CN114935941A - Unmanned aerial vehicle autonomous inspection system based on laser point cloud - Google Patents
Unmanned aerial vehicle autonomous inspection system based on laser point cloud Download PDFInfo
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Abstract
The invention discloses an unmanned aerial vehicle autonomous inspection system based on laser point cloud, relates to the technical field of electric power operation and inspection, and solves the technical problem that in the process of power transmission line inspection, an unmanned aerial vehicle needs manual flying laser modeling, and a reasonable inspection route cannot be automatically planned, so that the inspection efficiency of the unmanned aerial vehicle is low; according to the invention, a patrol three-dimensional model is established according to the point cloud data, an autonomous patrol route is planned according to the patrol three-dimensional model, the edge patrol module starts and controls the unmanned aerial vehicle to complete a corresponding patrol task according to the autonomous patrol route, and then autonomous patrol data is obtained, the patrol route can be automatically planned according to the laser point cloud data, and the patrol efficiency of the unmanned aerial vehicle is improved; the edge inspection module performs pre-analysis on the acquired exclusive inspection data, reduces the data processing pressure and can identify abnormal power transmission equipment in time; meanwhile, the edge inspection modules communicate information in the inspection process, and a compensation flight task is reasonably set to ensure the inspection efficiency.
Description
Technical Field
The invention belongs to the field of electric power operation and inspection, relates to an unmanned aerial vehicle autonomous inspection technology based on laser point cloud, and particularly relates to an unmanned aerial vehicle autonomous inspection system based on laser point cloud.
Background
It is a very efficient operation mode to utilize unmanned aerial vehicle to patrol and examine transmission line or transmission equipment, but most electric power units are through the mode of manual control unmanned aerial vehicle in order to accomplish the task of patrolling and examining, and the operating efficiency is low, and patrols and examines the effect not good.
The prior art (patent of invention with publication number CN 109062233A) discloses an automatic driving inspection method for an unmanned aerial vehicle of a power transmission line, which realizes flight path planning, automatic driving and refined inspection of the unmanned aerial vehicle and can improve inspection quality. In the prior art, in the process of power transmission line inspection, an unmanned aerial vehicle is required to manually fly and perform laser modeling, and a reasonable inspection route cannot be automatically planned, so that the inspection efficiency of the unmanned aerial vehicle is low; therefore, an unmanned aerial vehicle autonomous inspection system based on laser point cloud is needed.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art; therefore, the invention provides an unmanned aerial vehicle autonomous inspection system based on laser point cloud, which is used for solving the technical problem that in the process of power transmission line inspection, the unmanned aerial vehicle needs manual flying laser modeling, and a reasonable inspection route cannot be automatically planned, so that the inspection efficiency of the unmanned aerial vehicle is low.
According to the invention, the point cloud data is obtained through screening of the central control module, the inspection three-dimensional model is established according to the point cloud data, the autonomous inspection route is planned according to the inspection three-dimensional model, the edge inspection module starts the unmanned aerial vehicle to complete the corresponding inspection task according to the autonomous inspection route, the autonomous inspection data is obtained, the inspection route can be automatically planned according to the laser point cloud data, and the inspection efficiency of the unmanned aerial vehicle is improved.
In order to achieve the above object, a first aspect of the present invention provides an autonomous inspection system for an unmanned aerial vehicle based on laser point cloud, which includes a central control module and a plurality of edge inspection modules connected to the central control module, wherein the edge inspection modules are configured in association with the unmanned aerial vehicle;
the edge inspection module: starting an unmanned aerial vehicle according to the autonomous patrol route, and flying a dedicated patrol route through the unmanned aerial vehicle; wherein the dedicated patrol route is distributed from the autonomous patrol route; and
acquiring exclusive inspection data when the exclusive inspection route flies, performing pre-analysis on the exclusive inspection data, and performing information interaction with the central control module according to an analysis result;
the central control module: screening and acquiring point cloud data according to a target position, establishing an inspection three-dimensional model according to the point cloud data, and planning the autonomous inspection air route according to the inspection three-dimensional model; and
checking the analysis result, and generating an early warning signal according to the checking result; and integrating and analyzing the exclusive routing inspection data to generate autonomous routing inspection data.
