CN113485417B - Autonomous power inspection system, method and device of VBA unmanned aerial vehicle and electronic equipment - Google Patents
Autonomous power inspection system, method and device of VBA unmanned aerial vehicle and electronic equipment Download PDFInfo
- Publication number
- CN113485417B CN113485417B CN202110740993.6A CN202110740993A CN113485417B CN 113485417 B CN113485417 B CN 113485417B CN 202110740993 A CN202110740993 A CN 202110740993A CN 113485417 B CN113485417 B CN 113485417B
- Authority
- CN
- China
- Prior art keywords
- module
- tower
- unmanned aerial
- aerial vehicle
- monitoring station
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000007689 inspection Methods 0.000 title claims abstract description 91
- 238000000034 method Methods 0.000 title claims abstract description 45
- 238000012545 processing Methods 0.000 claims abstract description 28
- 238000001514 detection method Methods 0.000 claims abstract description 18
- 230000003993 interaction Effects 0.000 claims abstract description 16
- 230000002567 autonomic effect Effects 0.000 claims abstract description 7
- 238000012544 monitoring process Methods 0.000 claims description 36
- 238000004891 communication Methods 0.000 claims description 22
- 238000005286 illumination Methods 0.000 claims description 12
- 238000001931 thermography Methods 0.000 claims description 9
- 238000006243 chemical reaction Methods 0.000 claims description 7
- 238000004590 computer program Methods 0.000 claims description 6
- 238000003331 infrared imaging Methods 0.000 claims description 3
- 238000012546 transfer Methods 0.000 claims description 2
- 230000008569 process Effects 0.000 description 11
- 230000006870 function Effects 0.000 description 6
- 230000007547 defect Effects 0.000 description 4
- 238000007726 management method Methods 0.000 description 4
- 238000005259 measurement Methods 0.000 description 4
- 238000013439 planning Methods 0.000 description 4
- 230000000007 visual effect Effects 0.000 description 4
- 238000013461 design Methods 0.000 description 3
- 230000003287 optical effect Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000002411 adverse Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000012212 insulator Substances 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000009430 construction management Methods 0.000 description 1
- 230000008571 general function Effects 0.000 description 1
- 238000009413 insulation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000005055 memory storage Effects 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 238000012876 topography Methods 0.000 description 1
- 238000013024 troubleshooting Methods 0.000 description 1
Images
Classifications
-
- 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
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
Abstract
The invention provides an autonomous power inspection system of a VBA unmanned aerial vehicle. The method comprises the following steps: the storage module comprises a tower parameter database, wherein tower image information is stored in the tower parameter database; the man-machine interaction module is used for inputting the model of the tower to be tested and the inspection mode; the processing module is connected with the human-computer interaction module and used for calculating detection points according to the received model of the tower to be detected and the routing inspection mode; the control module is connected with the processing module and used for outputting a control instruction according to the detection point; and the image acquisition module is connected with the control module and used for acquiring tower image information of the key point positions of the tower according to the control command and storing the image information to the storage module. This autonomic electric power system of patrolling and examining has improved artifical control unmanned aerial vehicle accuracy among the prior art poor, has the problem of stadia and signal restriction.
Description
Technical Field
The invention relates to the technical field of airplane ground tests, in particular to an autonomous power inspection system, method and device of a VBA unmanned aerial vehicle based on visual programming and digital modeling and electronic equipment.
Background
Traditional artifical electric power patrols and examines needs the staff to climb the shaft tower, and defect and hidden danger that visual identification shaft tower and circuit exist. The efficiency is low, and the accuracy is poor, meets extreme weather and topography and still brings the potential safety hazard for the personnel of patrolling and examining easily. Manual control unmanned aerial vehicle carries out electric power and patrols and examines and have stadia and signal restriction, has very high requirement to unmanned aerial vehicle operator's flight level, when meetting the fine-grained of tens of positions of shaft tower and patrolling and examining in addition, the manual work is very difficult not wrong, and the misoperation hits the shaft tower easily on, causes unmanned aerial vehicle to scrap, and maneuverability is not strong in the actual work.
Existing unmanned aerial vehicle independently patrols and examines software on the market, from this aspect of unmanned aerial vehicle autonomous flight data acquisition, general function is done not very carefully, various problems can appear in the middle of the actual operation, hardly satisfy various demands in the electric power patrols and examines. And a lot of applications laser scanning technique carry out electric power inspection, and its principle is to scan whole shaft tower, gives the rear end with all information transmission, and the data bulk that needs to handle is very big, has very strong requirement to equipment, and equipment processing speed is slow, and the cost is high. Other electric power automatic inspection technologies in the market, including RFID, ICT and the like, have extremely high requirements on programming, are not very high in manufacturing cost, and are greatly influenced by other hardware conditions such as networks and the like. The vision is good, but the practicality under present conditions is not great.
Disclosure of Invention
The invention aims to provide an autonomous power inspection system, method and device for a VBA unmanned aerial vehicle and electronic equipment.
