CN114115321A - Automatic foreign matter removing aircraft for high-voltage transmission line and automatic foreign matter removing method thereof - Google Patents
Automatic foreign matter removing aircraft for high-voltage transmission line and automatic foreign matter removing method thereof Download PDFInfo
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Abstract
The invention discloses an automatic foreign matter removing aircraft for a high-voltage transmission line, which comprises: the aircraft comprises an aircraft body, wherein a binocular camera, a laser radar and a foreign matter removing device are arranged on the aircraft body; the image processing module is used for identifying and positioning the position of the foreign matter in the high-voltage power transmission line through a trained three-order stacking width learning system according to the image shot by the binocular camera, and meanwhile, establishing communication with a flight control system; the path planning module is used for automatically planning a power transmission line route according to the point cloud data generated by the laser radar; and the flight control system is used for resolving the flight attitude. The invention solves the problem that the foreign matter identification of the aircraft is inaccurate under different scenes of the high-voltage transmission line, and provides the high-voltage transmission line foreign matter image identification module with strong robustness and good timeliness, so that the aircraft can quickly and effectively identify and remove the foreign matter, and the inspection efficiency of the high-voltage transmission line is improved.
Description
Technical Field
The invention relates to the field of aircraft image processing, in particular to a method for automatically detecting and removing foreign matters in a high-voltage transmission line based on aircraft image processing.
Background
In recent years, with the rapid development of the flying robot industry, the performance of the flying robot is greatly improved, and the flying attitude stability of the flying robot meets the requirement of industrial application. Particularly, the four-rotor aircraft has the advantages of stable attitude control, simple and convenient operation, strong maneuverability and convenient carrying, and is applied to industries such as industry, agriculture, rescue and the like.
The method has the advantages of bringing good application prospect for detecting the high-voltage transmission line of the aircraft due to the fact that the flying robot technology is mature day by day, and compared with the traditional manual inspection, the method has obvious advantages due to the characteristics of safety, reliability, high efficiency, flexibility and low cost.
Overhead transmission lines are typically several kilometers to several hundred kilometers long. In such a long and narrow range, the line equipment is exposed to the natural environment for a long time and runs, and is influenced by various external factors, such as interphase short circuit caused by hanging kites on the wires, grounding short circuit caused by birds and beasts, and objects such as a wood stick without a wire head, a burned bird and a damaged insulator and the like under the tower. All these foreign elements jeopardize the safe operation of the line at all times. Therefore, the line has more chances to fail, and once the line fails, the power transmission can be repaired for a long time, which causes different losses.
In order to ensure the safe operation of the line, in the process of line operation, the inspection needs to be carried out manually, and workers observe, inspect and measure each part of the power transmission line by eyes or a telescope and other tools and instruments. The work degree of difficulty is big in traditional manual work patrolling and examining, and the working cycle is long, and factor of safety is low, and the cost of labor is high, and it is serious to patrol and examine personnel's disappearance phenomenon in recent years simultaneously, and the annual average growth rate is less than 3%. The traditional manual mode can not meet the requirements of operation and maintenance of power grids in China more and more, and under the background, the establishment of a new mode for polling the high-voltage power transmission lines of the aircrafts is very important.
At present, an aircraft is used for shooting a power transmission line and processing images, the images are applied to inspection of the power transmission line of the aircraft, but part of foreign matters without obvious features cannot be accurately identified, and meanwhile, the linear feature detection technology of the power line is still immature, cannot be automatically identified, and needs to be monitored manually. The reason is that most of the existing image processing technologies are based on deep learning, although the performance of a deep learning network is strong, the colors and the forms of the routing inspection foreign objects are greatly changed when the routing inspection foreign objects are possibly exposed to wind and sunlight for too long time, and the deep learning network is possibly inaccurate.
