CN115328182A - Unmanned aerial vehicle distribution line autonomous inspection and standing book checking method and system - Google Patents
Unmanned aerial vehicle distribution line autonomous inspection and standing book checking method and system Download PDFInfo
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- CN115328182A CN115328182A CN202210948322.3A CN202210948322A CN115328182A CN 115328182 A CN115328182 A CN 115328182A CN 202210948322 A CN202210948322 A CN 202210948322A CN 115328182 A CN115328182 A CN 115328182A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
- G05D1/0816—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft to ensure stability
- G05D1/0825—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft to ensure stability using mathematical models
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
- G05D1/106—Change initiated in response to external conditions, e.g. avoidance of elevated terrain or of no-fly zones
Abstract
The invention relates to the technical field of distribution line inspection and standing book verification, and discloses an unmanned aerial vehicle distribution line autonomous inspection and standing book verification method and system, which comprises the following steps: an unmanned aerial vehicle carrying a radar module and an edge calculation module identifies the direction of the wire and autonomously avoids obstacles to fly along the identified direction of the wire; identifying a tower and collecting relevant parameters of the tower; after the acquisition is completed, integrating the relevant parameters to construct a distribution line ledger and verifying and updating; discernment shaft tower head instance and wire instance through radar module and the edge calculation module that carries on the unmanned aerial vehicle, unmanned aerial vehicle removes along the wire instance direction of discernment, and gather shaft tower head image and shaft tower place positional information, in order to accomplish the intelligent coordinate acquisition of distribution lines, carry out the check-up of circuit ledger information, realize joining in marriage the synchronous renewal of net internal and external network data, it is fast, the accuracy is high, further ensure the safe operation of distribution lines, provide the data basis for joining in marriage net line loss management, join in marriage net intelligent operation and maintenance and provide the data support for realizing.
Description
Technical Field
The invention relates to the technical field of distribution line inspection and standing book verification, in particular to an unmanned aerial vehicle distribution line autonomous inspection and standing book verification method and system.
Background
With the rapid development of national economy in recent years, distribution lines in China are wide in distribution range, complex in environmental conditions, lines are increased in kilometers continuously, the running state of the lines is monitored, faults are discovered in time, and the prevention of safety production accidents is an important work of operation and maintenance management departments.
At present, the condition that network line ledger information in a power distribution network is wrong or incomplete exists, and the accuracy of the line ledger directly influences the judgment of a line fault position, so that the maintenance and the verification of the tower line ledger are very important. At present, the distribution line operation and inspection mode of national grid companies mainly adopts manual inspection, an unmanned aerial vehicle is manually controlled by a flyer to collect pole tower photos and ledger coordinates, the working efficiency is low, the dependence on the control capability of the flyer is strong, and the requirement on the skill of the flyer to control the unmanned aerial vehicle is high.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide an unmanned aerial vehicle distribution line autonomous inspection and standing book checking method.
In order to achieve the above purpose, the invention provides the following technical scheme:
an unmanned aerial vehicle distribution line autonomous inspection and standing book checking method comprises the following steps:
the method comprises the following steps:
the unmanned aerial vehicle carrying the radar module and the edge calculation module identifies the direction of the wire and autonomously avoids obstacle and flies along the identified direction of the wire;
identifying the tower and collecting relevant parameters of the tower;
and after the acquisition is finished, integrating the related parameters to construct a distribution line ledger and verifying and updating the distribution line ledger.
In the present invention, it is preferable that the method further comprises the steps of:
when the unmanned aerial vehicle takes off, the unmanned aerial vehicle is controlled by the flying hand to move to an initial position, and the machine head faces to the inspection direction;
determining the routing inspection direction as a large-size side direction or a small-size side direction;
sending a starting instruction to the unmanned aerial vehicle, starting the tower of the unmanned aerial vehicle and identifying a lead;
the drone starts flying.
