CN115275870A - Inspection system based on high-altitude line maintenance - Google Patents
Inspection system based on high-altitude line maintenance Download PDFInfo
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/40—Extraction of image or video features
- G06V10/50—Extraction of image or video features by performing operations within image blocks; by using histograms, e.g. histogram of oriented gradients [HoG]; by summing image-intensity values; Projection analysis
- G06V10/507—Summing image-intensity values; Histogram projection analysis
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/70—Arrangements for image or video recognition or understanding using pattern recognition or machine learning
- G06V10/74—Image or video pattern matching; Proximity measures in feature spaces
- G06V10/75—Organisation of the matching processes, e.g. simultaneous or sequential comparisons of image or video features; Coarse-fine approaches, e.g. multi-scale approaches; using context analysis; Selection of dictionaries
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/70—Arrangements for image or video recognition or understanding using pattern recognition or machine learning
- G06V10/764—Arrangements for image or video recognition or understanding using pattern recognition or machine learning using classification, e.g. of video objects
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/10—Terrestrial scenes
- G06V20/17—Terrestrial scenes taken from planes or by drones
Abstract
The invention belongs to the technical field of high-altitude power supply equipment, and particularly relates to an inspection system based on high-altitude line maintenance, which comprises: the aircraft at least comprises an image acquisition module, a flight module and a data link transmission system; the terminal server at least comprises a processing unit, a propulsion system and a communication module; the aerial vehicle is used for collecting images of the high-altitude line equipment, the images are transmitted to the terminal server, and the terminal server is used for calculating and identifying the collected images. According to the invention, the inspection scheme is generated by the inspection system, and then the inspection scheme is executed by the aircraft, so that the inspection efficiency is improved, meanwhile, the simulation image can be generated according to the coordinates of the image data by establishing the three-dimensional model, after the simulation image is compared with the image data, the potential safety hazard existing on the high-altitude line and equipment can be rapidly identified, and the data processing difficulty is reduced.
Description
Technical Field
The invention belongs to the technical field of high-altitude power supply equipment, and particularly relates to an inspection system based on high-altitude line maintenance.
Background
The inspection of high-altitude lines is one of important contents of distribution network automation, and due to the particularity of geographical positions and environmental conditions of power supply lines, the high-altitude lines are exposed outdoors all the year round, are attacked by natural weather such as wind, rain, fog, snow, hail, thunder and lightning, threatened by natural disasters such as flood, earthquake, landslide, debris flow and the like, and also threatened by artificial factors such as mountain mining, construction blasting, stealing and destruction, and the safe operation of the power transmission lines is seriously threatened. Monitoring the operation state of the power transmission line (i.e. monitoring whether the power transmission line and the surrounding environment have faults) and repairing and maintaining the power transmission line regularly or irregularly are necessary means for ensuring the safe operation of the power transmission line. Among the prior art, maintain the high altitude circuit through the mode of artifical line or unmanned aerial vehicle inspection mostly and patrol and examine, nevertheless in above-mentioned two kinds of modes, have following problem:
1. in the existing mode, routing is carried out through manual wiring, requirements on comprehensive capabilities of personnel are high, the routing personnel are still exposed to uncertain factors such as high-altitude operation, altitude hypoxia, falling risks, electric shock risks, harsh environment and the like, the personal safety of the routing personnel is greatly hidden, and the problems of low routing efficiency, high routing experience requirements and routing omission exist when routing is carried out manually;
2. among the prior art, patrol and examine high altitude circuit through unmanned aerial vehicle, mostly rely on manual control unmanned aerial vehicle to be close to high altitude circuit and power equipment and patrol and examine, unmanned aerial vehicle patrols and examines the back and produces magnanimity image data, mostly need discern and judge image data through the manual work, and the identification efficiency is slower, and there is great degree of difficulty in the processing of data, under present personnel current situation condition, especially do not possess electrical knowledge in the outsourcing unit personnel basically, and the potential safety hazard identification accuracy is lower.
Disclosure of Invention
The invention aims to provide an inspection system based on high-altitude line maintenance, which generates an inspection scheme through the inspection system, executes the inspection scheme through an aircraft, improves inspection efficiency, can generate a simulation image according to coordinates of image data by establishing a three-dimensional model, can quickly identify potential safety hazards existing on high-altitude lines and equipment after comparing the simulation image with the image data, and reduces data processing difficulty.
The technical scheme adopted by the invention is as follows:
an inspection system based on high altitude line maintenance, comprising:
the aircraft at least comprises an image acquisition module, a flight module and a data link transmission system;
the terminal server at least comprises a processing unit, a propulsion system and a communication module;
the method comprises the following steps of carrying out image acquisition on the high-altitude line equipment through an aircraft, transmitting the image to a terminal server, and calculating and identifying the acquired image through the terminal server to investigate the potential safety hazard of the high-altitude line equipment, wherein the method comprises the following specific steps:
acquiring a three-dimensional model of an overhead line and related equipment, wherein the three-dimensional model at least comprises a power tower main body or/and a power pole main body, a power supply lead, a connecting element and an insulating element, creating an inspection target according to the three-dimensional model, classifying the inspection target, and establishing an equipment database;
acquiring a routing inspection interval and a routing inspection target, customizing routing inspection points according to the routing inspection target, and defining a routing inspection route according to the routing inspection interval and the routing inspection points to generate a routing inspection scheme and transmit the routing inspection scheme to an aircraft;
acquiring an image of an inspection target, moving the inspection target through the aircraft according to an inspection route, acquiring the image of the inspection target at an inspection point, and transmitting the acquired inspection image and image information to a terminal server after the inspection target image is acquired;
acquiring a polling result of a polling target, processing a polling image through the terminal server, generating a comparison image according to the three-dimensional model and the image information, comparing the polling image with the comparison image, and storing the comparison result;
and after the inspection is finished, generating an inspection report according to the comparison results of all the inspection targets.