Disclosure of Invention
The purpose of the invention is as follows: the invention aims to solve the problems that foreign matters cannot be accurately identified under different environments of towers and power lines in the prior art and the existing power line linear characteristic detection technology is not mature, and provides an automatic detection and removal aircraft for the foreign matters in a high-voltage power transmission line based on aircraft image processing, which can quickly and effectively detect the foreign matters existing on the high-voltage power transmission line;
the invention also aims to provide a method for automatically detecting and removing the foreign matters in the high-voltage transmission line of the aircraft.
The technical scheme is as follows: the invention relates to an automatic foreign matter removing aircraft for a high-voltage transmission line, which comprises:
the aircraft comprises an aircraft body, wherein a binocular camera, a laser radar and a foreign matter removing device are arranged on the aircraft body;
the image processing module is used for identifying and positioning the position of the foreign matter in the high-voltage power transmission line through a trained three-order stacking width learning system according to the image shot by the binocular camera, and meanwhile, establishing communication with a flight control system;
the path planning module is used for automatically planning a power transmission line route according to the point cloud data generated by the laser radar;
and the flight control system is used for resolving the flight attitude, controlling the aircraft body to be close to the target object according to the data transmitted by the image processing module, and removing the foreign matters by the foreign matter removing device.
The invention further preferably adopts the technical scheme that the specific method for identifying and positioning the position of the foreign matter in the high-voltage transmission line by the image shot by the binocular camera through the trained three-order stacking width learning system comprises the following steps: inputting the image into M groups of sequentially cascaded feature mappers, and calculating to obtain a mapping matrix Mi；
Then M groups of mapping matrixes MiInputting N groups of sequentially cascaded feature enhancers, and obtaining an enhancement matrix N through activation function calculationj；
Then combining the mapping matrix M and the enhancement matrix to obtain A ═ M | N]The label Y of the training data is known as W ═ A- 1Calculating Y to obtain weight W, wherein the weight W is used as the first order of a three-order stacking width learning system, namely a width learning module;
and then taking the output of the upper-order width learning module as the input of the lower-order width learning module, and finally adding the output of each-order width learning module to obtain the final output.
Preferably, the three-order stacking width learning system fuses the complete clear foreign matter picture and the defect foreign matter picture together for training based on the three-order stacking width learning system in the algorithm training process.
Preferably, the foreign matter removing device comprises a mechanical claw, a mechanical cutting pliers and/or a laser emitting device, and is used for removing foreign matters in different scenes.
The method for automatically removing the foreign matters in the high-voltage transmission line by the aircraft comprises the following steps:
(1) scanning the power transmission line including a tower and a power line through a laser radar of the aircraft body, establishing and recording a three-dimensional model of the power transmission line, and starting to inspect along the power line;
(2) in the inspection process, images shot by a binocular camera of the aircraft body are input into a three-order stacking width learning system, and the images are classified into two categories of a power line and a tower; if the power line type is the power line type, entering a power line task, and if the power line type is the tower type, entering a tower task;
the power line task comprises that the aircraft controls cruise through a flight control system along the direction which is not recorded by the laser radar building model, meanwhile, images shot by a binocular camera are identified whether foreign matters exist through a three-order stacking width learning system, and if the foreign matters are identified, the aircraft enters a clearing task;
the tower task is that the aircraft is judged to identify a tower, the flight control system controls the aircraft to carry out up-and-down inspection on the tower, the flight control system controls the aircraft to enter the power line inspection again along the direction which is not recorded by the laser radar building model after the inspection is finished, meanwhile, the image shot by the binocular camera identifies whether foreign matters exist through a three-order stacking width learning system, and if the foreign matters are identified, the tower task is carried out;
(3) clearing tasks: the aircraft recognizes foreign matters, the flight control system controls the aircraft body to be close to a target object, and corresponding instruments carried by the foreign matter removing device are used for removing tasks;
(4) and (4) after finishing the clearing task, continuing the inspection of the aircraft, and repeating the steps (1) to (3).