In the present invention, preferably, the step of identifying the direction of the wire by the drone is as follows:
s01: the method comprises the steps that an unmanned aerial vehicle lens collects real-time images, and an edge calculation module carrying a tower head and a wire autonomous identification operation model identifies a wire example;
s02: calculating and identifying the direction vector of each wire, and averaging the direction vectors to obtain the direction vectors of one or more wires;
s03: and calculating and deleting the lead direction vector when the unmanned aerial vehicle arrives according to the position of the last tower identified by the unmanned aerial vehicle, and determining the lead direction vector of the unmanned aerial vehicle which continuously flies.
In the present invention, preferably, identifying the tower and performing tower-related parameter acquisition includes the following steps:
s11: the method comprises the following steps that an unmanned aerial vehicle lens collects a real-time image, and an edge calculation module identifies a tower head example of a tower;
s12: after identifying that a tower exists, the unmanned aerial vehicle adjusts the position to be 3 meters above the tower head of the tower, and coordinate data are collected;
s13: and the acquisition coordinate position is used as an initial position, the tower head of the tower is patrolled and examined, and the relevant image data of the distribution network tower is acquired.
In the present invention, it is preferable that, in step S13, the method specifically further includes the steps of:
s130: identifying the direction of a cross arm of a tower, automatically planning a refined inspection route of the base tower by the unmanned aerial vehicle, and starting inspection according to the planned inspection route;
s131: the unmanned aerial vehicle hovers right above the tower, the lens is vertically downward, and a picture at the top of the tower is shot by taking 1 meter below the tower head as a shooting target point;
s132: taking the head orientation of the unmanned aerial vehicle at the initial position as a reference direction, turning the unmanned aerial vehicle to the left by 45 degrees, moving the unmanned aerial vehicle to a position which is linearly distant from a shooting target point by 8 meters, and shooting a picture of the tower head at a depression angle of 45 degrees below the inclined lens;
s133: the unmanned aerial vehicle turns left by 120 degrees with the reference direction as an aim, descends to the same height as a shooting target point, has a horizontal distance of 5 meters and a lens pitch angle of 0 degree, and horizontally shoots a picture of the tower head of the tower containing the left insulator;
s134: the unmanned aerial vehicle turns to the right by 60 degrees by taking the reference direction as an aim, the height of the unmanned aerial vehicle is the same as that of a shooting target point, the horizontal distance is 5 meters, the lens pitch angle is 0 degree, and a picture of the tower head of the tower containing the right insulator is horizontally shot;
s135: the position of the unmanned aerial vehicle is unchanged, the direction of a machine head and a lens is adjusted by taking the direction of a small-size side channel as a reference, a horizontal included angle of 30 degrees is formed between the direction of the small-size side channel and the direction of the small-size side channel, and a picture of the small-size side channel is horizontally shot;
s136: the position of the unmanned aerial vehicle is unchanged, the direction of a machine head and a lens is adjusted by taking the direction of a large-size side channel as a reference, a horizontal included angle of 30 degrees is formed between the direction of the large-size side channel and the direction of the large-size side channel, and a large-size side channel side picture is horizontally shot;
s137: and the unmanned aerial vehicle returns to the initial position to finish the fine inspection of the tower.
In the invention, preferably, the unmanned aerial vehicle carries out line-biting flying along the identified wire direction, and the line-biting flying height is 5 meters from the unmanned aerial vehicle to the lower wire.
In the present invention, preferably, the unmanned aerial vehicle performs the following steps along the wire for obstacle avoidance flight:
s21: the carried radar module detects whether an obstacle exists in front of the unmanned aerial vehicle or not in real time and the distance between the unmanned aerial vehicle and the obstacle, and defines a periodic distance as the distance generated by the unmanned aerial vehicle flying at a specified speed for a specified time;
s22: when the radar module detects that no obstacle exists in front of the unmanned aerial vehicle or the distance between the unmanned aerial vehicle and the obstacle is larger than a period distance, the unmanned aerial vehicle keeps flying by biting a line;
s23: when the radar module detects that the distance between the radar module and the obstacle is less than a period distance plus an obstacle avoidance safety distance, the unmanned aerial vehicle vertically ascends to fly;
s24: when the distance between the unmanned aerial vehicle and the front obstacle is greater than a period distance plus an obstacle avoidance safety distance in the ascending flight of the unmanned aerial vehicle, the unmanned aerial vehicle ascends by two meters, and the distance between the unmanned aerial vehicle and the front obstacle after ascending is judged;
s25: after rising, when the distance between the unmanned aerial vehicle and the front obstacle is larger than a period plus the obstacle avoidance safety distance, the unmanned aerial vehicle flies forwards, and otherwise, the steps S23-S24 are repeated;
s26: when the unmanned aerial vehicle flies forwards, calculating the time required by the unmanned aerial vehicle to reach the starting point of the obstacle, and suspending line-biting flight of the unmanned aerial vehicle in the time period;
s27: the unmanned aerial vehicle flies above the barrier, the lower distance detection is started, and the unmanned aerial vehicle and the barrier below fly at the height of 5 meters;
s28: when the unmanned aerial vehicle flies over the barrier, the line-biting flight is continued.