In order to achieve the above purpose, the invention provides the following technical scheme:
the utility model provides a VBA unmanned aerial vehicle is power system of patrolling and examining independently, includes:
the storage module comprises a tower parameter database, wherein tower image information is stored in the tower parameter database;
the man-machine interaction module is used for inputting the model of the tower to be tested and the inspection mode;
the processing module is connected with the human-computer interaction module and used for calculating detection points according to the received model of the tower to be detected and the routing inspection mode;
the control module is connected with the processing module and used for outputting a control instruction according to the detection point;
and the image acquisition module is connected with the control module and the storage module and is used for acquiring tower image information of the tower key point position according to the control instruction and storing the tower image information to a tower parameter database of the storage module.
On the basis of the technical scheme, the invention can be further improved as follows:
furthermore, the autonomous power inspection system further comprises a photoelectric sensing module, an analog-to-digital converter and an illumination module, wherein the photoelectric sensing module is connected with the analog-to-digital converter, and the analog-to-digital converter is connected with the processing module;
the photoelectric sensing module is used for acquiring ambient brightness;
the analog-to-digital converter is used for performing analog-to-digital conversion on the ambient brightness acquired by the photoelectric sensing module;
the processing module is used for searching the corresponding relation between the environment brightness and the exposure compensation value according to the environment brightness and outputting a corresponding exposure compensation value;
and the control module controls the illumination module to automatically expose according to the original exposure parameters.
Further, the autonomous power inspection system further includes: ground monitoring station and communication module:
the ground monitoring station is connected with the control module and used for reading flight state data of the unmanned aerial vehicle and tower image information of the tower key point positions; outputting an adjusting instruction to the control module;
the control module is further to: adjusting working parameters of the unmanned aerial vehicle according to the adjusting instruction;
the communication module is used for communicating the ground monitoring station with the unmanned aerial vehicle and the image acquisition module through the communication module;
GPS positioning module and RTK receiving module: wherein:
the GPS positioning module is connected with the ground monitoring station through a communication module and used for sending position information to the ground monitoring station;
the RTK receiving module is connected with the ground monitoring station and used for outputting RTK positioning information.
Further, the image acquisition module comprises: the system comprises a visible light acquisition module and an infrared thermal imaging acquisition module:
the visible light acquisition module is used for acquiring visible light;
the infrared thermal imaging acquisition module is used for acquiring infrared images.
The VBA unmanned aerial vehicle autonomous power inspection method is characterized by specifically comprising the following steps:
s101, storing tower image information through a storage module;
s102, inputting the model and the inspection mode of the tower to be detected through a man-machine interaction module;
s103, calculating detection points according to the received model of the tower to be detected and the routing inspection mode through a processing module;
s104, outputting a control instruction according to the detection point through a control module;
and S105, acquiring tower image information of the tower key point position according to the control instruction through an image acquisition module, and storing the tower image information to a tower parameter database of the storage module.
Further, the autonomous power inspection method further includes:
s106, adjusting exposure compensation in real time; the S106 specifically includes:
s1061, acquiring ambient brightness through a photoelectric sensing module;
s1062, performing analog-to-digital conversion on the ambient brightness acquired by the photoelectric sensing module through an analog-to-digital converter;
s1063, searching the corresponding relation between the ambient brightness and the exposure compensation value according to the ambient brightness through the processing module, and outputting a corresponding exposure compensation value;
and S1064, controlling the illumination module to automatically expose through the control module according to the original exposure parameters.
Further, reading the flight state data of the unmanned aerial vehicle and tower image information of the tower key point positions through a ground monitoring station;
s108, outputting an adjusting instruction to the control module through the ground monitoring station;
s109, adjusting the working parameters of the unmanned aerial vehicle through a control module according to the adjusting instruction;
s110, communication between the ground monitoring station and the unmanned aerial vehicle and between the ground monitoring station and the image acquisition module is carried out through a communication module;
s111, sending position information to the ground monitoring station through a GPS positioning module;
and S112, outputting the RTK positioning information through the RTK receiving module.
The utility model provides a VBA unmanned aerial vehicle is electric power inspection device independently, includes: memory, a processor and a computer program stored on the memory and executable on the processor, the computer program when executed by the processor implementing the steps of the autonomous power patrol method of VBA drones of any of claims 5 to 8.
An electronic device having stored thereon an implementation program for information transfer, which when executed by a processor, implements the steps of the autonomous power patrol inspection method for VBA drones according to any one of claims 5 to 8.
The invention has the following advantages:
compared with manual control unmanned aerial vehicles and other automatic unmanned aerial vehicle routing inspection software, the autonomous power routing inspection system of the VBA unmanned aerial vehicle is not limited by vision and can fly in a long-distance beyond visual range. Compared with manual operation, the automatic positioning device has the advantages of high action speed, accurate positioning, high working efficiency and the like. The waypoint task has multiple modes, can carry out routine and fine inspection, and is suitable for various requirements of power inspection. The video can be recorded completely, and the picture can be shot according to the set angle, so that the comprehensive inspection tour is facilitated. And the flight time can be automatically calculated, and the unmanned aerial vehicle can be guaranteed to return to the air before the electric quantity is exhausted. The problem of among the prior art artifical unmanned aerial vehicle of controlling accuracy poor, there are stadia and signal restriction is solved.
