CN115367112A - Auxiliary maintenance unmanned aerial vehicle and auxiliary maintenance method - Google Patents
Auxiliary maintenance unmanned aerial vehicle and auxiliary maintenance method Download PDFInfo
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- H—ELECTRICITY
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Abstract
The invention relates to the technical field of electric power overhaul equipment, in particular to an auxiliary overhaul unmanned aerial vehicle and an auxiliary overhaul method. The hanging wire hook is provided with the hangers, under the action of the elastic element, the sliding pin on the hangers and the wheel carrier can be inserted into the sliding groove on the unmanned aerial vehicle, the sliding groove is formed in the stretching electromagnet, the hanging wire hook can be hung on a target grounding point through the stretching electromagnet, and the operation is simpler and more convenient. The invention also provides an auxiliary maintenance method, which comprises the steps of firstly obtaining the target image, then determining the maintenance point according to the field image and the target image, and then hanging the grounding wire when the power failure of the maintenance point is confirmed. Confirm the place that target overhauls the point place by unmanned aerial vehicle, when overhauing the point and having a power failure, articulate the earth connection, consequently, above-mentioned work progress manual intervention is few, has alleviateed operation personnel's intensity of labour.
Description
Technical Field
The invention relates to the technical field of electric power overhaul equipment, in particular to an auxiliary overhaul unmanned aerial vehicle and an auxiliary overhaul method.
Background
The line maintenance refers to the work of the power transmission line aiming at eliminating defects, improving the health level of equipment, preventing accidents and ensuring the safe operation of the line according to the problems discovered by inspection, detection and tests.
The maintenance of the overhead distribution line is generally divided into three projects of improvement, overhaul and maintenance.
(1) Improvement of engineering
The maintenance work of improving or dismantling the line for improving the line safety operation performance, increasing the line transmission capacity and improving the working condition is classified as an improvement project. For example, the method is to replace the common insulator with a large-section wire, an additional overhead ground wire, an additional insulator piece number or a pollution-resistant insulator, and replace the wood pole with a reinforced concrete pole (concrete pole for short) or an iron tower.
(2) Major repair engineering
The major task of major repair engineering is to repair the existing running line or to maintain the original mechanical or electrical properties of the line and prolong its service life, such as replacing wires, fittings, metal members or anticorrosive treatment of the same type.
(3) Maintenance work
The maintenance work refers to all the work for maintaining the normal operation of the line except major repair and improvement projects, such as cleaning the dirt of the insulator, testing the insulator, treating line defects and the like.
Accident emergency repair is unplanned maintenance work, and the principle of recovering power supply as soon as possible is taken, so that the emergency repair quality meets the standard as much as possible. If the time and objective conditions are limited, the left problems can be arranged to be planned for power failure treatment separately on the premise of ensuring personal and equipment safety.
The line maintenance is heavy and has high requirements on the qualification of workers, and the personal and equipment accidents can be caused by careless maintenance.
Based on this, need develop and design a maintenance auxiliary assembly to alleviate the intensity of labour who overhauls the work, reduce the potential safety hazard in the operation process.
Disclosure of Invention
The embodiment of the invention provides an auxiliary maintenance unmanned aerial vehicle and an auxiliary maintenance method, which are used for solving the problem of high labor intensity of maintenance work in the prior art.
In a first aspect, an embodiment of the present invention provides an auxiliary maintenance unmanned aerial vehicle, including: the unmanned aerial vehicle body still includes:
the device comprises a processor, an electricity testing pen and a wire hanging clamp, wherein the electricity testing pen is fixedly arranged on the upper surface of the unmanned aerial vehicle body, the electricity testing end of the electricity testing pen is higher than a rotor wing rotation area of the unmanned aerial vehicle body, and the wire hanging clamp is fixedly arranged on the lower surface of the unmanned aerial vehicle body;
the wire hanging pliers comprise: the stretching electromagnet comprises a stretching electromagnet body and a stretching end, wherein sliding grooves are formed in the stretching electromagnet body and the stretching end of the stretching electromagnet body, and the extending direction of the sliding grooves is perpendicular to the stretching direction of the stretching electromagnet;
the processor is in signal connection with the stretching electromagnet, and the processor outputs a signal indicating that the stretching electromagnet is electrified or not electrified.
In a second aspect, an embodiment of the present invention provides a wire hook, which is adapted to the auxiliary service unmanned aerial vehicle of the first aspect, and includes: the device comprises a wheel frame, a pulley, a suspension loop and an elastic element; the pulley is rotationally connected with the wheel frame, the cross section of the wheel frame is Contraband, and the pulley seals the opening of the wheel frame;
the hanger is hinged above the wheel carrier and forms an opening enclosure with the wheel carrier;
one side of the wheel carrier and one side of the hanging lug are both provided with a sliding pin for inserting into the sliding groove;
the two ends of the elastic element are respectively connected with the hanging lug and the wheel carrier so as to generate force which enables the enclosure to tend to be closed.
In a third aspect, an embodiment of the present invention provides an auxiliary maintenance method, which is applied to the auxiliary maintenance unmanned aerial vehicle according to the first aspect, and includes:
acquiring a target image, wherein the target image comprises the characteristics of an overhaul target;
determining a maintenance point according to a field image and the target image, wherein the field image is acquired on the basis of the geographic position corresponding to the target image;
testing electricity of the maintenance point, and hanging a grounding wire when the power failure of the maintenance point is confirmed;
and sending a ground wire hanging confirmation signal of the maintenance point according to the state of the maintenance point.