Preferably, the central control module is in communication and/or electrical connection with the plurality of edge inspection modules;
the edge inspection modules are in one-to-one association with the unmanned aerial vehicles and are arranged in the associated unmanned aerial vehicles; wherein, the edge inspection module with the data acquisition terminal that unmanned aerial vehicle carried is connected.
Preferably, the central control module obtains the point cloud data by combining with the target location screening, and includes:
acquiring point cloud original data of the power transmission line in a monitoring area;
acquiring a geographical position corresponding to the power transmission equipment, and marking the geographical position as a target position;
and screening the point cloud original data according to the target position to obtain the point cloud data.
Preferably, the central control module obtains the autonomous patrol route according to the patrol three-dimensional model, and the method includes the following steps:
establishing and acquiring the inspection three-dimensional model according to the point cloud data;
determining the number of unmanned aerial vehicles according to the number of the power transmission equipment or the area covered by the power transmission equipment in the inspection three-dimensional model;
and the autonomous inspection air route is acquired by combining unmanned aerial vehicle quantity planning, and is sent to the plurality of edge inspection modules.
Preferably, after receiving the autonomous patrol route, the plurality of edge patrol modules start the corresponding associated unmanned aerial vehicles;
and the edge inspection modules cooperate with each other to divide the autonomous inspection route into a plurality of exclusive inspection routes and realize the distribution of the exclusive inspection routes.
Preferably, the edge patrol module controls relevance the unmanned aerial vehicle flies the exclusive patrol route, acquires the exclusive patrol data, and includes:
starting the related unmanned aerial vehicle and the data acquisition terminal carried by the unmanned aerial vehicle;
acquiring route inspection data in real time according to the exclusive route inspection flight, and performing data processing on the route inspection data to acquire the exclusive route inspection data;
and recording the inspection process of the unmanned aerial vehicle, acquiring an exclusive inspection record, and associating the exclusive inspection record with the exclusive inspection data.
Preferably, the edge inspection module pre-analyzes the dedicated inspection data, and includes:
extracting the exclusive routing inspection data according to the target position, and marking the exclusive routing inspection data as target routing inspection data;
and identifying and analyzing the target inspection data by combining a built-in intelligent analysis model, generating a pre-analysis label according to an identification and analysis result, and transmitting the pre-analysis label to the central control module in real time.
Preferably, the central control module integrates the exclusive patrol data to obtain the autonomous patrol data, and the method includes the following steps:
fusing and matching a plurality of special routing inspection data into the routing inspection three-dimensional model;
and analyzing and extracting the exclusive patrol data according to a set requirement, rendering the patrol three-dimensional model according to an analysis and extraction result, and acquiring the independent patrol data.
Compared with the prior art, the invention has the beneficial effects that:
1. according to the invention, the point cloud data is obtained through screening of the central control module, the inspection three-dimensional model is established according to the point cloud data, the autonomous inspection route is planned according to the inspection three-dimensional model, the edge inspection module starts the unmanned aerial vehicle to complete the corresponding inspection task according to the autonomous inspection route, the autonomous inspection data is obtained, the inspection route can be automatically planned according to the laser point cloud data, and the inspection efficiency of the unmanned aerial vehicle is improved.
2. The edge inspection module performs pre-analysis on the acquired exclusive inspection data, reduces the data processing pressure and can identify abnormal power transmission equipment in time; meanwhile, the edge inspection modules communicate information in the inspection process, and a compensation flight task is reasonably set to ensure the inspection efficiency.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic diagram of the working steps of the present invention.
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 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.