Has the advantages that: (1) the automatic foreign matter removing aircraft for the high-voltage transmission line and the method for automatically removing the foreign matters by using the aircraft solve the problem that the identification of the foreign matters by the aircraft is inaccurate under different scenes of the high-voltage transmission line, improve the classification efficiency and the identification capability, and provide the high-voltage transmission line foreign matter image identification module with strong robustness and good timeliness, so that the aircraft can quickly and effectively identify and remove the foreign matters, thereby improving the inspection efficiency of the high-voltage transmission line; according to the invention, the image is input into the three-order stacking width learning system in the foreign matter identification, and the three-order stacking width learning system has the advantages of improving the reliability of artificial intelligent identification, effectively improving the accuracy of foreign matter identification, realizing full-automatic line inspection and foreign matter removal, and not depending on manual monitoring;
(2) in the foreign matter identification algorithm training process, as foreign matter data are not perfect under many conditions, and foreign matter pictures such as incomplete pictures, color loss pictures, weathering pictures and the like can be generated, in the algorithm training process, based on a three-order stacking width learning system, the complete and clear foreign matter pictures and the defective foreign matter pictures are fused together for training, and even some defective picture samples can be generated specially, so that the identification accuracy of the algorithm on the defective pictures is improved, and the scene adaptability of the foreign matter identification algorithm in a complex scene is improved.
Drawings
FIG. 1 is a structural diagram of an automatic foreign matter removing aircraft for a high-voltage transmission line according to the invention;
FIG. 2 is a flow chart of an operation method of the automatic foreign matter removing aircraft for the high-voltage transmission line;
FIG. 3 is a process flow diagram of one module of the third order stack width learning system of the present invention;
FIG. 4 is a block diagram of a third order stack width learning system of the present invention.
Detailed Description
The technical solution of the present invention is described in detail below with reference to the accompanying drawings, but the scope of the present invention is not limited to the embodiments.
Example (b): an automatic foreign matter removing aircraft for a high-voltage transmission line, comprising:
the aircraft comprises an aircraft body 001, wherein a binocular camera 002, a laser radar 003 and a foreign matter removing device 004 are arranged on the aircraft body;
the image processing module 005 is used for identifying and positioning the position of the foreign matter in the high-voltage power transmission line through a trained three-order stacking width learning system according to the image shot by the binocular camera, and establishing communication with a flight control system;
the path planning module 006 is used for automatically planning a power transmission line route according to the point cloud data generated by the laser radar;
and the flight control system 007 is used for resolving the flight attitude, controlling the aircraft body to be close to the target object according to the data transmitted by the image processing module, and removing the foreign matters by the foreign matter removing device.
Referring to fig. 3, a specific method for identifying and locating the position of the foreign object in the high-voltage transmission line by the image shot by the binocular camera through the trained three-order stack width learning system is as follows: inputting the image into M groups of sequentially cascaded feature mappers, and calculating to obtain a mapping matrix Mi；
Then M groups of mapping matrixes MiInputting N groups of sequentially cascaded feature enhancers, and obtaining an enhancement matrix N through activation function calculationj；
Then combining the mapping matrix M and the enhancement matrix to obtain A ═ M | N]The label Y of the training data is known as W ═ A- 1Calculating Y to obtain weight W, wherein the weight W is used as the first order of a three-order stacking width learning system, namely a width learning module;
the feature mapper uses the input data X with a function phii(XWei+βei) Mapping produces an ith set of mapping features Mi. Wherein, WeiIs a random weight coefficient, β, of appropriate dimensioneiIs a random deviation. Given a token Mi[M1,...,Mi]All mapping features of the first i groups are represented. The feature enhancer maps the input matrix MiUsing function ζi(MiWhj+βhj) Generate the enhancement matrix as NjWhile all the enhanced nodes of the front j groups are marked as Nj[N1,...,Nj]。
By W ═ A-1Y is calculated to obtain a specific weight matrix W ═ λ I + AAT)-1ATY。
And then taking the output of the upper-order width learning module as the input of the lower-order width learning module, and finally adding the output of each-order width learning module to obtain the final output.
The core of the three-order stack width learning system is that autonomous incremental learning can be performed through a stack mapping matrix, an enhancement matrix and a system order, and the structure and the weight of the bottom are fixed when stacking is performed, so that the effectiveness and the efficiency of the original width learning system are maintained by the incremental method.
