground. Power transmission is classified into ac power transmission and dc power transmission according to the nature of the transmitted current. Dc transmission was first successfully achieved in the 80's of the 19 th century. However, the voltage of the dc transmission is difficult to increase continuously under the current technical conditions, so that the transmission capacity and the efficiency are limited. At the end of the 19 th century, direct current transmission was gradually replaced by alternating current transmission. The success of alternating current transmission has already met a new era in the electrified society of the 20 th century.
In the process that the unmanned aerial vehicle flies along with the wire, due to external factors, the three-dimensional laser radar generates noise points in the scanning process, for example, the external factors are wind in the nature, so that the scanned trees swing, a large amount of scattered useless point cloud data can be formed, and the noise points directly influence the measurement effect of the tree barrier; the existing intelligent inspection unmanned aerial vehicle for the power transmission line has the advantages that the wires of the power transmission line have sag, so that the intelligent inspection unmanned aerial vehicle is particularly obvious in lines crossing the river, crossing the mountain and having long span between two towers, the wires are manually followed to fly, the danger coefficient and the difficulty are high, and the technical requirements on unmanned aerial vehicle flight personnel are high; when the existing intelligent inspection unmanned aerial vehicle for the power transmission line is used for inspection, the measurement accuracy is low, and the situations of wrong detection and missed detection are easy to occur; the intelligent inspection unmanned aerial vehicle of the existing power transmission line cannot estimate the position of the tower head.
Disclosure of Invention
The invention aims to provide a control system for an intelligent inspection unmanned aerial vehicle of a power transmission line, aiming at overcoming the defects of the prior art, and aiming at solving the problems that due to external factors, a three-dimensional laser radar generates noise points in the scanning process, the wire follows the flight in a manual mode, the danger coefficient and the difficulty are high, the measurement accuracy is low, the false detection and the missing detection are easy to occur, and the position of a tower head cannot be estimated.
In order to achieve the purpose, the invention provides the following technical scheme: including cloud platform controller, one side electric connection of cloud platform controller has unmanned aerial vehicle, unmanned aerial vehicle's three-dimensional laser radar module of bottom fixedly connected with, unmanned aerial vehicle's embedded computational unit of top fixedly connected with.
As a preferred technical scheme, the cloud deck controller comprises a parameter setting module, a display module and a starting module, wherein the parameter setting module is used for setting tower coordinates, flight speed, a threshold value between the unmanned aerial vehicle and a lead and a distance threshold value between the unmanned aerial vehicle and a tree barrier, the display module is used for displaying each parameter and a shot image in the flight process, and the output end of the starting module is in signal connection with the receiving end of the unmanned aerial vehicle.
As a preferred technical scheme, the unmanned aerial vehicle comprises a power supply module, a driving module, a shooting module and a positioning module, wherein the power supply module is used for supplying power to the unmanned aerial vehicle, the driving module is used for providing driving force for the unmanned aerial vehicle and controlling the unmanned aerial vehicle to move, and the positioning module is used for positioning the unmanned aerial vehicle through a built-in GPS.
As a preferred technical scheme, the shooting module comprises a visible light camera module, an infrared camera module, a zooming camera module and a laser ranging module, the visible light camera module adopts a wide-angle visible light camera adopting a 1/2.3-inch CMOS photosensitive element, the effective pixels of the wide-angle visible light camera are 1200 thousands, 1080p/30fps video recording is supported, the infrared camera module adopts an infrared thermal imaging camera of a non-refrigeration vanadium oxide micro-measuring bolometer, the resolution of the infrared thermal imaging camera is 640 multiplied by 512, the temperature measuring range is-40-150 ℃, the zooming camera module adopts a zooming camera adopting a 1/1.7-inch CMOS photosensitive element, the effective pixels of the zooming camera are 2000 thousands, the laser ranging module adopts a laser range finder, and the laser ranging module is used for measuring the distance between the unmanned aerial vehicle and a lead.