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, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a schematic diagram of an autonomous power inspection system of a VBA drone in an embodiment of the present invention;
FIG. 2 is a schematic diagram of an autonomous power inspection system of a VBA unmanned aerial vehicle in an embodiment of the invention;
fig. 3 is a flowchart of an autonomous power inspection method of the VBA drone in the embodiment of the present invention;
fig. 4 is a detailed flowchart of an autonomous power inspection method of the VBA drone in the embodiment of the present invention;
FIG. 5 is a flowchart of S105 according to an embodiment of the present invention;
fig. 6 is a flowchart of S106 in the embodiment of the present invention.
The system comprises a storage module 10, a human-computer interaction module 20, a processing module 30, a control module 40, an image acquisition module 50, a visible light acquisition module 501, an infrared thermal imaging acquisition module 502, a photoelectric sensing module 60, an analog-to-digital converter 70, an illumination module 80, a ground monitoring station 90, a communication module 100, a GPS positioning module 110 and an RTK receiving module 120.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the following embodiments, and it should be understood 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.
As shown in fig. 1, a VBA unmanned aerial vehicle autonomous power inspection system includes:
the storage module 10 comprises a tower parameter database, wherein tower image information is stored in the tower parameter database;
the man-machine interaction module 20 is used for inputting the model of the tower to be tested and the inspection mode; for the uncertain shaft tower of model, the user can adopt artifical teaching mode, according to autonomic electric power system of patrolling and examining suggestion, the manual each point coordinate that gathers, and autonomic electric power system of patrolling and examining can calculate each item parameter of shaft tower automatically according to the coordinate of gathering, the later stage flight of being convenient for.
The processing module 30 is connected with the human-computer interaction module 20 and used for calculating detection points and flight time data according to the model of the tower to be detected and the routing inspection mode; the autonomous power inspection system is developed by Java and VB languages. According to the working characteristics of power inspection, the autonomous power inspection system refines a plurality of pole tower key point positions in the whole process and creates a flight line model of the unmanned aerial vehicle.
A control module 40, connected to the processing module 30, for outputting control instructions and flight time data according to the detection points; the control module can automatically calculate the flight time and return to the journey before the electric quantity is exhausted: the user inputs flight relevant parameters in software, and after the autonomous power inspection system generates a route, the flight time can be automatically calculated, so that the situation that no power is available in the half-way of the flight of the unmanned aerial vehicle is avoided.
And the image acquisition module 50 is connected with the control module 40, and is configured to acquire tower image information of the tower key point location according to the control instruction, and store the image information in the tower parameter database of the storage module 10. Based on the key point positions of the tower, the image acquisition module 50 capable of supporting the autonomous planning of the flight line of the unmanned aerial vehicle and photographing at the key point positions is designed.
The autonomous power inspection system of the VBA unmanned aerial vehicle is generated through the secondary development programming technology of the SDK of the unmanned aerial vehicle, is used for large-scale power inspection, can completely control the unmanned aerial vehicle, completes beyond-the-horizon autonomous flight, and is not limited by signals and the horizon.
A user only needs to input necessary parameters at the route planning end according to the requirement of the routing inspection task, and the autonomous power routing inspection system can automatically design a route. Leading-in human-computer interaction module 20 with the airline carries out simple operation, can control unmanned aerial vehicle and independently fly, carries out to the diversified, multi-angle image of pole tower record and shoot, gives the electric power personnel of patrolling and examining, in time discovers defect and the hidden danger that electric power system exists.
The autonomous electric power inspection system is continuously improved and perfected, is mature day by day, and can operate in various terrain conditions and various voltage levels of power grids. Effectively solved artifical electric power and patrolled and examined inefficiency, the quality is poor, and the problem that the accuracy is low has solved artifical unmanned aerial vehicle accuracy poor, has the problem of stadia and signal restriction, has greatly promoted the efficiency that electric power was patrolled and examined, has alleviateed staff's burden, makes electric power patrol and examine work and take place fundamental change.
By applying the autonomous electric power inspection system, 2-3 people can finish the inspection work of a dozen kilometers of lines in one day through 1 unmanned aerial vehicle operator, 1 safety guardian and 1 driver (can function concurrently).
Unmanned aerial vehicles fly autonomously relying on WGS-84 coordinates for navigation. The longitude, latitude and altitude of each waypoint are three essential basic parameters for autonomous flight of the drone. In the actual flight inspection work, other relevant flight data need to be provided for the unmanned aerial vehicle to correctly complete the processes of taking off, inspection and landing. The flight data generally consists of the coordinates of the take-off and landing points, the coordinates of the towers and the parameters of the towers. The tower parameters mainly include the full height of the tower, the nominal height, the length of the cross arm and the like. As the parameters of the same type of tower are the same, the type of the tower is generally only required to be provided.
In traditional electric power inspection, an inspector can manually observe the states of key point positions of towers, such as ground wires, insulators, hardware fittings, grounding devices and the like. In the process of unmanned aerial vehicle inspection, the unmanned aerial vehicle only needs to shoot the photos of the key point positions.