When the matrix is enhanced, a column a is added to the matrix A to obtain a newly added enhanced matrix [ A | a ], when the enhanced matrix is newly added, only the weight of the newly added part of neurons needs to be learned, and the weight matrix of the original node can be incrementally learned without re-learning.
In stacking the system orders, the first order width learning system has been trained with sample X to approximate the target output Y, and then its output U1 is used as input to train the second (previous) width learning system to approximate the residual Y-U1, and then the output U2 of the 2 nd order width learning system is used as input to train the 3 rd order width learning system to approximate the residual Y-U1-U2, with the output of the 3 rd order width learning system being U3. Finally, the output of each level width learning module is the output of the final system, i.e. Y-U1 + U2+ U3. In the whole process, width learning modules and features and enhanced nodes inside each module can be freely added. When a new width learning system order is stacked, the parameters of the lower layer module are fixed, and only the network parameters of the newly stacked width learning system module need to be calculated. The learning mode which only needs to learn the newly stacked order makes the learning very fast and accurate.
The three-order width learning system improves the accuracy of the aircraft in identifying the foreign matters in the high-voltage transmission line by continuously updating the optimized weight matrix W. When the target foreign matter is identified in the inspection process of the aircraft, the image processing module identifies the category of the target foreign matter through a third-order width learning system.
In the algorithm training process, the three-order stacking width learning system fuses the complete clear foreign matter picture and the defect foreign matter picture together for training based on the three-order stacking width learning system.
The foreign matter removing device comprises a mechanical claw, a mechanical shear and/or a laser emitting device, and when the aircraft approaches to the target object to a proper distance, the flight control system makes a decision to remove the target object by using the corresponding mechanical device carried by the foreign matter removing device.
The method for automatically removing the foreign matters on the high-voltage transmission line by the aircraft comprises the following steps:
(1) the aircraft takes off from a manually set takeoff point and starts to be inspected. The laser radar starts to work, point cloud data of a high-voltage transmission line tower and a power line are intelligently collected, and a high-precision high-voltage transmission line three-dimensional model is generated and recorded after the point cloud data are processed. The aircraft begins to patrol along the power line.
(2) In the inspection process, images shot by a binocular camera of the aircraft body are input into a three-order stacking width learning system, and the images are classified into two categories of a power line and a tower; if the power line type is the power line type, entering a power line task, and if the power line type is the tower type, entering a tower task;
the power line task comprises that the aircraft controls cruise through a flight control system along the direction which is not recorded by the laser radar building model, meanwhile, images shot by a binocular camera are identified whether foreign matters exist through a three-order stacking width learning system, and if the foreign matters are identified, the aircraft enters a clearing task;
the tower task is that the aircraft is judged to identify a tower, the flight control system controls the aircraft to carry out up-and-down inspection on the tower, the flight control system controls the aircraft to enter the power line inspection again along the direction which is not recorded by the laser radar building model after the inspection is finished, meanwhile, the image shot by the binocular camera identifies whether foreign matters exist through a three-order stacking width learning system, and if the foreign matters are identified, the tower task is carried out;
(3) clearing tasks: the aircraft recognizes foreign matters, the flight control system controls the aircraft body to be close to a target object, and corresponding instruments carried by the foreign matter removing device are used for removing tasks;
(4) and (4) after finishing the clearing task, continuing the inspection of the aircraft, and repeating the steps (1) to (3).
The invention can also establish a map of the high-voltage transmission line three-dimensional model recorded by the laser radar for the self-planning path of the aircraft to go to the designated point of the high-voltage transmission line for inspection. This embodiment enables accurate detection.
The automatic routing inspection route of the high-voltage power transmission line provided based on the laser radar three-dimensional map needs to meet the following requirements:
the method is characterized in that 1, the system cannot pass through the same tower twice during each inspection;
the method comprises the following steps that 2, the distance between an aircraft and a high-voltage transmission line is unchanged during routing inspection;
and 3, the total inspection time is shortest.