The prior art (patent of invention with publication number CN 109062233A) discloses an automatic driving inspection method for an unmanned aerial vehicle of a power transmission line, which realizes flight path planning, automatic driving and refined inspection of the unmanned aerial vehicle and can improve inspection quality. In the prior art, in the inspection process of a power transmission line, manual flying laser modeling of an unmanned aerial vehicle is needed, and the unmanned aerial vehicle cannot automatically plan and reasonably inspect a route, so that the inspection efficiency of the unmanned aerial vehicle is low.
According to the invention, the point cloud data is obtained through screening of the central control module, the inspection three-dimensional model is established according to the point cloud data, the autonomous inspection route is planned according to the inspection three-dimensional model, the edge inspection module starts the unmanned aerial vehicle to complete the corresponding inspection task according to the autonomous inspection route, the autonomous inspection data is obtained, the inspection route can be automatically planned according to the laser point cloud data, and the inspection efficiency of the unmanned aerial vehicle is improved.
Referring to fig. 1, an embodiment of the first aspect of the present application provides an autonomous inspection system for an unmanned aerial vehicle based on laser point cloud, including a central control module and a plurality of edge inspection modules connected to the central control module, where the edge inspection modules are configured in association with the unmanned aerial vehicle;
the edge inspection module: starting the unmanned aerial vehicle according to the autonomous patrol route, and flying the exclusive patrol route through the unmanned aerial vehicle; and
acquiring exclusive routing inspection data when the exclusive routing inspection line flies, performing pre-analysis on the exclusive routing inspection data, and performing information interaction with a central control module according to an analysis result;
the central control module: screening and acquiring point cloud data according to the target position, establishing a patrol three-dimensional model according to the point cloud data, and planning an autonomous patrol route according to the patrol three-dimensional model; and
checking the analysis result, and generating an early warning signal according to the checking result; and integrating and analyzing the special routing inspection data to generate the autonomous routing inspection data.
The central control module in this application is equivalent to central server, and its effect includes that the cloud data of going on the analysis in order to obtain independently to patrol and examine the airline to and patrol and examine the result according to a plurality of results of patrolling and examining that the edge module of patrolling and examining sent and obtain the result of patrolling and examining of monitoring area, independently patrol and examine data promptly. The edge inspection module is equivalent to an edge server, and the function of the edge inspection module mainly comprises data interaction with the central control module and inspection task completion of the unmanned aerial vehicle related to control.
The exclusive routing inspection route in the application is distributed from the independent routing inspection route, namely, each edge routing inspection module analyzes the exclusive routing inspection route according to the independent routing inspection route. The autonomous inspection air route comprises a plurality of exclusive inspection air routes, and each exclusive inspection air route is provided with an unmanned aerial vehicle.
The autonomous inspection data in the application is formed by splicing a plurality of exclusive inspection data and is matched with an inspection three-dimensional model, and the autonomous inspection data in a monitoring area can quickly locate the power transmission equipment and analyze the state of the corresponding power transmission equipment.
The central control module is in communication and/or electrical connection with the edge inspection modules; the edge inspection module is in one-to-one association with the unmanned aerial vehicle and is arranged in the associated unmanned aerial vehicle, and meanwhile, the edge inspection module is connected with a data acquisition terminal carried by the unmanned aerial vehicle.
The edge inspection module is installed inside the unmanned aerial vehicle, and communication with the central control module and the unmanned aerial vehicle is realized through the communication module. The edge inspection module acquires data through a data acquisition terminal carried by the unmanned aerial vehicle, and the data acquisition terminal comprises image acquisition equipment and various sensors; the image acquisition device is specifically a camera.
The central control module in this application combines the screening of target location to acquire some cloud data, includes:
acquiring point cloud original data of a power transmission line in a monitoring area;
acquiring a geographical position corresponding to the power transmission equipment, and marking the geographical position as a target position;
and screening the point cloud original data according to the target position to obtain point cloud data.