In a preferred scheme, the specific steps of classifying the inspection target are as follows:
dividing the power tower main body or/and the power pole main body and other supporting parts into avoidance targets, and numbering the avoidance targets respectively;
dividing a connecting element, an insulating element and other components with the maximum length less than or equal to L into graphic targets, and numbering the graphic targets respectively according to the number of an installed power tower main body or a power pole main body as a prefix;
dividing power supply wires and other components with the maximum length larger than L into image targets, and numbering the image targets respectively according to the number of an installed power tower main body or a power pole main body as a prefix;
establishing a starting point coordinate and an end point coordinate of the image target and central coordinate information of the graphic target by taking a geodetic coordinate system as a reference;
and the L represents the maximum length range which can be shot by an image acquisition module on the aircraft on the premise that the aircraft and the routing inspection target keep a safe distance.
In a preferred embodiment, before the step of customizing the patrol route according to the patrol section, the method further includes:
obtaining basic information of a power supply element of an aircraft, the basic information comprising: the electric energy allowance, the rated current and the rated maximum current of the power supply element;
calculating the maximum endurance time and endurance mileage of the aircraft according to the basic information, wherein the endurance time calculation formula of the aircraft is as follows:
and C is the battery capacity of the aircraft power supply element, k is the percentage electric energy allowance, I is the rated current of the power supply element, w is the temperature coefficient, f is the wind power coefficient, and q is the safety coefficient.
In a preferred scheme, selecting a routing inspection interval and a routing inspection target, customizing routing inspection points according to the routing inspection target, and specifically making routing inspection routes according to the routing inspection interval and the routing inspection points comprises the following steps:
setting a patrol starting point and a patrol terminal point, generating a patrol section, and calling all graphic targets, image targets and avoidance targets in the patrol section according to the equipment database;
setting the flight speed of the aircraft, and generating a return route through a routing inspection end point and a routing inspection starting point, wherein in the process of generating the return route, the routing inspection end point is used as the starting point of the return route, the routing inspection starting point is used as the end point of the return route, all routing inspection targets and avoidance targets in a routing inspection interval are used as obstacles, and the return time consumption is calculated according to the length of the return route;
selecting a plurality of inspection points near the graphical target according to the graphical target in the inspection interval;
according to the image target in the inspection interval, establishing an inspection track of the image target by taking the image target as a reference, and establishing two inspection points by taking a starting point and an end point of the inspection track;
according to all patrol and examine a plurality of point sets of some formation, wherein, electric power tower and point set one-to-one, all patrol and examine the point on the same electric power tower and all place in same point set, calculate the flight cost between arbitrary two patrol and examine the point in the point set to arrange in order all patrol and examine the point in the same point set according to the calculated result, generate local optimum flight route, wherein, the computational formula of flight cost is:
wherein, in the process,
representing the flight length between two inspection points, which represents the flight path cost,
representing the difference in altitude between the two inspection points, which represents the fly-height cost.
Representing a feasibility index between two patrol points, which represents a path security cost,
weighted values of path cost, height cost, and security cost, respectively;
generating a routing inspection track according to a power supply lead between two adjacent power towers, integrating the routing inspection track and the local optimal flight route of each power tower, and generating a routing inspection primary route;
calculating the routing inspection time consumption according to the flight speed set by the aircraft and the length of the routing inspection preliminary route, wherein the routing inspection time consumption calculation formula is as follows:
the method comprises the steps of verifying a routing inspection initial route according to the maximum endurance time of an aircraft, integrating the routing inspection initial route and a return flight time if the sum of the routing inspection time and the return flight time is less than or equal to the maximum endurance time of the aircraft, generating a routing inspection route, resetting a routing inspection terminal point to reduce a routing inspection interval if the sum of the routing inspection time and the return flight time is greater than the maximum endurance time of the aircraft, regenerating the return flight route and the routing inspection initial route, wherein S represents the length of the routing inspection initial route, and V represents the flight speed set by the aircraft.
In a preferred scheme, the method for acquiring the image of the inspection target by the aircraft moves according to the inspection route and comprises the following specific steps of:
the aircraft transmits back the space coordinate in real time in the flying process;
when the aircraft is located at a patrol inspection point, acquiring the appearance graph of the graph target through the image acquisition element, and recording the acquisition time and the acquisition coordinate of the appearance graph;
when the aircraft is located on the routing inspection track, recording a video of the image target through the image acquisition element, and recording the starting time, the ending time, the video duration and the coordinates in the video recording process of the video;
and transmitting the acquired appearance graphics and videos to a terminal server through a data link transmission system on the aircraft.
In a preferred scheme, the terminal server processes the inspection image, generates a comparison image according to the three-dimensional model and the image information, and compares the inspection image with the comparison image, wherein the specific steps of:
extracting video information and key frames in a video, and acquiring a plurality of appearance graphs of an image target and coordinate information of the appearance graphs;
processing the image target and the appearance graph of the graph target to acquire the HOG characteristic of the graph target;
according to the coordinate information of the appearance graph, simulating image acquisition in the three-dimensional model through the terminal server to obtain a simulated graph;
processing the simulated graph to obtain the HOG characteristic of the simulated graph;
calculating the mean square error of the appearance graph and the simulation graph matched with the appearance graph, wherein the mean square error value has the calculation formula as follows:
in the above-mentioned formula, in the formula,
the gray values representing the pixels of the appearance pattern,
representing the gray value of the pixel point of the analog pattern, M representing the total number of pixels of the appearance pattern, N representing the total number of pixels of the analog pattern, when the mean square error value is 0, i.e. the value isThe two images are completely consistent, the potential safety hazard does not exist in the inspection target, and the smaller the mean square error value is, the higher the similarity of the two images is.