In the invention, preferably, the obstacle avoidance method when the unmanned aerial vehicle performs tower related parameter acquisition comprises the following steps:
s31: the unmanned aerial vehicle flies to detect the distance of a front obstacle in real time, and when the distance between the front obstacle and the unmanned aerial vehicle is smaller than the distance between the unmanned aerial vehicle and a target and the obstacle avoidance safety distance, the unmanned aerial vehicle flies upwards;
s32: after the unmanned aerial vehicle flies upwards, when the distance of a front obstacle is larger than the distance between the unmanned aerial vehicle and a target position plus an obstacle avoidance safety distance, the unmanned aerial vehicle flies forwards to the direction of the target position, and then descends to the target position;
s33: when descending, if there is the barrier below, lead to unmanned aerial vehicle can't descend to the target location, release unmanned aerial vehicle control right, carry out remote control to unmanned aerial vehicle.
In the present invention, preferably, the integrating the relevant parameters to construct the distribution line ledger includes the following steps:
s41: processing photos collected by the unmanned aerial vehicle, and extracting material, tower type and loop related parameter data of a tower;
s42: storing the related parameter data to a gateway key service analysis system;
s43: submitting to the intranet system, and updating the account data of the intranet system.
In the invention, it is preferable that the unmanned aerial vehicle comprises an unmanned aerial vehicle, a radar module, an edge calculation module, a storage module and a processing module are arranged on the unmanned aerial vehicle, and the storage module and the processing module are in communication connection with the radar module and the edge calculation module to perform data interaction, so as to complete the unmanned aerial vehicle power distribution line ledger autonomous verification method according to any one of claims 1 to 9.
Compared with the prior art, the invention has the beneficial effects that:
according to the invention, the tower head example and the wire example are identified through the edge calculation module carried in the unmanned aerial vehicle, the unmanned aerial vehicle can move along the identified wire example direction, and the tower patrol image along the line and the position information of the tower are collected to complete the intelligent coordinate collection of the distribution line and check the line account information, so that the synchronous update of the data of the internal network and the external network of the distribution network is realized, the speed is high, the accuracy is high, the safe operation of the distribution line is further ensured, a data basis is provided for the line loss control of the distribution network, and a data support is provided for the intelligent operation and maintenance of the distribution network; meanwhile, the unmanned aerial vehicle avoids obstacle flight in the inspection process, and the safety of the flight route of the unmanned aerial vehicle is guaranteed.
Drawings
Fig. 1 is a schematic flow chart of an unmanned aerial vehicle distribution line autonomous inspection and standing book verification method according to the present invention.
Fig. 2 is a real-time image acquired by the unmanned aerial vehicle of the present invention.
Fig. 3 is a tower head image acquired by the unmanned aerial vehicle according to the present invention.