The storage module 10 stores a large number of basic parameters of the tower and flight lines in different inspection modes, and inspection personnel can automatically calculate the detection point only by inputting the model of the tower to be detected and the inspection mode into the man-machine interaction module 20 and the processing module 30. Meanwhile, the patrol personnel can adjust the flight speed, the angle of the channel holder and the channel zooming parameters as required, and sufficient flexibility is provided for power patrol. After obtaining flight data, processing module 30 can be according to patrolling and examining the demand automatic design out unmanned aerial vehicle's circuit of patrolling and examining, makes unmanned aerial vehicle shoot and record a video to the circuit passageway, carries out diversified multi-angle to every base pole tower and shoots.
On the basis of the technical scheme, the invention can be further improved as follows:
as shown in fig. 2, the autonomous power inspection system further includes a photoelectric sensing module 60, an analog-to-digital converter 70, and an illumination module 80, wherein the photoelectric sensing module 60 is connected to the analog-to-digital converter 70, and the analog-to-digital converter 70 is connected to the processing module 30;
the photoelectric sensing module 60 is configured to obtain ambient brightness, the analog-to-digital converter 70 is configured to perform analog-to-digital conversion on the ambient brightness obtained by the photoelectric sensing module 60, the processing module 30 is configured to search a corresponding relationship between the ambient brightness and an exposure compensation value according to the ambient brightness, output a corresponding exposure compensation value, and the control module 40 controls the illumination module 80 to perform automatic exposure according to an original exposure parameter. The exposure compensation is adjusted in real time through the photoelectric sensing module 60, the analog-to-digital converter 70, the illumination module 80 and the like: run into the adverse light condition when unmanned aerial vehicle flight in-process, the optical ratio is stronger, thereby general camera can weaken the holistic exposure value of photo and make the photo be unlikely to expose excessively, and under this kind of condition, the exposure value of shaft tower can be weakened, is difficult to see the detail of shaft tower clearly.
This autonomic electric power system of patrolling and examining has the function of real-time adjustment exposure compensation to ensure that the image that unmanned aerial vehicle shot is still clear when the condition of adverse light is met to the flight in-process. The important parts of the tower can be exposed clearly.
The autonomous power inspection system has the voice and character prompting function, and prompts are given to key nodes of the operation of the autonomous power inspection system, so that the safety of the autonomous power inspection system in the use process is enhanced.
Further, the autonomous power inspection system further comprises a ground monitoring station 90 and a communication module 100, wherein the ground monitoring station 90 is connected with the control module; the ground monitoring station 90 is used for reading flight state data of the unmanned aerial vehicle and tower image information of the tower key point locations; sending an adjustment instruction to the control module; the control module 40 adjusts the working parameters of the unmanned aerial vehicle according to the adjustment instruction.
The ground monitoring station 90 communicates with the drone and the image acquisition module 50 through a communication module 100.
Further, the image capturing module 50 has a visible light capturing module 501 and an infrared thermal imaging capturing module 502, where the visible light capturing module 501 is used for capturing visible light, and the infrared thermal imaging capturing module 502 is used for capturing infrared images.
Further, the autonomous power inspection system of the VBA unmanned aerial vehicle further includes a GPS positioning module 110 and an RTK receiving module 120, where the GPS positioning module 110 is connected to the ground monitoring station 90 through a communication module 100, and is configured to send position information to the ground monitoring station 90;
the RTK receiving module 120 is connected to the ground monitoring station 90, and is configured to output RTK positioning information. The unmanned aerial vehicle with RTK dynamic positioning can control the error of autonomous flight within an acceptable range, and can reach centimeter level, thereby greatly improving the positioning accuracy. And the creation of the great Xinjiang promotes an SDK programming platform, and necessary conditions are provided for designing an autonomous flight path. Based on this, unmanned aerial vehicle independently electric power patrols and examines and relies on its easy operation, and the practicality is strong, and the not high characteristics of input cost have wide development prospect.
The main functions of the autonomous power inspection system comprise the following points:
1. autonomous inspection
And performing routine or fine inspection according to the needs of the user, and automatically generating a route.
2. High-definition photographic video
The image acquisition module 50 records the whole process of the line channel, automatically shoots the main part of the tower body, supports the common optical camera to zoom and shoot, can acquire the picture with clear details of the equipment, automatically adjusts exposure compensation according to the weather condition flight angle and the like, and ensures that the whole process of the image is clear. The visible light and infrared thermal imaging acquisition module 502 is carried, so that visible light and infrared images can be acquired simultaneously, the temperature of the equipment is sensed, and various defects and hidden dangers are found in time. The image resolution is high, and pin level defects easy to ignore by naked eyes can be found, the insulation level of the insulator is reduced or is zero, the drainage wire clamp is overheated, and the like.
3. Pole tower parameter measurement
For towers with no drawing or uncertain models, the main structural parameters of the towers are measured on site, and a digital model is established. And WGS-84 coordinates of the position of the tower can be directly or indirectly obtained through the picture, the line tower is automatically numbered, and a database is generated.