As noted above, while the present invention has been shown and described with reference to certain preferred embodiments, it is not to be construed as limited thereto. Various changes in form and detail may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (5)
1. The utility model provides a high tension transmission line foreign matter automatic clear aircraft which characterized in that includes:
the aircraft comprises an aircraft body, wherein a binocular camera, a laser radar and a foreign matter removing device are arranged on the aircraft body;
the image processing module is used for identifying and positioning the position of the foreign matter in the high-voltage power transmission line through a trained three-order stacking width learning system according to the image shot by the binocular camera, and meanwhile, establishing communication with a flight control system;
the path planning module is used for automatically planning a power transmission line route according to the point cloud data generated by the laser radar;
and the flight control system is used for resolving the flight attitude, controlling the aircraft body to be close to the target object according to the data transmitted by the image processing module, and removing the foreign matters by the foreign matter removing device.
2. The automatic foreign matter removing aircraft for the high-voltage transmission line according to claim 1, wherein the specific method for identifying and locating the position of the foreign matter in the high-voltage transmission line through the trained three-order stacking width learning system by using the images shot by the binocular camera comprises the following steps: inputting the image into M groups of sequentially cascaded feature mappers, and calculating to obtain a mapping matrix Mi；
Then M groups of mapping matrixes MiInputting N groups of sequentially cascaded feature enhancers, and obtaining an enhancement matrix N through activation function calculationj；
Then combining the mapping matrix M and the enhancement matrix to obtain A ═ M | N]The label Y of the training data is known as W ═ A-1Calculating Y to obtain weight W, wherein the weight W is used as the first order of a three-order stacking width learning system, namely a width learning module;
and then taking the output of the upper-order width learning module as the input of the lower-order width learning module, and finally adding the output of each-order width learning module to obtain the final output.
3. The aircraft of claim 2, wherein the three-order stacking width learning system fuses a complete clear foreign matter picture and a defect foreign matter picture together for training based on the three-order stacking width learning system in the algorithm training process.
4. The automatic foreign matter removing aircraft for the high-voltage transmission line according to claim 1, wherein the foreign matter removing device comprises a mechanical claw, a mechanical shear and/or a laser emitting device, and is used for removing foreign matters in different scenes.
5. A method for automatically removing foreign matters from a high-voltage transmission line by using the aircraft according to claim 1, which comprises the following steps:
(1) scanning the power transmission line including a tower and a power line through a laser radar of the aircraft body, establishing and recording a three-dimensional model of the power transmission line, and starting to inspect along the power line;
(2) in the inspection process, images shot by a binocular camera of the aircraft body are input into a three-order stacking width learning system, and the images are classified into two categories of a power line and a tower; if the power line type is the power line type, entering a power line task, and if the power line type is the tower type, entering a tower task;
the power line task comprises that the aircraft controls cruise through a flight control system along the direction which is not recorded by the laser radar building model, meanwhile, images shot by a binocular camera are identified whether foreign matters exist through a three-order stacking width learning system, and if the foreign matters are identified, the aircraft enters a clearing task;
the tower task is that the aircraft is judged to identify a tower, the flight control system controls the aircraft to carry out up-and-down inspection on the tower, the flight control system controls the aircraft to enter the power line inspection again along the direction which is not recorded by the laser radar building model after the inspection is finished, meanwhile, the image shot by the binocular camera identifies whether foreign matters exist through a three-order stacking width learning system, and if the foreign matters are identified, the tower task is carried out;
(3) clearing tasks: the aircraft recognizes foreign matters, the flight control system controls the aircraft body to be close to a target object, and corresponding instruments carried by the foreign matter removing device are used for removing tasks;
(4) and (4) after finishing the clearing task, continuing the inspection of the aircraft, and repeating the steps (1) to (3).
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| CN117182354A (en) * | 2023-11-07 | 2023-12-08 | 中国铁建电气化局集团有限公司 | Foreign matter removing method, device, equipment and storage medium |
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