Fig. 4 is a schematic diagram of the principle of calculating the center direction of the wire according to the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When a component is referred to as being "connected" to another component, it can be directly connected to the other component or intervening components may also be present. When a component is referred to as being "disposed on" another component, it can be directly on the other component or intervening components may also be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
Referring to fig. 1 to 3, a preferred embodiment of the present invention provides an unmanned aerial vehicle distribution line autonomous inspection and ledger verification method, in which an unmanned aerial vehicle carries a radar module and an edge calculation module, so that intelligent coordinate acquisition and refined inspection of an unmanned aerial vehicle on a distribution network line are realized, autonomous verification of line ledger information is completed, and synchronous update of network data inside and outside a distribution network is realized, and the method includes the following steps: when the unmanned aerial vehicle takes off, the unmanned aerial vehicle is controlled by the flying hand to move to an initial position, and the machine head faces to the inspection direction; determining the routing inspection direction as a large-size side direction or a small-size side direction; sending a starting instruction to the unmanned aerial vehicle, starting the tower of the unmanned aerial vehicle and identifying a lead; the unmanned aerial vehicle starts flying, the unmanned aerial vehicle carrying the radar module and the edge calculation module identifies the direction of the wire, and autonomously avoids obstacle flying along the identified direction of the wire; identifying the tower and collecting relevant parameters of the tower; and (5) after the acquisition is completed, integrating the relevant parameters to construct a distribution line ledger and verifying and updating the distribution line ledger.
In the embodiment, an edge calculation module is loaded with a tower head and a wire autonomous recognition operation model, the autonomous recognition operation model is obtained by training marked wires and tower head example images, the autonomous recognition operation model is obtained by training tower head and wire sample data with marks by adopting the existing autonomous recognition model, and in the flight process of the unmanned aerial vehicle, images acquired by a camera lens are used for recognizing the tower head and the wires through the autonomous recognition operation model; the radar module adopts millimeter wave radar, sets up respectively in unmanned aerial vehicle aircraft nose position and fuselage bottom.
In this embodiment, unmanned aerial vehicle flies along the wire direction of discerning, guarantees that unmanned aerial vehicle flight path validity is high, avoids the distribution lines disappearance of gathering, and unmanned aerial vehicle discernment wire direction's step is as follows:
s01: the method comprises the steps that an unmanned aerial vehicle lens collects real-time images, and an edge calculation module carrying a tower head and a wire autonomous identification operation model identifies a wire example;
s02: calculating and identifying the direction vector of each lead monomer, and averaging the direction vectors to obtain the direction vectors of one or more leads;
s03: and calculating and deleting the lead direction vector when the unmanned aerial vehicle arrives according to the position of the last tower identified by the unmanned aerial vehicle, and determining the lead direction vector of the unmanned aerial vehicle which continuously flies.
As shown in fig. 4, specifically, when the unmanned aerial vehicle is flying autonomously, the lens is directed downward, an image is collected, the edge calculation module identifies a lead example, after the lead example is identified, the direction vector of each lead monomer is calculated, and after the obtained lead vectors are clustered and integrated, an average value is calculated to obtain the direction vectors of a single lead or a plurality of leads, then according to the last tower position data stored in the unmanned aerial vehicle, the direction vector of the lead when the unmanned aerial vehicle comes is calculated and deleted from the obtained direction vectors of the plurality of leads, and finally the direction vector of the guide direction along which the unmanned aerial vehicle continues to fly is obtained, and according to the direction vector, the lens direction and the head direction of the camera of the unmanned aerial vehicle are adjusted to enable the unmanned aerial vehicle to continue to fly along the lead direction, and whether an image of a tower head example exists or not is judged within the imaging range of the camera.
In the embodiment, identifying the pole tower and collecting relevant parameters of the pole tower comprise the following steps:
s11: the method comprises the steps that real-time images are collected by an unmanned aerial vehicle lens, and an edge calculation module identifies a tower head example;
s12: after identifying that a tower exists, the unmanned aerial vehicle adjusts the position to be 3 meters above the tower head of the tower, and coordinate data are collected;
s13: and the acquisition coordinate position is used as an initial position, the tower head of the tower is patrolled and examined, and the relevant image data of the distribution network tower is acquired.
Specifically, when the unmanned aerial vehicle acquires an image and identifies a tower head of the tower through the edge calculation module in the flying process, the position of the unmanned aerial vehicle is adjusted until the tower head is in the middle of a lens of the unmanned aerial vehicle, then the distance between the unmanned aerial vehicle and the tower head is detected through the radar module, the unmanned aerial vehicle is descended to hover at a position 3 meters away from the top of the tower, coordinates of the tower are acquired, and then the unmanned aerial vehicle starts to patrol the tower head of the tower.