As a preferred technical scheme of the invention, the three-dimensional laser radar module adopts a Velodyne VLP-16LITE three-dimensional laser radar, the effective range of the three-dimensional laser radar is 100 meters, 16 channels, 300,0000 points per second, a 360-degree horizontal field angle and a 30-degree vertical field angle are supported, and the three-dimensional laser radar module is used for realizing data receiving and transmitting, 360-degree full coverage, 3D distance measurement and calibration emission measurement.
As a preferred technical scheme of the invention, the embedded computing unit internally comprises a position judgment module, a PID algorithm module and a distance judgment module, the embedded computing unit adopts an NVIDIA Jetson computing platform, and the embedded computing unit is used for completing artificial intelligent tasks such as object identification and motion analysis.
As a preferred technical scheme, the position judging module is used for judging whether the wire and the unmanned aerial vehicle are in the same horizontal position, the PID algorithm module is used for controlling the flight of the unmanned aerial vehicle, and the interval judging module is used for judging whether the linear distance between the unmanned aerial vehicle and the tree is smaller than a threshold value.
As a preferred technical scheme, the output end of the three-dimensional laser radar module is in signal connection with the input end of the embedded computing unit, the three-dimensional laser radar module transmits three-dimensional space position information of the lower tree barrier and the routing inspection lead acquired by the three-dimensional laser radar to the interior of the embedded computing unit, and the embedded computing unit is electrically connected with the unmanned aerial vehicle.
Compared with the prior art, the invention provides a control system for the intelligent inspection unmanned aerial vehicle of the power transmission line, which has the following beneficial effects:
1. the control system for the intelligent inspection unmanned aerial vehicle of the power transmission line comprises a pan-tilt controller, a starting module, a three-dimensional laser radar module, an embedded computing unit, a position judging module, a PID algorithm module and a control module, wherein the pan-tilt controller is used for setting various parameters of the unmanned aerial vehicle, after the setting is finished, the starting module is used for transmitting a starting signal to the inside of a driving module of the unmanned aerial vehicle, so that the driving module drives the unmanned aerial vehicle to fly, the three-dimensional space position information of an inspection lead is acquired by the three-dimensional laser radar module in the flying process and is transmitted to the embedded computing unit, the embedded computing unit is used for responding and processing the data of a three-dimensional laser radar sensor in real time, the position judging module is used for judging whether the unmanned aerial vehicle and the lead are positioned at the same horizontal position, if the unmanned, and then realize unmanned aerial vehicle wire and follow the flight function.
2. This control system for unmanned aerial vehicle is patrolled and examined to transmission line's intelligence, at the in-process of following the line flight, judge whether the distance between unmanned aerial vehicle and the tree barrier is less than the threshold value through interval judging module, if distance between is less than the threshold value, will start the shooting module this moment to shoot the position of tree barrier, and carry the inside of embedded computational element with its image and its positional information, correct with this, thereby reachs the actual accurate tree barrier distance.
3. This control system for unmanned aerial vehicle is patrolled and examined to transmission line's intelligence, unmanned aerial vehicle is through carrying on infrared thermal imaging camera, support to carry out thermal imaging to the circuit in the image and render up the output in flight process, find out temperature anomaly point in the circuit through analysis thermal imaging, and the record corresponds the position, support the later stage to derive, through using the defect model data trained in advance in the flight process, carry out real-time detection and discernment to the fault problem that the wire exists in the image, can reduce the false retrieval and miss the detection effectively.
4. This control system for unmanned aerial vehicle is patrolled and examined to intelligence of transmission line scans the discernment through wide angle visible light camera and three-dimensional laser radar to the tower head, increases the discernment rate of accuracy, predicts the tower head simultaneously, confirms the tower head position.
Drawings
FIG. 1 is a block diagram of the overall structure of the present invention;
FIG. 2 is a block diagram of the internal structure of the camera module according to the present invention;
FIG. 3 is a block diagram of a wire tracking process of the present invention;
fig. 4 is a block diagram of a process of detecting a distance between obstacles according to the present invention.