In a preferred embodiment, after the inspection is finished, the step before generating the inspection report according to the comparison results of all the inspection targets further includes: establishing a comparison database, recording high-altitude line inspection image data through manual training or network collection, and establishing names and judgment results of components in the image data.
An aircraft comprises a flight control system, an environment sensing system, a power supply management system, an image acquisition module, a storage module, a data chain transmission system and a carrier.
A server device comprises a processing unit, a storage element and a communication module which are connected through a system bus, wherein an inspection system, a device database and a comparison database which are maintained on the basis of a high-altitude line are stored in the storage element, and when the inspection system which is maintained on the basis of the high-altitude line is operated by the processing unit, any one of the above steps can be executed.
A high-altitude line inspection method comprises the following steps:
st1: selecting an inspection section, and generating an inspection route through an inspection system based on high-altitude line maintenance;
st2: transporting the aircraft to a patrol starting point, starting the aircraft, collecting images of high-altitude lines and equipment through the aircraft, and transmitting the collected images to a terminal server;
st3: and after the inspection is finished, the terminal server generates an inspection report.
The invention has the technical effects that:
the inspection system generates the inspection scheme, and the inspection scheme is executed through the aircraft to inspect the high-altitude line and equipment, so that the influence of severe environment is reduced, the inspection efficiency is improved, and the conditions of inspection omission and the potential personal safety hazard caused by manual inspection are avoided;
according to the invention, the simulation image is generated through the three-dimensional model and the coordinates of the image data, and after the simulation image is compared with the image data, the potential safety hazards existing on the high-altitude line and the equipment can be rapidly identified, the data processing difficulty is reduced, the identification efficiency and accuracy are improved, the potential safety hazards existing in the high-altitude line and the equipment can be conveniently checked, and the normal operation of the high-altitude line and the equipment is ensured.
Drawings
Fig. 1 is a flow chart of an inspection system based on high-altitude line maintenance according to a first embodiment of the invention;
FIG. 2 is a block diagram of an aircraft in accordance with a first embodiment of the invention;
FIG. 3 is a block diagram of a server device according to one embodiment of the invention;
fig. 4 is a flowchart of the inspection of the medium and high altitude line according to the first embodiment of the present invention.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, but the present invention may be practiced in other ways than those specifically described and will be readily apparent to those of ordinary skill in the art without departing from the spirit of the present invention, and therefore the present invention is not limited to the specific embodiments disclosed below.
Furthermore, reference herein to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one implementation of the invention. The appearances of the phrase "in one preferred embodiment" in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments.
Furthermore, the present invention is described in detail with reference to the drawings, and for convenience of illustration, the cross-sectional views illustrating the device structures are not enlarged partially according to the general scale when describing the embodiments of the present invention, and the drawings are only exemplary, which should not limit the scope of the present invention. In addition, the three-dimensional dimensions of length, width and depth should be included in the actual fabrication.
Example 1
Referring to fig. 1, a first embodiment of the present invention provides an inspection system based on overhead line maintenance, including:
the aircraft at least comprises an image acquisition module, a flight module and a data link transmission system;
the terminal server at least comprises a processing unit, a propulsion system and a communication module;
the method comprises the following steps of carrying out image acquisition on the high-altitude line equipment through an aircraft, transmitting the image to a terminal server, and calculating and identifying the acquired image through the terminal server to investigate potential safety hazards of the high-altitude line equipment, wherein the method comprises the following specific steps:
s10, obtaining a three-dimensional model of the high-altitude line and related equipment, wherein the three-dimensional model at least comprises a power tower main body or/and a power pole main body, a power supply lead, a connecting element and an insulating element, creating an inspection target according to the three-dimensional model, classifying the inspection target, and establishing an equipment database;
s20, acquiring a routing inspection interval and a routing inspection target, customizing routing inspection points according to the routing inspection target, and defining a routing inspection route according to the routing inspection interval and the routing inspection points to generate a routing inspection scheme and transmit the routing inspection scheme to an aircraft;
s30, acquiring an image of the inspection target, moving the inspection target according to an inspection route through the aircraft, acquiring the image of the inspection target at an inspection point, and transmitting the acquired inspection image and image information to a terminal server after the image of the inspection target is acquired;
s40, acquiring a polling result of a polling target, processing a polling image through the terminal server, simultaneously generating a comparison image according to the three-dimensional model and the image information, comparing the polling image with the comparison image, and storing the comparison result;
and S50, after the inspection is finished, generating an inspection report according to the comparison results of all the inspection targets.
In S10, when a three-dimensional model is built through three-dimensional software, a geodetic coordinate system is used as an absolute coordinate system, the dimensional ratio of the model is 1, the inspection target includes power supply wires, fittings, insulators, connecting and fastening elements and other parts related to power supply safety, and the equipment database includes coordinate values of a power tower or/and a power rod, and names and coordinate values of the inspection target;
as above step S20, when customizing the routing inspection route, the safe distance between the aircraft and the high-altitude line and the power supply device needs to be set, if: when the aircraft is unmanned aerial vehicle, the horizontal distance between the route of patrolling and examining of unmanned aerial vehicle and power supply wire and other electrical equipment keeps 5 meters at least.
It should be noted that the geodetic coordinate system is an existing mature application scheme, the geodetic coordinate system is a basic coordinate system of geodetic surveying, and is a coordinate system established by taking a reference ellipsoid as a datum plane in the geodetic surveying, and the establishment of the geodetic coordinate system includes selecting an ellipsoid, positioning the ellipsoid, and determining geodetic calculation data, wherein the geodetic longitude L, the geodetic latitude B, and the geodetic height H are 3 coordinate components of the coordinate system, and include a geocentric geodetic coordinate system and a reference geocentric geodetic coordinate system, and in the embodiment, the geocentric geodetic coordinate system is preferred.