4. Artificial teaching
The method is characterized in that for special tower types and special environments which are not suitable for autonomous inspection, manual operation is adopted for flying, pictures are taken at all working parts, state parameters are automatically recorded, standard air route files are generated, and re-flying is carried out.
5. Auxiliary measurement
If the unmanned aerial vehicle with the RTK function is adopted, relevant auxiliary measurement work can be carried out in planning design, construction management and operation management of the power line. For example, conducting wire sag observation work is carried out, WGS-84 coordinates are collected at hanging points at two ends and any position in the middle of a line conducting wire, and span and wire sag are obtained on site in real time. Compared with conventional theodolite, total station and the like, the method has the advantages of simple operation, automatic calculation, high measurement precision, high speed and the like.
6. Photo management
The photo name of shooing when unmanned aerial vehicle patrols and examines is the serial number, and when quantity was more, it is very difficult corresponding with shaft tower name and position. After the treatment by the system, the renaming can be automatically carried out according to the pole tower number and the position, so that the reading management is convenient.
Compared with manually controlled unmanned aerial vehicles and other automatic unmanned aerial vehicle inspection software, the autonomous power inspection system has the following advantages:
1. the limiting factors are few: is not limited by vision and can fly over long distance. The autonomous power inspection system can realize autonomous flight even under the condition of no network by depending on WGS-84 satellite coordinate navigation and is not controlled by a remote control signal. Compared with manual operation, the automatic positioning device has the advantages of high action speed, accurate positioning, high working efficiency and the like.
2. The system has strong flexibility: the waypoint task has multiple modes, can carry out routine and fine inspection, and is suitable for various requirements of power inspection. The video can be recorded completely, and the picture can be shot according to the set angle, so that the comprehensive inspection tour is facilitated.
3. The accuracy is high: the software has the coordinate difference function, can automatically adjust unmanned aerial vehicle GPS coordinate error, improves waypoint position accuracy. The common optical camera is supported to zoom and shoot, the visible light and infrared thermal imaging acquisition module 502 can be carried, exposure compensation can be automatically adjusted according to weather conditions and flight angles, images acquired in the whole process are clearer, and the information quantity is larger.
4. The operability is strong: the user only needs to input various data at the air route planning end, and the system automatically calculates the flight time by importing the data into the mobile device, so that the flight time is prevented from exceeding the cruising ability of the unmanned aerial vehicle. The unmanned aerial vehicle can be completely controlled to automatically execute the task by manual simple operation, video recording and photographing are carried out according to a set air route and are stored in a memory card of the unmanned aerial vehicle, and automatic return is carried out after the task is finished. The software can automatically receive the working state of the unmanned aerial vehicle, and displays the main information such as images, battery capacity, memory card capacity, position, speed, height, course, flight time and the like on a screen in real time, so that the operation is convenient.
5. The routing inspection efficiency is high: 1 unmanned aerial vehicle operative hand, 1 safety guardian, 1 driver (can play a part in a double role), and 2-3 people can accomplish the work of patrolling and examining of dozens of kilometers circuit a day. The efficiency and the quality of the routing inspection work are improved in multiples, the burden of workers is reduced, and the power routing inspection work is fundamentally changed.
6. The data is convenient to manage: after the video and the photo are transmitted to the system, the system can rename according to information such as longitude, latitude, elevation, storage path and the like, automatically generate an excel table, is simple and clear, and facilitates identification and management in the later troubleshooting process.
As shown in fig. 3, a VBA unmanned aerial vehicle autonomous power inspection method specifically includes:
s101, a storage module stores tower image information;
in this step, the tower image information is stored through the storage module 10;
s102, inputting the model and the inspection mode of the tower to be detected by a man-machine interaction module;
in the step, the model and the inspection mode of the tower to be detected are input through the man-machine interaction module 20;
s103, calculating a detection point by the processing module;
in this step, calculating a detection point according to the received model and inspection mode of the tower to be detected by the processing module 30;
s104, the control module outputs a control instruction;
in this step, a control instruction is output through the control module 40 according to the detection point;
s105, the image acquisition module acquires tower image information of the tower key point positions;
in this step, the image acquisition module 50 acquires tower image information of the tower key point locations according to the control instruction, and stores the image information in the tower parameter database of the storage module 10.
As shown in fig. 6, the autonomous power inspection method further includes S106, adjusting exposure compensation in real time;
in this step, exposure compensation is adjusted in real time;
s1061, acquiring ambient brightness by the photoelectric sensing module;
in this step, the ambient brightness is obtained through the photoelectric sensing module 60;
s1062, performing analog-to-digital conversion on the acquired ambient brightness by using an analog-to-digital converter;
in this step, the analog-to-digital converter 70 performs analog-to-digital conversion on the ambient brightness acquired by the photoelectric sensing module 60;
s1063, outputting a corresponding exposure compensation value by the processing module;
in this step, the processing module 30 searches the corresponding relationship between the ambient brightness and the exposure compensation value according to the ambient brightness, and outputs a corresponding exposure compensation value;
s1064, the control module controls the illumination module 80 to automatically expose according to the original exposure parameters;
in this step, the control module 40 controls the illumination module 80 to automatically expose according to the original exposure parameters.