In the figure: 1. a pan-tilt controller; 11. a parameter setting module; 12. a display module; 13. a starting module; 2. an unmanned aerial vehicle; 21. a power supply module; 22. a drive module; 23. a shooting module; 231. A visible light camera module; 232. an infrared camera module; 233. a zoom camera module; 234. a laser ranging module; 24. a positioning module; 3. a three-dimensional laser radar module; 4. an embedded computing unit; 41. a position judgment module; 42. a PID algorithm module; 43. and a distance judgment 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.
Referring to fig. 1-4, in this embodiment: the utility model provides a transmission line's intelligence is patrolled and examined control system for unmanned aerial vehicle, includes cloud platform controller 1, and one side electric connection of cloud platform controller 1 has unmanned aerial vehicle 2, and unmanned aerial vehicle 2's three-dimensional laser radar module 3 of bottom fixedly connected with, unmanned aerial vehicle 2's embedded computational unit 4 of top fixedly connected with.
In this embodiment, cloud platform controller 1 includes parameter setting module 11, display module 12 and start module 13, parameter setting module 11 is used for setting up the shaft tower coordinate, flying speed, 2 threshold values and 2 distance tree barrier of unmanned aerial vehicle between the wire of unmanned aerial vehicle 2 distance apart from the distance threshold value between the barrier, display module 12 is used for showing each parameter of flight in-process and the image of shooting, start module 13's output and 2 receiving terminal signal connection of unmanned aerial vehicle, control unmanned aerial vehicle 2's start-up through cloud platform controller 1, and each parameter of flight. And displayed in the display module 12; the interior of the unmanned aerial vehicle 2 comprises a power supply module 21, a driving module 22, a shooting module 23 and a positioning module 24, wherein the power supply module 21 is used for supplying power to the unmanned aerial vehicle 2, the driving module 22 is used for providing driving force for the unmanned aerial vehicle 2 and controlling the unmanned aerial vehicle to move, and the positioning module 24 is used for positioning the unmanned aerial vehicle 2 through a built-in GPS; the photographing module 23 includes a visible light camera module 231, an infrared camera module 232, a zoom camera module 233 and a laser ranging module 234, the visible light camera module 231 adopts a wide-angle visible light camera adopting a 1/2.3-inch CMOS photosensitive element, the effective pixel of the wide-angle visible light camera is 1200 ten thousand, and the video recording of 1080p/30fps is supported, the infrared camera module 232 adopts an infrared thermal imaging camera of an uncooled vanadium oxide VOx micrometering bolometer, the resolution of the infrared thermal imaging camera is 640 multiplied by 512, the temperature measuring range is-40-150 ℃, the zooming camera module 233 adopts a zooming camera of a 1/1.7' CMOS photosensitive element, the effective pixel of the zooming camera is 2000 ten thousand, the laser ranging module 234 adopts a laser range finder, the laser ranging module 234 is used for measuring the distance between the unmanned aerial vehicle 2 and a lead, and the lead is shot through the shooting module 23; the three-dimensional laser radar module 3 adopts a Velodyne VLP-16LITE three-dimensional laser radar, the effective range of the three-dimensional laser radar is 100 meters, 16 channels, 300,0000 points per second, a 360-degree horizontal field angle and a 30-degree vertical field angle are supported, the three-dimensional laser radar module 3 is used for realizing data receiving and transmitting, 360-degree full coverage, 3D distance measurement and calibration emission measurement, and three-dimensional space position information of a tree barrier and an inspection lead below is acquired through the three-dimensional laser radar; the embedded computing unit 4 comprises a position judging module 41, a PID algorithm module 42 and a distance judging module 43, the embedded computing unit 4 adopts an NVIDIA Jetson computing platform, the embedded computing unit 4 is used for completing human intelligent tasks such as object identification and motion analysis, and real-time response processing is carried out on data transmitted by the three-dimensional laser radar sensor through the embedded computing unit 4, so that the unmanned aerial vehicle wire following flight function is realized; the position judging module 41 is used for judging whether the wire and the unmanned aerial vehicle 2 are in the same horizontal position, the PID algorithm module 42 is used for controlling the flight of the unmanned aerial vehicle 2, and the interval judging module 43 is used for judging whether the linear distance between the unmanned aerial vehicle 2 and the tree is smaller than a threshold value; the output of three-dimensional laser radar module 3 and embedded calculating unit 4 input signal connection, the inside of embedded calculating unit 4 is carried with the three-dimensional spatial position information of the below tree barrier that three-dimensional laser radar module 3 gathered and the wire of patrolling and examining to embedded calculating unit 3, embedded calculating unit 4 and 2 electric connection of unmanned aerial vehicle, the tree barrier distance of measuring out three-dimensional laser radar through embedded calculating unit 4, and according to the real-time data of shooing of unmanned aerial vehicle 2, correct, reach the tree barrier distance that actually is accurate.