In one embodiment, the specific steps of classifying the inspection target are as follows:
s11, dividing the power tower main body or/and the power pole main body and other supporting parts into avoidance targets, and numbering the avoidance targets respectively;
s12, dividing the connecting element, the insulating element and other components with the maximum length less than or equal to L into graphic targets, and numbering the graphic targets respectively according to the prefixes of the numbers of the main bodies of the power towers or the main bodies of the power poles on which the graphic targets are installed;
s13, dividing power supply wires and other components with the maximum length larger than L into image targets, and numbering the image targets respectively according to the prefixes of the numbers of the installed power tower main bodies or the power pole main bodies;
and S14, establishing the start point coordinate and the end point coordinate of the image target and the central coordinate information of the graphic target by taking the geodetic coordinate system as a reference.
And the L represents the maximum length range which can be shot by an image acquisition module on the aircraft on the premise that the aircraft and the routing inspection target keep a safe distance.
As described in the foregoing steps S11 to S12, in the inspection process of the aircraft, the support components such as the power tower main body and the power pole main body are divided into avoidance targets without inspection, and the avoidance targets are respectively denoted as T1, T2, T3, \8230 \ Tn, which have the function of planning a safety range and avoiding collision with the aircraft; connecting elements such as fastening bolts, pins and the like and insulating elements such as insulators and the like, wherein the maximum length of the connecting elements is less than L, the connecting elements are divided into graphic objects and are respectively marked as T1-X1, T1-X2, \8230, T1-Xn, T2-X1, T2-X2, \8230, 8230, tn-X1, tn-X2, \8230, 8230, tn-Xn, and when a single graphic object is shot through an image acquisition element on an aircraft, the graphic object can acquire a complete outline picture through single shooting; the power supply wires and other wires with the maximum length larger than L are divided into image objects which are respectively marked as T1-Y1, T1-Y2, \ 8230 \ 8230;, T1-Yn, T2-Y1, T2-Y2, \8230;, T2-Yn, \8230;, tn-Y1, tn-Y2, \8230; \ 8230;, tn-Yn, and the image objects cannot obtain complete outline pictures through single shooting and can only obtain appearance characteristics through video recording.
In one embodiment, before the step of customizing the routing inspection route according to the routing inspection interval, the method further comprises the following steps:
s21, acquiring basic information of a power supply element of the aircraft, wherein the basic information comprises: the electric energy allowance, the rated current and the rated maximum current of the power supply element;
s22, calculating the maximum endurance time and endurance mileage of the aircraft according to the basic information, wherein the endurance time calculation formula of the aircraft is as follows:
and C is the battery capacity of the aircraft power supply element, k is the percentage electric energy allowance, I is the rated current of the power supply element, w is the temperature coefficient, f is the wind power coefficient, and q is the safety coefficient.
Specifically, the values of w, f and q can be found in the following table:
furthermore, because the geographic position, the climatic environment and the operation standard of the operation area are different, the values of w and f can be obtained by training the aircraft for many times under different climatic conditions, so that the values of w and f are more fit with the use environment of the operation area, wherein q is the safety coefficient of the safe return flight of the aircraft, the condition that the aircraft cannot return flight after the electric quantity is consumed during the inspection operation of the aircraft is avoided, and the specific value can be adjusted according to the actual inspection requirement or the operation standard on the premise that the aircraft can return flight;
as described in the above steps S21-S22, when the high-altitude line is inspected by the aircraft, external factors and internal factors need to be considered comprehensively, where the internal factors include the battery remaining of the unmanned aerial vehicle, the endurance time of the unmanned aerial vehicle, and the external factors include outdoor weather, outdoor temperature, outdoor wind power, and air humidity, for example: when influence image acquisition's weather such as sleet, haze, sand and dust, dense fog, unsuitable patrolling and examining high altitude circuit, if again: the high-altitude line inspection device is not suitable for inspecting the high-altitude line in the weather affecting the flight capacity of the aircraft, such as high-temperature weather and extremely cold weather;
for another example: the high-altitude line inspection is carried out under the weather that the outdoor temperature is minus 7 ℃ and the wind power is 3-level, the battery capacity of the unmanned aerial vehicle is 22000mAh, the battery residual capacity is 85 percent, I is 8000mA, the formula is substituted, and the endurance time of the aircraft is 1.36H through calculation.