As shown in fig. 4, the autonomous power inspection method further includes S107, where the ground monitoring station communicates with the unmanned aerial vehicle and the image acquisition module;
in this step, the ground monitoring station 90 communicates with the unmanned aerial vehicle and the image acquisition module 50 through the communication module 100, and reads the flight state data of the unmanned aerial vehicle and the image information of the pole tower key point image;
s108, outputting an adjusting instruction by the ground monitoring station;
in this step, an adjustment instruction is output to the control module through the ground monitoring station 90;
s109, the control module adjusts working parameters of the unmanned aerial vehicle;
in this step, the working parameters of the unmanned aerial vehicle are adjusted through the control module 40 according to the adjustment instruction.
S110, communication is carried out through a communication module;
in the step, the communication between the ground monitoring station and the unmanned aerial vehicle and the image acquisition module is carried out through a communication module;
s111, the GPS positioning module sends position information;
in this step, the GPS positioning module 110 sends location information to the ground monitoring station 90;
and S112, outputting the RTK positioning information by the RTK receiving module.
In this step, the RTK positioning information is output through the RTK receiving module 120.
As shown in fig. 5, S105 specifically includes S1051, and the visible light collection module collects visible light;
in this step, visible light is collected by the visible light collection module 501;
s1052, collecting an infrared image by using an infrared imaging lens;
in this step, an infrared image is acquired through an infrared imaging lens.
The utility model provides a VBA unmanned aerial vehicle is electric power inspection device independently, includes: the system comprises a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the computer program when executed by the processor implements the steps of the autonomous power patrol method of the VBA drone.
The VBA unmanned aerial vehicle autonomous power inspection system, the method and the device are constructed based on visual programming and digital modeling.
An electronic device is provided, wherein an implementation program for information transmission is stored on the electronic device, and when the implementation program is executed by a processor, the steps of the autonomous power inspection method of a VBA unmanned aerial vehicle are implemented.
This VBA unmanned aerial vehicle's autonomic electric power system of patrolling and examining use as follows:
when the system is used, the tower parameter database and the flight line database are stored through the storage module 10; inputting the model and the inspection mode of the tower to be detected through the man-machine interaction module 20; calculating detection points and flight time data according to the received model and inspection mode of the tower to be detected through the processing module 30; outputting control instructions and flight time data according to the detection points through a control module 40; and acquiring tower image information of the key point positions of the towers according to the control instruction through an image acquisition module 50, and storing the image information to the storage module 10.
It should also be noted that 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 like elements in a process, method, article, or apparatus that comprises the element.
One or more embodiments of the present description may be described in the general context of computer-executable instructions, such as program modules, being executed by a computer. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform particular tasks or implement particular abstract data types. One or more embodiments of the specification may also be practiced in distributed computing environments where tasks are performed by remote processing devices that are linked through a communications network. In a distributed computing environment, program modules may be located in both local and remote computer storage media including memory storage devices.
The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, for the system embodiment, since it is substantially similar to the method embodiment, the description is simple, and for the relevant points, reference may be made to the partial description of the method embodiment.
The above description is only an example of this document and is not intended to limit this document. Various modifications and changes may occur to those skilled in the art from this document. Any modifications, equivalents, improvements, etc. which come within the spirit and principle of the disclosure are intended to be included within the scope of the claims of this document.
Claims (8)
1. The utility model provides an unmanned aerial vehicle's autonomic electric power system of patrolling and examining, its characterized in that includes:
the storage module comprises a tower parameter database, wherein tower image information is stored in the tower parameter database;
the man-machine interaction module is used for inputting the model of the tower to be tested and the inspection mode;
the processing module is connected with the human-computer interaction module and used for calculating detection points according to the received model of the tower to be detected and the routing inspection mode;
the control module is connected with the processing module and used for outputting a control instruction according to the detection point;
the image acquisition module is connected with the control module and the storage module and used for acquiring tower image information of the tower key point positions according to the control command and storing the tower image information to a tower parameter database of the storage module;
the autonomous power inspection system further comprises a photoelectric sensing module, an analog-to-digital converter and an illumination module, wherein the photoelectric sensing module is connected with the analog-to-digital converter, and the analog-to-digital converter is connected with the processing module;
the photoelectric sensing module is used for acquiring ambient brightness;
the analog-to-digital converter is used for performing analog-to-digital conversion on the ambient brightness acquired by the photoelectric sensing module;
the processing module is used for searching the corresponding relation between the environment brightness and the exposure compensation value according to the environment brightness and outputting a corresponding exposure compensation value;
and the control module controls the illumination module to automatically expose according to the original exposure parameters.