The working principle and the using process of the invention are as follows: firstly, various parameters of the unmanned aerial vehicle 2 are set through the holder controller 1, after the setting is finished, a starting signal is transmitted to the inside of a driving module 22 of the unmanned aerial vehicle 2 through a starting module 13, so that the driving module 22 drives the unmanned aerial vehicle 2 to fly, three-dimensional space position information of an inspection wire is collected through a three-dimensional laser radar module 3 in the flying process and is transmitted to an embedded computing unit 4, at the moment, the embedded computing unit 4 responds to the data of a three-dimensional laser radar sensor in real time, whether the unmanned aerial vehicle 2 and the wire are positioned at the same horizontal position or not is judged through a position judging module 41, if the unmanned aerial vehicle and the wire are not positioned at the same horizontal position, the information is fed back to the inside of the embedded computing unit 4 through a PID algorithm module 42, so that the motion of the unmanned aerial vehicle 2 is controlled through the embedded computing unit 4, and the function, in the process of following line flight, whether the distance between the unmanned aerial vehicle 2 and the tree barrier is smaller than a threshold value or not is judged through the distance judgment module 43, if the distance between the unmanned aerial vehicle 2 and the tree barrier is smaller than the threshold value, the shooting module 23 is started at the moment, the position of the tree barrier is shot, the image and the position information of the image are transmitted to the interior of the embedded type calculation unit 4 to be corrected, and the actual accurate tree barrier distance is obtained, the unmanned aerial vehicle 2 supports thermal imaging rendering output of a circuit in an image in the flight process by carrying an infrared thermal imaging camera, finds out temperature abnormal points in the circuit by analyzing thermal imaging, records corresponding positions, supports later stage derivation, detects and identifies fault problems existing in a wire in the image in real time by using defect model data trained in advance in the flight process, can effectively reduce false detection and missed detection, and scans and identifies a tower head through a wide-angle visible light camera and a three-dimensional laser radar in the flight process, increase the discernment rate of accuracy, predict the tower head simultaneously, confirm the tower head position, when orientation module 24 detects all that unmanned aerial vehicle 2 flies to the assigned position, unmanned aerial vehicle 2 will stop the inspection to it is how much according to power module 21's power, plan the route of returning a journey.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (8)
1. The utility model provides a control system for unmanned aerial vehicle is patrolled and examined to transmission line's intelligence which characterized in that: including cloud platform controller (1), one side electric connection of cloud platform controller (1) has unmanned aerial vehicle (2), the three-dimensional laser radar module of bottom fixedly connected with (3) of unmanned aerial vehicle (2), embedded computational unit (4) of top fixedly connected with of unmanned aerial vehicle (2).
2. The control system for the intelligent inspection unmanned aerial vehicle of the power transmission line according to claim 1, characterized in that: cloud platform controller (1) is including parameter setting module (11), display module (12) and start module (13), parameter setting module (11) are used for setting up shaft tower coordinate, flying speed, unmanned aerial vehicle (2) apart from the threshold value between the wire and the unmanned aerial vehicle apart from the distance threshold value between the tree barrier, display module (12) are used for showing each parameter of flight in-process and the image of shooing, the output and the unmanned aerial vehicle (2) receiving terminal signal connection of start module (13).