The central control module acquires point cloud original data in a monitoring area through laser radar collection, the power supply original data contain a plurality of redundant data, and the redundant data can increase the difficulty of three-dimensional modeling, so that the point cloud original data need to be screened.
The power grid inspection is mainly used for inspecting power transmission equipment in a monitoring area, so that the geographical position of the power transmission equipment is used as a target position, and the target position and related point cloud data thereof are reserved to complete screening. In the screening process of the point cloud original data, fine screening can be performed by combining the shape and the size of the power transmission equipment.
It should be noted that, if the routing inspection is performed conventionally, all the power transmission equipment in the monitoring area are routing inspection objects; and if the important inspection is performed, the important power transmission equipment in the monitoring area is an inspection object. The position of the inspection object is the target position.
The central control module in this application acquires the route of independently patrolling and examining according to patrolling and examining three-dimensional model, includes:
establishing and acquiring a patrol three-dimensional model according to the point cloud data;
determining the number of unmanned aerial vehicles according to the number of power transmission equipment in the inspection three-dimensional model or the area of a covered area;
and (4) planning by combining the number of the unmanned aerial vehicles to obtain the autonomous patrol route, and sending the autonomous patrol route to the plurality of edge patrol modules.
After the point cloud data are obtained, the central control module obtains a patrol three-dimensional model by combining three-dimensional modeling software. After the routing inspection three-dimensional model is determined, the number of unmanned aerial vehicles is also determined.
In a preferred embodiment, the determining the number of the unmanned aerial vehicles according to the number of the power transmission devices in the patrol three-dimensional model comprises the following steps:
acquiring the number of power transmission equipment in the inspection three-dimensional model, and marking as SS;
determining the number of the needed unmanned aerial vehicles through a formula WS (alpha multiplied by SS); wherein α is a proportionality coefficient obtained according to practical experience, and α is a real number greater than 0.
Or use monitoring area's center as the benchmark, divide into a plurality of type sector area with monitoring area, every type sector area can dispose an unmanned aerial vehicle, can also guarantee to patrol and examine efficiency when guaranteeing to patrol and examine the quality.
In another preferred embodiment, the number of the unmanned aerial vehicles can be determined according to the area covered by the monitoring area, namely, the most suitable routing inspection area of one unmanned aerial vehicle is obtained, and the number of the unmanned aerial vehicles can be determined by dividing the monitoring area according to the most suitable routing inspection area.
In the method, after a plurality of edge inspection modules receive the autonomous inspection route, the corresponding related unmanned aerial vehicles are started; and the plurality of edge inspection modules cooperate with each other to divide the autonomous inspection route into a plurality of exclusive inspection routes and realize the distribution of the exclusive inspection routes.
The edge inspection modules are communicated with each other and cooperate with each other. And each edge inspection module is distributed to a special inspection route, and the related unmanned aerial vehicle is controlled to inspect power transmission equipment on the special inspection route.
The unmanned aerial vehicle flight exclusive routing inspection line that module control is correlated is patrolled and examined to edge in this application acquires exclusive data of patrolling and examining, include:
starting the related unmanned aerial vehicle and a data acquisition terminal carried by the unmanned aerial vehicle;
acquiring route inspection data in real time according to the exclusive route inspection flight, and performing data processing on the route inspection data to acquire exclusive route inspection data;
and recording the inspection process of the unmanned aerial vehicle, acquiring the exclusive inspection record, and associating the exclusive inspection record with the exclusive inspection data.
The data processing of the route inspection data mainly comprises image preprocessing, namely, image segmentation, image denoising and other processing are carried out on the acquired image data, and useless image data are removed, so that the data storage and transmission efficiency is ensured.
In the exclusive routing inspection record, at least the routing inspection progress of the unmanned aerial vehicle is recorded, and whether the routing inspection route deviates from the exclusive routing inspection route or not is recorded; simultaneously still should be compared the progress of patrolling and examining with predetermineeing the progress, come the speed of patrolling and examining of balancing each unmanned aerial vehicle.