In one embodiment, selecting a routing inspection interval and a routing inspection target, customizing routing inspection points according to the routing inspection target, and specifically, the step of defining a routing inspection route according to the routing inspection interval and the routing inspection points comprises the following steps:
s23, setting a patrol starting point and a patrol terminal point, generating a patrol interval, and calling all graphic targets, image targets and avoidance targets in the patrol interval according to the equipment database;
s24, setting the flight speed of the aircraft, and generating a return route through a routing inspection end point and a routing inspection starting point, wherein in the process of generating the return route, the routing inspection end point is used as the starting point of the return route, the routing inspection starting point is used as the end point of the return route, all routing inspection targets and avoidance targets in a routing inspection interval are used as obstacles, and the return time consumption is calculated according to the length of the return route;
s25, selecting a plurality of inspection points near the graphical target according to the graphical target in the inspection interval;
s26, according to the image target in the inspection interval, establishing an inspection track of the image target by taking the image target as a reference, and establishing two inspection points by taking a starting point and an end point of the inspection track, wherein the distance between the inspection track and the image target is a safe distance;
s27, a plurality of point sets are generated according to all the inspection points, wherein the power towers correspond to the point sets one to one, all the inspection points on the same power tower are placed in the same point set, the flight cost between any two inspection points in the point set is calculated, all the inspection points in the same point set are sequenced according to the calculation result, a local optimal route is generated, and the calculation formula of the flight cost is as follows:
sorting all inspection points in a point set by taking an inspection starting point as a first node, selecting a second node according to the optimal solution of the flight cost of the first node, selecting a third node of 82308230A 8230A according to the optimal solution of the flight cost of the second node until all the inspection points in the point set are sorted, generating a local optimal flight route according to the sequence of the inspection points, wherein,
representing the flight length between two inspection points, which represents the flight path cost,
representing the difference in altitude between two inspection points, which represents the altitude cost。
Representing a feasibility index between two patrol points, which represents a path security cost,
the weighted values of the path cost, the height cost and the safety cost are respectively, wherein when a certain node is an end point of the routing inspection track, the next node must be the other end point of the routing inspection track;
s28, generating a routing inspection track according to a power supply lead between two adjacent power towers, integrating the routing inspection track and the local optimal flight route of each power tower to generate a routing inspection primary route, wherein the distance between the routing inspection track and an image target is a safe distance;
s29, calculating patrol time consumption according to the flight speed set by the aircraft and the length of the patrol preliminary route, wherein the patrol time consumption calculation formula is as follows:
the method comprises the steps of verifying a routing inspection initial route according to the maximum endurance time of an aircraft, integrating the routing inspection initial route and a return flight time if the sum of the routing inspection time and the return flight time is less than or equal to the maximum endurance time of the aircraft, generating a routing inspection route, resetting a routing inspection terminal point to reduce a routing inspection interval if the sum of the routing inspection time and the return flight time is greater than the maximum endurance time of the aircraft, regenerating the return flight route and the routing inspection initial route, wherein S represents the length of the routing inspection initial route, and V represents the flight speed set by the aircraft.
It should be noted that the cost of the flight path between any two inspection points in the same point set is formed by the sum of the euclidean distances between them, and the calculation formula is as follows:
the calculation formula of the flying height cost is as follows:
the calculation formula of the safety cost is as follows:
；
further, the shape of the inspection track of the image target can be the same as the shape of the image target, and can also be spiral, and the spiral inspection track takes the image target as an axis, for example: when the image target is a curve-shaped power supply lead, the shape of the routing inspection track created according to the power supply lead can be a curve, the shape of the curve is the same as that of the power supply lead, meanwhile, the shape of the routing inspection track created according to the power supply lead can also be a spiral curve, and the spiral curve takes the power supply lead as an axis;
specifically, if the inspection starting point and the inspection end point are both located on the same power tower, representing that the inspection task only has one power tower, generating a return route according to the inspection starting point and the inspection end point, calculating the return time of the return route, creating a point set according to all the inspection targets on the power tower, calculating the flight cost between any two points in the point set, sequencing all the inspection points in the point set according to the calculation result, generating a local optimal route, calculating the inspection time according to the local optimal route, checking the inspection time and the return time through the maximum flight time of the aircraft, integrating the local optimal route and the return route if the sum of the inspection time and the return time is less than or equal to the maximum endurance time of the aircraft, generating the inspection route, and performing power inspection on the power tower by the aircraft according to the route;
at least one of the plurality of inspection points near the graphic target is positioned at the upper end of the graphic target, at least one of the plurality of inspection points is positioned at the lower end of the graphic target, and at least one inspection point is positioned on the same horizontal plane with the graphic target.
As described in the foregoing steps S23-S26, by selecting multiple inspection points near the graphic target, the appearance graphics of the graphic target at multiple angles can be obtained, and further, the condition of missing inspection due to the image acquisition angle is avoided, in this embodiment, the number of inspection points selected near a single graphic target is three, wherein when there is no obstacle above the graphic target, at least one inspection point is located right above the graphic target; when an obstacle is under the graphic target, at least one inspection point is under the graphic target; when the obstacles exist above and below the graphic target, at least one inspection point is positioned on the same horizontal plane with the graphic target.
In one embodiment, the specific steps of moving the aircraft according to the inspection route and acquiring the image of the inspection target at the inspection point are as follows:
s31, the space coordinate of the aircraft is transmitted back in real time in the flying process of the aircraft;
s32, when the aircraft is located at a patrol inspection point, acquiring the appearance graph of the graph target through the image acquisition element, and recording the acquisition time and the acquisition coordinate of the appearance graph;
s33, when the aircraft is located on the inspection track, recording a video of the image target through the image acquisition element, and recording the starting time, the ending time, the video duration and the coordinates in the video recording process of the video;
and S34, transmitting the acquired appearance graphics and videos to a terminal server through a data link transmission system on the aircraft.
In one embodiment, the terminal server processes the inspection image, generates a comparison image according to the three-dimensional model and the image information, and compares the inspection image with the comparison image, including:
s41, extracting the number of videos, video coding information, video DTS, video PTS and IDR frame information in the videos, extracting key frames in the videos, and acquiring a plurality of appearance graphs of an image target and coordinate information of the appearance graphs;
s42, processing the image target and the appearance graph of the graph target to acquire the HOG characteristic of the graph target;
s43, according to the coordinate information of the appearance graph, simulating and acquiring an image in the three-dimensional model through the terminal server to obtain a simulated graph;
s44, processing the simulated graph to obtain the HOG characteristic of the simulated graph;
s45, calculating the mean square error of the appearance graph and the simulation graph matched with the appearance graph, wherein the mean square error is calculated according to the formula:
wherein, in the process,
the gray values representing the pixels of the appearance pattern,
the inspection target has no potential safety hazard, and the smaller the mean square error value is, the higher the similarity of the two images is.