2. The autonomous power inspection system for unmanned aerial vehicles of claim 1, further comprising: ground monitoring station and communication module:
the ground monitoring station is connected with the control module and used for reading flight state data of the unmanned aerial vehicle and tower image information of the tower key point positions; outputting an adjusting instruction to the control module;
the control module is further to: adjusting working parameters of the unmanned aerial vehicle according to the adjusting instruction;
the communication module is used for communicating the ground monitoring station with the unmanned aerial vehicle and the image acquisition module through the communication module;
GPS positioning module and RTK receiving module: wherein:
the GPS positioning module is connected with the ground monitoring station through a communication module and used for sending position information to the ground monitoring station;
the RTK receiving module is connected with the ground monitoring station and used for outputting RTK positioning information.
3. The autonomous power inspection system for unmanned aerial vehicles of claim 1, wherein the image acquisition module includes: the visible light acquisition module and the infrared thermal imaging acquisition module:
the visible light acquisition module is used for acquiring visible light;
the infrared thermal imaging acquisition module is used for acquiring infrared images.
4. An autonomous power inspection method for an unmanned aerial vehicle, the method comprising:
s101, storing tower image information through a storage module;
s102, inputting the model and the inspection mode of the tower to be detected through a man-machine interaction module;
s103, calculating detection points according to the received model of the tower to be detected and the routing inspection mode through a processing module;
s104, outputting a control instruction according to the detection point through a control module;
s105, acquiring tower image information of a tower key point position according to the control instruction through an image acquisition module, and storing the tower image information to a tower parameter database of the storage module;
the autonomous power inspection method further comprises:
s106, adjusting exposure compensation in real time; the S106 specifically includes:
s1061, acquiring ambient brightness through a photoelectric sensing module;
s1062, performing analog-to-digital conversion on the ambient brightness acquired by the photoelectric sensing module through an analog-to-digital converter;
s1063, searching the corresponding relation between the ambient brightness and the exposure compensation value according to the ambient brightness through the processing module, and outputting a corresponding exposure compensation value;
and S1064, controlling the illumination module to automatically expose through the control module according to the original exposure parameters.
5. The autonomous power inspection method of unmanned aerial vehicles of claim 4, further comprising:
s107, reading the flight state data of the unmanned aerial vehicle and tower image information of the tower key point positions through a ground monitoring station;
s108, outputting an adjusting instruction to the control module through the ground monitoring station;
s109, adjusting the working parameters of the unmanned aerial vehicle through a control module according to the adjusting instruction;
s110, communication between the ground monitoring station and the unmanned aerial vehicle and between the ground monitoring station and the image acquisition module is carried out through a communication module;
s111, sending position information to the ground monitoring station through a GPS positioning module;
and S112, outputting the RTK positioning information through the RTK receiving module.
6. The autonomous power inspection method for unmanned aerial vehicles according to claim 5, wherein the S105 specifically includes:
s1051, collecting visible light through a visible light collecting module;
and S1052, acquiring the infrared image through the infrared imaging lens.
7. The utility model provides an unmanned aerial vehicle's autonomic electric power inspection device, its characterized in that includes: memory, a processor and a computer program stored on the memory and executable on the processor, the computer program when executed by the processor implementing the steps of the autonomous power patrol inspection method of a drone according to any one of claims 4 to 6.
8. An electronic device, characterized in that the computer readable storage medium has stored thereon an implementation program of information transfer, which when executed by a processor implements the steps of the autonomous power patrol inspection method of a drone according to any one of claims 4 to 6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110740993.6A CN113485417B (en) | 2021-06-30 | 2021-06-30 | Autonomous power inspection system, method and device of VBA unmanned aerial vehicle and electronic equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110740993.6A CN113485417B (en) | 2021-06-30 | 2021-06-30 | Autonomous power inspection system, method and device of VBA unmanned aerial vehicle and electronic equipment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113485417A CN113485417A (en) | 2021-10-08 |
| CN113485417B true CN113485417B (en) | 2022-08-02 |
Family
ID=77936906
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110740993.6A Active CN113485417B (en) | 2021-06-30 | 2021-06-30 | Autonomous power inspection system, method and device of VBA unmanned aerial vehicle and electronic equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113485417B (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105633853A (en) * | 2016-01-15 | 2016-06-01 | 南彦勃 | Power transmission line inspection system |