In this embodiment, in step S13, the inspection of the tower head of the tower further includes the following steps:
s130: identifying the direction of a cross arm of a tower, automatically planning a refined inspection route of the base tower by an unmanned aerial vehicle, wherein the inspection route comprises a shooting point of the unmanned aerial vehicle on the corresponding tower and a moving route which sequentially reaches the shooting point, and starting inspection according to the planned inspection route;
s131: the unmanned aerial vehicle hovers over a tower, the lens vertically faces downwards, and a picture at the top of the tower is taken by taking 1 meter below the head of the tower as a shooting target point;
s132: taking the head orientation of the unmanned aerial vehicle at the initial position as a reference direction, turning the unmanned aerial vehicle to the left by 45 degrees, moving the unmanned aerial vehicle to a position which is linearly distant from a shooting target point by 8 meters, and shooting a picture of the tower head at a depression angle of 45 degrees below the inclined lens;
s133: the unmanned aerial vehicle turns left by 120 degrees with the reference direction as an aim, descends to the same height as a shooting target point, has a horizontal distance of 5 meters and a lens pitch angle of 0 degree, and horizontally shoots a picture of the tower head of the tower containing the left insulator;
s134: the unmanned aerial vehicle turns to the right by 60 degrees by taking the reference direction as an aim, the height of the unmanned aerial vehicle is the same as that of a shooting target point, the horizontal distance is 5 meters, the lens pitch angle is 0 degree, and a picture of the tower head of the tower containing the right insulator is horizontally shot;
s135: the position of the unmanned aerial vehicle is unchanged, the direction of the machine head and the direction of the lens are adjusted by taking the direction of the small-size side channel as a reference, an included angle of 30 degrees with the horizontal direction of the small-size side channel is formed, and a picture of the small-size side channel is horizontally shot;
s136: the position of the unmanned aerial vehicle is unchanged, the direction of a machine head and a lens is adjusted by taking the direction of a large-size side channel as a reference, a horizontal included angle of 30 degrees is formed between the direction of the large-size side channel and the direction of the large-size side channel, and a large-size side channel side picture is horizontally shot;
s137: and the unmanned aerial vehicle returns to the initial position to finish the fine inspection of the tower.
Unmanned aerial vehicle adjustment lens angle of pitch continues discernment place ahead wire position to according to this wire direction adjustment unmanned aerial vehicle aircraft nose lens and aircraft nose direction, continue to follow the flight of wire direction, carry out the collection of next shaft tower coordinate, in order to establish complete distribution lines standing still.
In this embodiment, integrating the relevant parameters to construct the distribution line ledger includes the following steps:
s41: processing photos collected by an unmanned aerial vehicle, namely manually extracting material, tower type and loop related parameter data of the tower according to tower and wire characteristics in the photos according to the photos collected by the unmanned aerial vehicle in flight, and integrating the parameter data with coordinate data of the tower to construct a distribution line ledger;
s42: the integrated distribution line ledger is stored to a distribution network key service analysis system;
s43: submitting to the intranet system, and updating the account data of the intranet system.
Specifically, the updating principle of the intranet system ledger data is as follows:
updating the stand account data constructed by autonomous flight into the stand account of the intranet system under the condition that the stand account constructed by autonomous flight and the stand account of the intranet system have data which are inconsistent;
the self-flying built machine account has no data, the internal network system machine account has data, and the data of the internal network system machine account is kept unchanged;
the stand account constructed by autonomous flight has data, the stand account of the intranet system has no data, and the stand account data constructed by autonomous flight is updated to the stand account of the intranet system.
In this embodiment, unmanned aerial vehicle carries out the flight of stinging along the wire direction of discernment, and the flight height of stinging is that unmanned aerial vehicle is 5 meters apart from the wire below.