As described in the above steps S41 to S44, the step of processing the graphics includes: extracting an original image, graying processing, image filtering, edge detection, segmentation and HOG characteristic extraction, wherein the graying processing is a process of converting a color image into a grayscale image and aims to improve the operation speed, and the empirical formula of graying is as follows:
wherein, R, G and B represent a red pixel value, a green pixel value and a blue pixel value in each pixel; the image filtering is to replace a central element by using an average value of all pixels in a convolution frame coverage area, so that the image filtering can play a smoothing role on an image, and can blur high-frequency information of the image such as the edge of the image and the like while weakening sharp noise (such as salt and pepper noise) of the image;
as described in step S45 above, the method for comparing the appearance graph with the simulation graph may also be performed by using MD5, histogram, PSNR, SSIM, and the like, and the comparison methods are all existing mature applications, and are not further described herein;
in one embodiment, after the inspection is finished, the specific steps of generating the inspection report according to the comparison results of all the inspection targets include:
s51, according to all judgment results: no hidden danger, hidden danger and incapability of judging and classifying;
s52, sorting according to the judgment result to generate an inspection report, wherein the inspection report at least comprises: the number of the power tower or/and the power pole, the number of the inspection target, the coordinates of the inspection target and the judgment result.
As in the above steps S51-S52, the detection report generated according to the determination result can refer to the following figures:
in one embodiment, after the inspection is finished, the step before generating the inspection report according to the comparison results of all the inspection targets further includes: establishing a comparison database, recording high-altitude line inspection image data through manual training or network collection, and establishing names and judgment results of components in the image data.
Further, the image that cannot be determined in S51 may be secondarily determined by the comparison database, the determination result may refer to the determination result in the comparison database, and if there is no matching image data in the comparison database, it may be determined that determination is impossible, and manual determination is required, and after the manual determination, the image data and the determination result are simultaneously recorded in the comparison database.
Referring to fig. 2, the present invention also provides an aircraft, which may be an unmanned plane or other device with controllable flight capability. The aircraft comprises a flight control system, an environment sensing system, a power supply management system, an image acquisition module, a storage module, a data chain transmission system and a carrier, wherein the flight control system is a control system which can stabilize the flight attitude of the unmanned aerial vehicle and can control the unmanned aerial vehicle to fly autonomously or semi-autonomously; the environment sensing system is a sensor module capable of detecting the surrounding environment and is a precondition for autonomous flight control of the aircraft; the data link transmission system is a communication module used for transmitting telemetering and load data from the aircraft to the ground station and transmitting data such as the attitude and position of the aircraft, the working state of airborne equipment, a current remote control instruction, a real-time image and the like; the carrier is arranged on various electric elements and protective components.
Referring to fig. 3, the present invention also provides a server device, which may be a computer device or other terminal with data processing capability. The server device includes a processing unit, a storage element, and a communication module connected by a system bus. The processing unit at least comprises a CPU, a memory, a BIOS chip and an I/O control chip, wherein the CPU is used for processing instructions, executing operation, requiring action, controlling time and processing data, the memory element is used for temporarily storing operation data in the CPU and data exchanged with an external memory such as a hard disk and the like, the BIOS chip is suitable for initializing and detecting various hardware devices in the starting process of a computer, and the I/O control chip is used for managing all input and output devices of the system. The storage element of the server device includes a nonvolatile storage medium, an internal storage element. The nonvolatile storage medium stores an operating system, an inspection system based on high-altitude line maintenance, an equipment database and a comparison database. The memory element provides an environment for the operation of an operating system and an inspection system based on high altitude line maintenance in a non-volatile storage medium. The equipment database and the comparison database of the server equipment are used for storing all data required in the operation process of the inspection system based on high-altitude line maintenance. When being executed by a CPU, the inspection system based on the high-altitude line maintenance can realize the processing process of high-altitude line inspection, the number of the servers can be single or multiple, and the servers can form a server cluster in a cluster mode.
It should be noted that a server cluster refers to a cluster in which many servers are integrated together to perform the same service, and appears to a client as if there is only one server. The cluster can utilize a plurality of computers to perform parallel computation so as to obtain high computation speed, and can also use a plurality of computers to perform backup so that any one machine can run normally or the whole system is damaged, cluster service is installed and run on a server, the server can join the cluster, the clustering operation can reduce the number of single-point faults and realize high availability of clustered resources, meanwhile, if the server runs the cluster service and cannot find other nodes in the cluster, the server can form a cluster, and when a plurality of nodes exist in one cluster, when the server of one node has hardware faults or software system faults, the application running on the node is switched to the servers of other nodes to continue running.
Referring to fig. 4, a high-altitude line inspection method includes the following steps:
the first step is as follows: selecting an inspection interval, and generating an inspection route through an inspection system based on high-altitude line maintenance;
the second step is that: transporting the aircraft to a patrol starting point, starting the aircraft, collecting images of high-altitude lines and equipment through the aircraft, and transmitting the collected images to a terminal server;
the third step: and after the inspection is finished, the aircraft navigates back, the terminal server calculates and compares the acquired images and generates an inspection report.