3. The control system for the intelligent inspection unmanned aerial vehicle of the power transmission line according to claim 1, characterized in that: the unmanned aerial vehicle (2) inside includes power module (21), drive module (22), shoots module (23) and orientation module (24), power module (21) are used for supplying power for unmanned aerial vehicle (2), drive module (22) are used for giving unmanned aerial vehicle (2) drive power and control its motion, orientation module (24) are fixed a position unmanned aerial vehicle (2) through built-in GPS.
4. The control system for the intelligent inspection unmanned aerial vehicle of the power transmission line according to claim 3, characterized in that: the shooting module (23) comprises a visible light camera module (231), an infrared camera module (232), a zooming camera module (233) and a laser ranging module (234), the visible light camera module (231) is formed by a wide-angle visible light camera adopting a 1/2.3 inch CMOS photosensitive element, the effective pixel of the wide-angle visible light camera is 1200 ten thousand, the video recording of 1080p/30fps is supported, the infrared camera module (232) adopts an infrared thermal imaging camera of a non-refrigeration vanadium oxide (VOx) micrometering bolometer, the resolution of the infrared thermal imaging camera is 640 multiplied by 512, the temperature measuring range is-40 ℃ to 150 ℃, the zoom camera module (233) adopts a zoom camera with 1/1.7' CMOS photosensitive elements, the effective pixel of the zoom camera is 2000 ten thousand, the laser range finding module (234) adopts a laser range finder, the laser ranging module (234) is used for measuring the distance between the unmanned aerial vehicle (2) and a wire.
5. The control system for the intelligent inspection unmanned aerial vehicle of the power transmission line according to claim 1, characterized in that: the three-dimensional laser radar module (3) adopts a Velodyne VLP-16LITE three-dimensional laser radar, the effective range of the three-dimensional laser radar is 100 meters, 16 channels, 300,0000 points per second, a 360-degree horizontal field angle and a 30-degree vertical field angle are supported, and the three-dimensional laser radar module (3) is used for achieving data receiving and transmitting, 360-degree full coverage, 3D distance measurement and calibration emission measurement.
6. The control system for the intelligent inspection unmanned aerial vehicle of the power transmission line according to claim 1, characterized in that: the embedded type calculating unit (4) comprises a position judging module (41), a PID algorithm module (42) and a distance judging module (43) inside, the embedded type calculating unit (4) adopts an NVIDIA Jetson calculating platform, and the embedded type calculating unit (4) is used for completing artificial intelligent tasks such as object identification and motion analysis.
7. The control system for the intelligent inspection unmanned aerial vehicle of the power transmission line according to claim 6, characterized in that: the position judging module (41) is used for judging whether the wire and the unmanned aerial vehicle (2) are in the same horizontal position, the PID algorithm module (42) is used for controlling the flight of the unmanned aerial vehicle (2), and the distance judging module (43) is used for judging whether the linear distance between the unmanned aerial vehicle (2) and the tree is smaller than a threshold value.
8. The control system for the intelligent inspection unmanned aerial vehicle of the power transmission line according to claim 1, characterized in that: the output end of the three-dimensional laser radar module (3) is in signal connection with the input end of the embedded computing unit (4), the tree barriers below the three-dimensional laser radar module (3) collected and the three-dimensional space position information of the inspection wire are conveyed to the inside of the embedded computing unit (4), and the embedded computing unit (4) is electrically connected with the unmanned aerial vehicle (2).
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113991525A (en) * | 2021-11-22 | 2022-01-28 | 贵州电网有限责任公司 | Unmanned aerial vehicle device of removing obstacles for power transmission line |
| WO2024093030A1 (en) * | 2022-11-04 | 2024-05-10 | 广东电网有限责任公司 | System and method for unmanned aerial vehicle to inspect power transmission line |
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2021
- 2021-03-02 CN CN202110231668.7A patent/CN113126649A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113991525A (en) * | 2021-11-22 | 2022-01-28 | 贵州电网有限责任公司 | Unmanned aerial vehicle device of removing obstacles for power transmission line |
| WO2024093030A1 (en) * | 2022-11-04 | 2024-05-10 | 广东电网有限责任公司 | System and method for unmanned aerial vehicle to inspect power transmission line |
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Application publication date: 20210716 |