In this embodiment, unmanned aerial vehicle may meet the barrier in flight, like trees, other wires etc. in order to guarantee unmanned aerial vehicle flight safety, unmanned aerial vehicle keeps away barrier flight along the wire and carries out following step:
s21: the carried radar module detects whether an obstacle exists in front of the unmanned aerial vehicle or not in real time and the distance between the unmanned aerial vehicle and the obstacle, and defines a periodic distance as the distance generated by the unmanned aerial vehicle flying at a specified speed for a specified time;
s22: when the radar module detects that no obstacle exists in front of the unmanned aerial vehicle or the distance between the unmanned aerial vehicle and the obstacle is larger than a periodic distance, the unmanned aerial vehicle keeps flying by biting the line;
s23: when the radar module detects that the distance between the radar module and the obstacle is less than a period distance plus an obstacle avoidance safety distance, the unmanned aerial vehicle vertically ascends to fly;
s24: when the distance between the unmanned aerial vehicle and a front obstacle is larger than a period distance plus an obstacle avoidance safety distance in the ascending flight of the unmanned aerial vehicle, the unmanned aerial vehicle ascends for two meters again to ensure that the bottom of the unmanned aerial vehicle is not in contact with the obstacle, and meanwhile, the distance between the unmanned aerial vehicle and the front obstacle after ascending is judged;
s25: after rising, when the distance between the unmanned aerial vehicle and the front obstacle is larger than a period and the obstacle avoidance safety distance is added, the unmanned aerial vehicle flies forwards, otherwise, the steps S23-S24 are repeated;
s26: when the unmanned aerial vehicle flies forwards, calculating the time required for the unmanned aerial vehicle to reach the starting point of the obstacle, and suspending the line-biting flight of the unmanned aerial vehicle in the time period;
s27: the unmanned aerial vehicle flies above the barrier, the lower distance detection is started, and the unmanned aerial vehicle and the barrier below fly at the height of 5 meters;
s28: when the unmanned aerial vehicle flies over the barrier, the line-biting flight is continued.
Wherein, unmanned aerial vehicle is when following the wire or following the barrier flight, and unmanned aerial vehicle is at wire or barrier top 5 meters height, and this height is surveyed through radar module to guarantee that unmanned aerial vehicle does not get barrier or wire contact with the below.
In this embodiment, the following steps are executed to avoid the obstacle when the unmanned aerial vehicle acquires the relevant parameters of the tower:
s31: the unmanned aerial vehicle flies to detect the distance between front obstacles in real time, and when the distance between the front obstacles and the unmanned aerial vehicle is smaller than the distance between the unmanned aerial vehicle and a target and the obstacle avoidance safety distance, the unmanned aerial vehicle flies upwards;
s32: after the unmanned aerial vehicle flies upwards, when the distance of a front obstacle is larger than the distance between the unmanned aerial vehicle and a target position plus an obstacle avoidance safety distance, the unmanned aerial vehicle flies forwards to the direction of the target position, and then descends to the target position;
s33: when descending, if there is the barrier below, lead to unmanned aerial vehicle can't descend to the target location, release unmanned aerial vehicle control right, carry out remote control to unmanned aerial vehicle.
The invention also provides an unmanned aerial vehicle distribution line autonomous inspection and standing book checking system which comprises an unmanned aerial vehicle, wherein the unmanned aerial vehicle is provided with a radar module, an edge calculation module, a storage module and a processing module, and the storage module and the processing module are in communication connection with the radar module and the edge calculation module to perform data interaction so as to complete the unmanned aerial vehicle distribution line standing book autonomous checking method.
The above description is for the purpose of illustrating the preferred embodiments of the present invention, but the present invention is not limited thereto, and all changes and modifications that can be made within the spirit of the present invention should be included in the scope of the present invention.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the technical solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. An unmanned aerial vehicle distribution line autonomous inspection and standing book checking method is characterized by comprising the following steps:
the unmanned aerial vehicle carrying the radar module and the edge calculation module identifies the direction of the wire and autonomously avoids obstacle and flies along the identified direction of the wire;
identifying a pole tower and collecting related parameters of the pole tower;
and after the acquisition is finished, integrating the related parameters to construct a distribution line ledger and verifying and updating the distribution line ledger.