As described in the above steps, weather related information such as weather and temperature is input, basic information of an aircraft is obtained, the flying speed of an unmanned aerial vehicle is set, the longest endurance time of the aircraft is calculated, a routing inspection interval is selected according to a three-dimensional model of a high-altitude line and related equipment, a routing inspection starting point and a routing inspection ending point are obtained through the routing inspection interval, a return route is generated according to the routing inspection starting point and the routing inspection ending point, and return time is calculated, a routing inspection system for high-altitude line maintenance retrieves all routing inspection targets (including graphic targets and image targets) in the routing inspection interval according to an equipment database, a plurality of routing inspection points are created near each image target, and under the condition that no obstacle exists, a plurality of routing inspection points near the same image target are respectively distributed in different directions near the graphic target, and after the creation of the routing inspection points is completed, a point set is created according to a power tower where the routing inspection points are located, all the inspection points on the same power tower are positioned in the same point set, the flight cost between any two points in the same point set is calculated, the optimal solution of any point is obtained, the inspection starting point is used as a first node, a second node is selected according to the optimal solution of the flight cost of the first node, a third node is selected according to the optimal solution of the flight cost of the second node, \8230 \ 8230 \ by analogy, all the inspection points in the point set are sequenced, the local optimal route of the power tower inspection is generated according to the sequence of the inspection points, the local optimal route of each power tower in the inspection interval range is calculated according to the mode, then the inspection track is generated according to the power supply lead between two adjacent power towers, the shape of the inspection track can be the same as that of the power supply lead, and can also be spiral, and the spiral inspection track takes the power supply lead as the axis, integrating all routing inspection tracks in a routing inspection interval and local optimal flight routes of all power towers to generate a routing inspection preliminary route and calculate routing inspection time, integrating the routing inspection preliminary route and a return route to generate a routing inspection route if the sum of the routing inspection time and the return time is less than or equal to the maximum endurance time of the aircraft, and reducing the routing inspection interval and regenerating the routing inspection route if the sum of the routing inspection time and the return time is greater than the maximum endurance time of the aircraft;
after the routing inspection route is generated, the aircraft is transported to a routing inspection starting point, the aircraft is started to fly according to the routing inspection route, the routing inspection target is subjected to image acquisition in the flying process, the acquired routing inspection image is transmitted to a terminal server, routing inspection image information is acquired through the terminal server, orientation information and routing inspection target information are acquired through the images according to the routing inspection point information in the routing inspection image, the three-dimensional model of the routing inspection target is subjected to image acquisition in the same orientation and angle by means of the three-dimensional model, a simulation image is acquired, the simulation image and the routing inspection image are processed, respective HOG characteristics are acquired, the simulation image and the HOG of the routing inspection image are compared, if the comparison results are completely the same, the routing inspection target does not have potential safety hazards, if the comparison results are different, the routing inspection target is judged to have the potential safety hazards, after the routing inspection is finished, the terminal server generates routing inspection reports according to the comparison results of all routing inspection targets, and the routing inspection personnel can watch the routing inspection reports.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, apparatus, article, or method 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, apparatus, article, or method. Without further limitation, an element defined by the phrases "comprising a," "8230," "8230," or "comprising" does not exclude the presence of another identical element in a process, apparatus, article, or method comprising the element.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and amendments can be made without departing from the principle of the present invention, and these modifications and amendments should also be considered as the protection scope of the present invention. Structures, devices, and methods of operation not specifically described or illustrated herein are generally practiced in the art without specific recitation or limitation.
Claims (9)
1. The utility model provides a system of patrolling and examining based on high altitude circuit is maintained which characterized in that: the method comprises the following steps:
the aircraft at least comprises an image acquisition module, a flight module and a data link transmission system;
the terminal server at least comprises a processing unit, a propulsion system and a communication module;
the method comprises the following steps of carrying out image acquisition on the high-altitude line equipment through an aircraft, transmitting the image to a terminal server, and calculating and identifying the acquired image through the terminal server to investigate the potential safety hazard of the high-altitude line equipment, wherein the method comprises the following specific steps:
acquiring a three-dimensional model of an overhead line and related equipment, wherein the three-dimensional model at least comprises a power tower main body or/and a power pole main body, a power supply lead, a connecting element and an insulating element, creating an inspection target according to the three-dimensional model, classifying the inspection target, and establishing an equipment database;
acquiring a routing inspection interval and a routing inspection target, customizing routing inspection points according to the routing inspection target, and defining a routing inspection route according to the routing inspection interval and the routing inspection points to generate a routing inspection scheme and transmit the routing inspection scheme to an aircraft; the method comprises the following steps of selecting an inspection interval and an inspection target, customizing inspection points according to the inspection target, and customizing an inspection route according to the inspection interval and the inspection points, wherein the specific steps of:
setting a patrol starting point and a patrol terminal point, generating a patrol interval, and calling all graphic targets, image targets and avoidance targets in the patrol interval according to an equipment database;
setting the flight speed of the aircraft, and generating a return route through a routing inspection end point and a routing inspection starting point, wherein in the process of generating the return route, the routing inspection end point is used as the starting point of the return route, the routing inspection starting point is used as the end point of the return route, all routing inspection targets and avoidance targets in a routing inspection interval are used as obstacles, and the return time consumption is calculated according to the length of the return route;
selecting a plurality of inspection points near the graphic target according to the graphic target in the inspection interval;
according to the image target in the inspection interval, establishing an inspection track of the image target by taking the image target as a reference, and establishing two inspection points by taking a starting point and an end point of the inspection track;
generating a plurality of point sets according to all inspection points, wherein the power tower corresponds to the point sets one to one, all inspection points on the same power tower are placed in the same point set, calculating the flight cost between any two inspection points in the point set, sequencing all inspection points in the same point set according to the calculation result, and generating a local optimal flight route, wherein the calculation formula of the flight cost is as follows:
wherein, in the step (A),
representing the flight length between two inspection points, which represents the flight path cost,
representing the difference in altitude between the two inspection points, which represents the altitude cost,
representing a feasibility index between two routing points, which represents the path security cost,
weighted values for path cost, altitude cost, and security cost, respectively;
generating a polling track according to a power supply lead between two adjacent power towers, integrating the polling track and the local optimal flight route of each power tower to generate a polling preliminary route;
calculating the routing inspection time consumption according to the flight speed set by the aircraft and the length of the routing inspection preliminary route, wherein the routing inspection time consumption calculation formula is as follows:
the method comprises the steps of checking a routing inspection initial route according to the maximum endurance time of the aircraft, integrating the routing inspection initial route and the return time if the sum of the routing inspection time and the return time is less than or equal to the maximum endurance time of the aircraft to generate a routing inspection route, resetting a routing inspection terminal point to reduce a routing inspection interval if the sum of the routing inspection time and the return time is greater than the maximum endurance time of the aircraft, and regenerating the return time and the routing inspection initial route, wherein S represents the length of the routing inspection initial route, and V represents the set flight speed of the aircraft;
acquiring an image of an inspection target, moving the inspection target according to an inspection route through the aircraft, acquiring the image of the inspection target at an inspection point, and transmitting the acquired inspection image and image information to a terminal server after the image of the inspection target is acquired;
acquiring a polling result of a polling target, processing a polling image through the terminal server, generating a comparison image according to the three-dimensional model and the image information, comparing the polling image with the comparison image, and storing the comparison result;
and after the inspection is finished, generating an inspection report according to the comparison results of all the inspection targets.