| CN105790155A (en) * | 2016-04-08 | 2016-07-20 | 四川桑莱特智能电气设备股份有限公司 | Differential-GPS-based unmanned-aerial-vehicle autonomous routing inspection system and method for power transmission line |
| CN107527395A (en) * | 2016-06-21 | 2017-12-29 | 中兴通讯股份有限公司 | A kind of unmanned plane method for inspecting, device and unmanned plane |
| CN111401146A (en) * | 2020-02-26 | 2020-07-10 | 长江大学 | Unmanned aerial vehicle power inspection method, device and storage medium |
| CN111739184A (en) * | 2020-06-28 | 2020-10-02 | 国网宁夏电力有限公司检修公司 | Power transmission line inspection system based on power transmission line tower pole |
| CN112540625A (en) * | 2020-11-18 | 2021-03-23 | 卓旺(安徽)航空科技产业股份有限公司 | Unmanned aerial vehicle autonomous automatic power grid tower inspection system |
| CN112859905A (en) * | 2019-11-28 | 2021-05-28 | 中国电力科学研究院有限公司 | Unmanned aerial vehicle inspection route generation method and device for overhead power line and unmanned aerial vehicle |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112164015B (en) * | 2020-11-30 | 2021-04-23 | 中国电力科学研究院有限公司 | Monocular vision autonomous inspection image acquisition method and device and power inspection unmanned aerial vehicle |
-
2021
- 2021-06-30 CN CN202110740993.6A patent/CN113485417B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105633853A (en) * | 2016-01-15 | 2016-06-01 | 南彦勃 | Power transmission line inspection system |
| CN105790155A (en) * | 2016-04-08 | 2016-07-20 | 四川桑莱特智能电气设备股份有限公司 | Differential-GPS-based unmanned-aerial-vehicle autonomous routing inspection system and method for power transmission line |
| CN107527395A (en) * | 2016-06-21 | 2017-12-29 | 中兴通讯股份有限公司 | A kind of unmanned plane method for inspecting, device and unmanned plane |
| CN112859905A (en) * | 2019-11-28 | 2021-05-28 | 中国电力科学研究院有限公司 | Unmanned aerial vehicle inspection route generation method and device for overhead power line and unmanned aerial vehicle |
| CN111401146A (en) * | 2020-02-26 | 2020-07-10 | 长江大学 | Unmanned aerial vehicle power inspection method, device and storage medium |
| CN111739184A (en) * | 2020-06-28 | 2020-10-02 | 国网宁夏电力有限公司检修公司 | Power transmission line inspection system based on power transmission line tower pole |
| CN112540625A (en) * | 2020-11-18 | 2021-03-23 | 卓旺(安徽)航空科技产业股份有限公司 | Unmanned aerial vehicle autonomous automatic power grid tower inspection system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113485417A (en) | 2021-10-08 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109002055B (en) | High-precision automatic inspection method and system based on unmanned aerial vehicle | |
| CN110470279B (en) | Centralized photovoltaic power plant battery pack defect inspection system based on many rotor unmanned aerial vehicle | |
| CN111966129B (en) | Photovoltaic inspection unmanned aerial vehicle and ground-imitating flying method thereof | |
| CN105790155B (en) | A kind of autonomous cruising inspection system of power transmission line unmanned machine and method based on differential GPS | |
| CN105865427A (en) | Individual geological disaster emergency investigation method based on remote sensing of small unmanned aerial vehicle | |
| CN108881825A (en) | Rice weed monitoring unmanned system and its monitoring method based on Jetson TK1 | |
| CN103941746A (en) | System and method for processing unmanned aerial vehicle polling image | |
| JP7179382B2 (en) | Phenotypic information collection system for field plants | |
| CN113781450A (en) | Automatic intelligent defect analysis system based on unmanned aerial vehicle image acquisition of power transmission and distribution line | |
| CN107168370A (en) | The fine intelligent inspection system of transmission line of electricity multi-rotor unmanned aerial vehicle and its method | |
| CN114035614A (en) | Unmanned aerial vehicle autonomous inspection method and system based on prior information and storage medium | |
| CN113075938A (en) | Remote intelligent inspection system and method for power transmission line | |
| CN112327906A (en) | Intelligent automatic inspection system based on unmanned aerial vehicle | |
| CN114820800A (en) | Real-time inspection method and equipment for power transmission line | |
| CN106292126A (en) | A kind of intelligence aerial survey flight exposal control method, unmanned aerial vehicle (UAV) control method and terminal | |
| CN113077561A (en) | Intelligent inspection system for unmanned aerial vehicle | |
| CN113033508B (en) | Point cloud-based fine routing inspection waypoint rapid generation method | |
| CN114092473B (en) | Large-scale product vision inspection device and system | |
| CN106656035A (en) | Photovoltaic power station fault detection method | |
| CN114020002A (en) | Method, device and equipment for inspecting fan blade by unmanned aerial vehicle, unmanned aerial vehicle and medium | |
| CN112067137A (en) | Automatic power line temperature measurement method based on unmanned aerial vehicle line patrol | |
| CN110989670B (en) | Unmanned aerial vehicle system for environmental water conservation monitoring of power transmission and transformation project and aerial photography method thereof | |
| CN109194284A (en) | Photovoltaic plant cruising inspection system, ground based terminal and equipment of taking photo by plane | |
| CN115580708A (en) | Unmanned aerial vehicle inspection method for optical cable line | |
| CN114200958A (en) | Automatic inspection system and method for photovoltaic power generation equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20240207 Address after: 117000, 1st to 5th floors, Building 34, Tangjia Road, Mingshan District, Benxi City, Liaoning Province, China, and 1st floor, 4th to 5th floors, Building 36 Patentee after: Benxi Electric Power Installation Co.,Ltd. Country or region after: China Address before: 311402 room 1312, 13th floor, building 4, Yinhu Huayuan, Yinhu street, Fuyang District, Hangzhou City, Zhejiang Province Patentee before: Hangzhou Tianxun Technology Co.,Ltd. Country or region before: China |
|
| TR01 | Transfer of patent right |