2. The unmanned aerial vehicle distribution line autonomous inspection and standing book checking method according to claim 1, further comprising the steps of:
when the unmanned aerial vehicle takes off, the unmanned aerial vehicle is controlled by the flying hand to move to an initial position, and the machine head faces to the inspection direction;
determining the routing inspection direction as a large-size side direction or a small-size side direction;
sending a starting command to the unmanned aerial vehicle, starting the tower of the unmanned aerial vehicle and identifying a lead;
the drone starts flying.
3. The unmanned aerial vehicle distribution line autonomous inspection and standing book checking method according to claim 1, wherein the unmanned aerial vehicle identifies a wire direction by the following steps:
s01: the method comprises the steps that an unmanned aerial vehicle lens collects real-time images and carries a tower head and an edge calculation module of a wire autonomous recognition operation model to recognize a wire example;
s02: calculating and identifying the direction vector of each wire, and averaging the direction vectors to obtain the direction vectors of one or more wires;
s03: and calculating and deleting the lead direction vector when the unmanned aerial vehicle comes according to the last tower position identified by the unmanned aerial vehicle, and determining the lead direction vector of the unmanned aerial vehicle which continuously flies.
4. The unmanned aerial vehicle distribution line autonomous inspection and standing book checking method according to claim 1, wherein identifying a pole tower and performing relevant parameter acquisition of the pole tower comprises the following steps:
s11: the method comprises the following steps that an unmanned aerial vehicle lens collects a real-time image, and an edge calculation module identifies a tower head example of a tower;
s12: after identifying that a tower exists, the unmanned aerial vehicle adjusts the position to be 3 meters above the tower head of the tower, and coordinate data are collected;
s13: and taking the acquisition coordinate position as an initial position, inspecting the tower head of the tower and acquiring image data of the distribution network tower.
5. The unmanned aerial vehicle distribution line autonomous inspection and standing book checking method according to claim 4, wherein in step S13, the method specifically comprises the following steps:
s130: identifying the cross arm direction of a tower, automatically planning a refined inspection route of the base tower by the unmanned aerial vehicle, and starting inspection according to the planned inspection route;
s131: the unmanned aerial vehicle hovers right above the tower, the lens is vertically downward, and a picture at the top of the tower is shot by taking 1 meter below the tower head as a shooting target point;
s132: taking the head orientation of the unmanned aerial vehicle at the initial position as a reference direction, turning the unmanned aerial vehicle left by 45 degrees, moving the unmanned aerial vehicle to a position which is linearly distant from a shooting target point by 8 meters, and shooting a tower head picture by a depression angle of 45 degrees at the oblique lower side of a lens;
s133: the unmanned aerial vehicle turns left by 120 degrees with the reference direction as an aim, descends to the same height as a shooting target point, has a horizontal distance of 5 meters and a lens pitch angle of 0 degree, and horizontally shoots a picture of the tower head of the tower containing the left insulator;
s134: the unmanned aerial vehicle turns to the right by 60 degrees by taking the reference direction as an aim, the height of the unmanned aerial vehicle is the same as that of a shooting target point, the horizontal distance is 5 meters, the lens pitch angle is 0 degree, and a picture of the tower head of the tower containing the right insulator is horizontally shot;
s135: the position of the unmanned aerial vehicle is unchanged, the direction of a machine head and a lens is adjusted by taking the direction of a small-size side channel as a reference, a horizontal included angle of 30 degrees is formed between the direction of the small-size side channel and the direction of the small-size side channel, and a picture of the small-size side channel is horizontally shot;
s136: the position of the unmanned aerial vehicle is unchanged, the direction of a machine head and a lens is adjusted by taking the direction of a large-size side channel as a reference, a horizontal included angle of 30 degrees is formed between the direction of the large-size side channel and the direction of the large-size side channel, and a large-size side channel side picture is horizontally shot;
s137: and the unmanned aerial vehicle returns to the initial position to complete the fine inspection of the tower.
6. The unmanned aerial vehicle distribution line autonomous inspection and standing book checking method according to claim 5, wherein the unmanned aerial vehicle flies in a line-biting manner along the identified wire direction, and the flying height of the line-biting manner is 5 meters from the unmanned aerial vehicle to a lower wire.