2. The inspection system based on high altitude line maintenance of claim 1, characterized in that: the specific steps of classifying the inspection target are as follows:
dividing the power tower main body or/and the power pole main body and other supporting parts into avoidance targets, and numbering the avoidance targets respectively;
dividing a connecting element, an insulating element and other components with the maximum length less than or equal to L into graphic objects, and numbering the graphic objects respectively according to the prefixes of the numbers of the installed power tower main bodies or power pole main bodies;
dividing power supply wires and other components with the maximum length larger than L into image targets, and numbering the image targets respectively according to the number of an installed power tower main body or a power pole main body as a prefix;
establishing a starting point coordinate and an end point coordinate of the image target and central coordinate information of the graphic target by taking a geodetic coordinate system as a reference;
and the L represents the maximum length range which can be shot by an image acquisition module on the aircraft on the premise that the aircraft and the routing inspection target keep a safe distance.
3. The inspection system based on high altitude line maintenance of claim 1, characterized in that: before the step of customizing the routing inspection route according to the routing inspection section, the method further comprises the following steps of:
obtaining basic information of a power supply element of an aircraft, the basic information comprising: the electric energy allowance, the rated current and the rated maximum current of the power supply element;
calculating the maximum endurance time and endurance mileage of the aircraft according to the basic information, wherein the endurance time calculation formula of the aircraft is as follows:
and C is the battery capacity of the aircraft power supply element, k is the percentage electric energy allowance, I is the rated current of the power supply element, w is the temperature coefficient, f is the wind power coefficient, and q is the safety coefficient.
4. The overhead line maintenance-based inspection system according to claim 1, wherein: the aircraft moves according to the routing inspection route, and the specific steps of carrying out image acquisition on the routing inspection target at the routing inspection point are as follows:
the aircraft transmits back the space coordinate in real time in the flying process;
when the aircraft is positioned at a patrol inspection point, acquiring the appearance graph of the graph target through the image acquisition element, and recording the acquisition time and the acquisition coordinate of the appearance graph;
when the aircraft is positioned on the routing inspection track, recording a video of an image target through the image acquisition element, and recording the starting time, the ending time, the video duration and the coordinates in the video recording process of the video;
and transmitting the acquired appearance graphics and videos to a terminal server through a data link transmission system on the aircraft.
5. The inspection system based on high altitude line maintenance of claim 1, characterized in that: the terminal server processes the inspection image, generates a comparison image according to the three-dimensional model and the image information, and compares the inspection image with the comparison image, wherein the specific steps comprise:
extracting video information and key frames in a video, and acquiring a plurality of appearance graphs of an image target and coordinate information of the appearance graphs;
processing the image target and the appearance graph of the graph target to obtain the HOG characteristic of the graph target;
according to the coordinate information of the appearance graph, simulating image acquisition is carried out in the three-dimensional model through the terminal server, and a simulation graph is obtained;
processing the simulation graph to acquire the HOG characteristic of the simulation graph;
calculating the mean square error of the appearance graph and the simulation graph matched with the appearance graph, wherein the mean square error value has the calculation formula as follows:
in the above-mentioned formula, the above formula,
representing the gray values of the pixels of the appearance pattern,
the inspection target has no potential safety hazard, and the smaller the mean square error value is, the higher the similarity of the two images is.
6. The inspection system based on high altitude line maintenance of claim 1, characterized in that: after the inspection is finished, the steps before generating the inspection report according to the comparison results of all the inspection targets further comprise: establishing a comparison database, recording high-altitude line inspection image data through manual training or network collection, and establishing names and judgment results of components in the image data.
7. An aircraft applied to the high-altitude line maintenance-based inspection system of claims 1-6, wherein: the system comprises a flight control system, an environment sensing system, a power supply management system, an image acquisition module, a storage module, a data chain transmission system and a carrier.
8. A server device, characterized by: the system comprises a processing unit, a storage element and a communication module which are connected through a system bus, wherein an inspection system, an equipment database and a comparison database which are maintained on the basis of high-altitude lines are stored in the storage element, and when the inspection system which is maintained on the basis of high-altitude lines is operated by the processing unit, the steps of the inspection system which is maintained on the basis of high-altitude lines can be executed according to any one of claims 1 to 6.
9. An overhead line inspection method applying the inspection system based on overhead line maintenance according to any one of claims 1 to 6, characterized by comprising the following steps:
st1: selecting an inspection interval, and generating an inspection route through an inspection system based on high-altitude line maintenance;
st2: transporting the aircraft to a patrol starting point, starting the aircraft, collecting images of high-altitude lines and equipment through the aircraft, and transmitting the collected images to a terminal server;
st3: and after the inspection is finished, the terminal server generates an inspection report.
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