The edge inspection module in this application is patrolled and examined the data and is carried out pre-analysis to the exclusive, include:
extracting exclusive patrol data according to the target position and marking the exclusive patrol data as target patrol data;
and identifying and analyzing the target inspection data by combining a built-in intelligent analysis model, generating a pre-analysis label according to an identification and analysis result, and transmitting the pre-analysis label to the central control module in real time.
The intelligent analysis model is obtained through training of the neural network model and is mainly used for identifying whether the power transmission equipment is normal or not according to target inspection data, such as an image identification model established based on the neural network.
In the inspection process, nobody can continuously acquire exclusive inspection data, if the inspection task is completed and then the exclusive inspection data is analyzed and identified, abnormal power transmission equipment can not be processed timely, and if the exclusive inspection data is analyzed and identified immediately, inspection efficiency is reduced due to large data processing pressure. Therefore, the routing inspection data corresponding to the power transmission equipment corresponding to the target position is analyzed, and the normal work of the key power transmission equipment is guaranteed.
When the central control module receives the analysis result corresponding to the pre-analysis, the analysis result is checked by a worker, and if the analysis result is abnormal after the check, an early warning signal is generated, and a maintainer is arranged to carry out on-site overhaul and maintenance.
In other preferred embodiments, important power transmission equipment can be additionally defined, and when the unmanned aerial vehicle acquires the routing inspection data of the defined power transmission equipment, the routing inspection data is immediately analyzed and fed back.
Central control module in this application patrols and examines data to a plurality of exclusions and integrates, acquires independently to patrol and examine data, includes:
fusing and matching a plurality of special routing inspection data into a routing inspection three-dimensional model;
and analyzing and extracting the special inspection data according to a set requirement, rendering the inspection three-dimensional model according to an analysis and extraction result, and acquiring the autonomous inspection data.
A plurality of exclusive routing inspection data are spliced and matched with a routing inspection three-dimensional model, and routing inspection results can be visually displayed. The exclusive routing inspection data can be extracted and analyzed according to the set requirement, and the analysis result is rendered into the routing inspection three-dimensional model.
The set requirements are used for analyzing the plurality of special inspection data in a targeted mode, if the reasons of the abnormal power transmission equipment need to be analyzed, the special inspection data corresponding to the abnormal power transmission equipment are extracted firstly, and the abnormal reasons can be determined through analysis.
In this application, each edge is patrolled and examined module and is patrolled and examined in-process intercommunication data, if certain unmanned aerial vehicle had accomplished early the task of patrolling and examining, then other unmanned aerial vehicle's the progress of patrolling and examining of analysis and supplementary other unmanned aerial vehicle to accomplish and patrol and examine the task.
The working principle of the invention is as follows:
the central control module obtains point cloud data according to the target position screening, establishes an inspection three-dimensional model according to the point cloud data, and plans an autonomous inspection air route according to the inspection three-dimensional model.
The edge inspection module starts the unmanned aerial vehicle according to the autonomous inspection air line, and acquires exclusive inspection data when the exclusive inspection air line is flown through the exclusive inspection air line of the unmanned aerial vehicle.
The central control module integrates and analyzes the special inspection data and generates the autonomous inspection data by combining the inspection three-dimensional model.
Although the present invention has been described in detail with reference to the preferred embodiments, it will be understood by those skilled in the art that various changes may be made and equivalents may be substituted for elements thereof without departing from the scope of the present invention.