7. The unmanned aerial vehicle distribution line autonomous inspection and standing book checking method according to claim 6, wherein the unmanned aerial vehicle performs the following steps along wire obstacle avoidance flight:
s21: the carried radar module detects whether an obstacle exists in front of the unmanned aerial vehicle or not in real time and the distance between the unmanned aerial vehicle and the obstacle, and defines a periodic distance as the distance generated by the unmanned aerial vehicle flying at a specified speed for a specified time;
s22: when the radar module detects that no obstacle exists in front of the unmanned aerial vehicle or the distance between the unmanned aerial vehicle and the obstacle is larger than a period distance, the unmanned aerial vehicle keeps flying by biting a line;
s23: when the radar module detects that the distance between the unmanned aerial vehicle and the obstacle is smaller than a period distance plus an obstacle avoidance safety distance, the unmanned aerial vehicle vertically ascends to fly;
s24: when the distance between the unmanned aerial vehicle and a front obstacle is greater than a period distance plus an obstacle avoidance safety distance in the ascending flight of the unmanned aerial vehicle, the unmanned aerial vehicle ascends by two meters, and the distance between the unmanned aerial vehicle and the front obstacle after ascending is judged;
s25: after rising, when the distance between the unmanned aerial vehicle and the front obstacle is larger than a period and the obstacle avoidance safety distance is added, the unmanned aerial vehicle flies forwards, otherwise, the steps S23-S24 are repeated;
s26: when the unmanned aerial vehicle flies forwards, calculating the time required for the unmanned aerial vehicle to reach the starting point of the obstacle, and suspending the line-biting flight of the unmanned aerial vehicle in the time period;
s27: the unmanned aerial vehicle flies above the barrier, the lower distance detection is started, and the unmanned aerial vehicle flies at a height of 5 meters with the barrier below;
s28: when the unmanned aerial vehicle flies over the barrier, the unmanned aerial vehicle continues to fly by biting the line.
8. The unmanned aerial vehicle distribution line autonomous inspection and standing book checking method according to claim 1,
when the unmanned aerial vehicle carries out relevant parameter acquisition of the tower, the obstacle avoidance execution step comprises the following steps:
s31: the unmanned aerial vehicle flies to detect the distance between front obstacles in real time, and when the distance between the front obstacles and the unmanned aerial vehicle is smaller than the distance between the unmanned aerial vehicle and a target plus the obstacle avoidance safety distance, the unmanned aerial vehicle flies upwards;
s32: after the unmanned aerial vehicle flies upwards, when the distance between the front obstacle and the target position is greater than the distance between the unmanned aerial vehicle and the target position plus the obstacle avoidance safety distance, the unmanned aerial vehicle flies forwards to the direction of the target position and then descends to the target position;
s33: when descending, if there is the barrier below, lead to unmanned aerial vehicle can't descend to the target location, release unmanned aerial vehicle control right, carry out remote control to unmanned aerial vehicle.
9. The unmanned aerial vehicle distribution line autonomous inspection and standing book checking method according to claim 1, wherein the relevant parameters are integrated to construct the distribution line standing book, and the method comprises the following steps:
s41: processing photos collected by the unmanned aerial vehicle, and extracting material, tower type and loop related parameter data of the tower;
s42: storing the related parameter data to a gateway key service analysis system;
s43: submitting to the intranet system, and updating the account data of the intranet system.
10. The unmanned aerial vehicle distribution line autonomous inspection and standing book checking system is characterized by comprising an unmanned aerial vehicle, wherein a radar module, an edge calculation module, a storage module and a processing module are arranged on the unmanned aerial vehicle, and the storage module and the processing module are in communication connection with the radar module and the edge calculation module and perform data interaction so as to complete the unmanned aerial vehicle distribution line standing book autonomous checking method according to any one of claims 1 to 9.
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| CN115858714B (en) * | 2023-02-27 | 2023-06-16 | 国网江西省电力有限公司电力科学研究院 | Unmanned aerial vehicle collected GIS data automatic modeling management system and method |
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