Claims (8)
1. Unmanned aerial vehicle independently system of patrolling and examining based on laser point cloud to a plurality of edges that are connected with it patrol and examine the module, just module and unmanned aerial vehicle correlation configuration are patrolled and examined to the edge, its characterized in that:
the edge inspection module: starting an unmanned aerial vehicle according to the autonomous patrol route, and flying a dedicated patrol route through the unmanned aerial vehicle; the exclusive inspection route is distributed from the autonomous inspection route; and
acquiring exclusive inspection data when the exclusive inspection route flies, performing pre-analysis on the exclusive inspection data, and performing information interaction with the central control module according to an analysis result;
the central control module: screening and acquiring point cloud data according to a target position, establishing an inspection three-dimensional model according to the point cloud data, and planning the autonomous inspection air route according to the inspection three-dimensional model; and
checking the analysis result, and generating an early warning signal according to the checking result; and integrating and analyzing the exclusive routing inspection data to generate autonomous routing inspection data.
2. The unmanned aerial vehicle autonomous inspection system based on laser point cloud of claim 1, wherein the central control module is in communication and/or electrical connection with a plurality of the edge inspection modules;
the edge inspection modules are in one-to-one association with the unmanned aerial vehicles and are arranged in the associated unmanned aerial vehicles; wherein, the edge module of patrolling and examining with the data acquisition terminal that unmanned aerial vehicle carried is connected.
3. The unmanned aerial vehicle autonomous inspection system based on laser point cloud of claim 1, wherein the central control module acquires the point cloud data in combination with the target location screening, including:
acquiring point cloud original data of the power transmission line in a monitoring area;
acquiring a geographical position corresponding to the power transmission equipment, and marking the geographical position as a target position;
and screening the point cloud original data according to the target position to obtain the point cloud data.
4. The unmanned aerial vehicle autonomous inspection system according to claim 3, wherein the central control module obtains the autonomous inspection route according to the inspection three-dimensional model, and the system comprises:
establishing and acquiring the inspection three-dimensional model according to the point cloud data;
determining the number of unmanned aerial vehicles according to the number of the power transmission equipment or the area covered by the power transmission equipment in the inspection three-dimensional model;
and the autonomous inspection air route is acquired by combining unmanned aerial vehicle quantity planning, and is sent to the plurality of edge inspection modules.
5. The unmanned aerial vehicle autonomous inspection system based on laser point cloud of claim 2, wherein a plurality of the edge inspection modules start the corresponding associated unmanned aerial vehicle after receiving the autonomous inspection route;
and the plurality of edge inspection modules cooperate with one another to divide the autonomous inspection route into a plurality of exclusive inspection routes and realize the distribution of the exclusive inspection routes.
6. The autonomous unmanned aerial vehicle inspection system based on laser point cloud of claim 5, wherein the edge inspection module controls the associated unmanned aerial vehicle to fly the exclusive inspection route, and acquires the exclusive inspection data, comprising:
starting the related unmanned aerial vehicle and the data acquisition terminal carried by the unmanned aerial vehicle;
acquiring route inspection data in real time according to the exclusive route inspection flight, and performing data processing on the route inspection data to acquire the exclusive route inspection data;
and recording the inspection process of the unmanned aerial vehicle, acquiring an exclusive inspection record, and associating the exclusive inspection record with the exclusive inspection data.
7. The unmanned aerial vehicle autonomous inspection system based on laser point cloud of claim 6, wherein the edge inspection module pre-analyzes the proprietary inspection data, including:
extracting the exclusive routing inspection data according to the target position, and marking the exclusive routing inspection data as target routing inspection data;
and identifying and analyzing the target inspection data by combining a built-in intelligent analysis model, generating a pre-analysis label according to an identification and analysis result, and transmitting the pre-analysis label to the central control module in real time.
8. The unmanned aerial vehicle autonomous inspection system according to claim 7, wherein the central control module integrates a plurality of proprietary inspection data to obtain the autonomous inspection data, and the system comprises:
fusing and matching a plurality of special routing inspection data into the routing inspection three-dimensional model;
and analyzing and extracting the special inspection data according to a set requirement, rendering the inspection three-dimensional model according to an analysis and extraction result, and acquiring the autonomous inspection data.
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