In some possible implementations, the determining a service point from the live image and the target image includes:
sending the target image into an identification model to obtain the category and the characteristics of the target;
a field image acquisition step: acquiring a field image, sending the field image to an identification model, and acquiring the category of a main body of the field image;
if the type of the live image main body is consistent with the type of the target, determining whether the live image comprises the characteristics of the target;
if the live image comprises the characteristics of the target, determining the current geographic position as a maintenance point;
otherwise, skipping to the field image acquisition step.
In some possible implementation embodiments, the recognition model is constructed based on a CNN neural network model, and includes: an input layer, a convolution layer, a pooling layer, a full-link layer and an output layer; each neuron of the full connection layer adopts a LeakyReLU function, each parameter of the recognition model is determined by training, and the training step comprises the following steps:
obtaining a plurality of sample sets, wherein each sample set comprises a plurality of samples and is used for representing a class of overhaul targets, each sample comprises a sample image and a label, and the label represents the class of the sample image;
an input step: inputting a sample image into the identification model, and acquiring a residual error according to the output of the identification model and a label of the corresponding sample image, wherein the sample image is randomly extracted based on a plurality of sample images in the plurality of sample sets;
if the residual error is larger than the threshold value, adjusting each parameter of the identification model through a back propagation algorithm, and skipping to the input step;
otherwise, fixing each parameter of the identification model.
In some possible implementations, the features of the target image are image blocks, and the determining whether the live image includes the features of the target includes:
acquiring a subject image block from the live image, wherein an aspect ratio of the subject image block is equal to an aspect ratio of the feature;
compressing the subject image block to obtain a compression map, wherein the total pixel number of the compression map is equal to the total pixel number of the features of the target image;
respectively decolorizing the features of the compressed image and the target image, and respectively carrying out normalization processing according to each pixel value in the image to respectively obtain a first matrix and a second matrix;
arranging a plurality of elements of the first matrix and a plurality of elements of the second matrix according to the same preset sequence to obtain a first vector and a second vector;
determining whether the live image includes features of the target according to the first vector, the second vector, and a first formula, the first formula being:
wherein δ is an inclusion coefficient, a i Is an element of a first vector, b i N is the number of elements in the first vector and the second vector.
In some possible embodiments, the power testing of the service point and the hanging of the grounding wire when the power failure of the service point is confirmed comprise:
testing the acousto-optic characteristic of the test pencil;
when the acousto-optic characteristic is determined to be normal, the unmanned aerial vehicle body is supported below the detection point in a flying mode, and whether the maintenance target is electrified or not is tested in a mode that the electricity testing end of the electricity testing pen is gradually close to the maintenance target;
when the overhaul target is not electrified, installing a wire hook on the unmanned aerial vehicle body, and flying the unmanned aerial vehicle body to the upper part of the detection point so as to enable a hanging point to be arranged in the surrounding of the wire hook;
and outputting a signal for indicating the power failure of the stretching electromagnet, and hooking the hanging wire to the hanging point.
In some possible implementations, installing a wire hook to the drone body includes:
penetrating an insulating rope through a port formed by the pulley and the wheel frame;
fixedly connecting the first end of the insulating rope with the first end of the grounding wire;
grounding a second end of the grounding wire;
inserting a sliding pin of a wire hanging hook into the sliding groove;
and indicating the stretching electromagnet to be electrified.
In a fourth aspect, the present invention provides an electronic device, which includes a memory and a processor, where the memory stores a computer program operable on the processor, and the processor executes the computer program to implement the steps of the method according to any one of the possible implementation manners of the third aspect or the third aspect.
In a fifth aspect, the present invention provides a computer-readable storage medium, which stores a computer program, and when the computer program is executed by a processor, the computer program implements the steps of the method according to the third aspect or any one of the possible implementation manners of the third aspect.
Compared with the prior art, the implementation mode of the invention has the following beneficial effects:
the embodiment of the invention discloses an auxiliary maintenance unmanned aerial vehicle and a wire hook, wherein the wire hook drives a grounding wire to drag through a pulley and an insulating rope, so that the abrasion of the grounding wire, the insulating rope and a target grounding point in the prior art in a static friction dragging mode of the target grounding point is avoided. The hanging wire hook is provided with the hangers, under the effect of elastic element, can insert the spout on the unmanned aerial vehicle through the hangers and the sliding pin on the wheel carrier, and above-mentioned spout sets up in tensile electro-magnet, can articulate the hanging wire hook in the target ground point through tensile electro-magnet, consequently, it is more simple and convenient in the operation, work efficiency very improves.
The invention also provides an implementation mode of the auxiliary maintenance method, which comprises the steps of firstly obtaining a target image, and then determining a maintenance point according to a field image and the target image, wherein the field image is acquired on the basis of the geographic position corresponding to the target image. And then, testing electricity of the maintenance point, hanging a grounding wire when the power failure of the maintenance point is confirmed, and finally sending a grounding wire hanging confirmation signal of the maintenance point according to the state of the maintenance point. According to the embodiment of the invention, the unmanned aerial vehicle analyzes and positions the site according to the target image and the site image, confirms the site where the target maintenance point is located, and hooks the wire hanging on the hooking point when the maintenance point has power failure, so that the manual intervention in the construction process is less, the labor intensity of operators is reduced, and the operation safety is ensured.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without inventive labor.
Fig. 1 is a schematic diagram of an auxiliary maintenance unmanned aerial vehicle according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of the wire clamp and the wire hook according to the embodiment of the present invention;
FIG. 3 is a diagrammatic side view of a wire hook provided in accordance with an embodiment of the present invention;
FIG. 4 is a flow chart of an auxiliary overhaul method provided by an embodiment of the invention;
fig. 5 is a functional block diagram of an electronic device according to an embodiment of the present invention.
In the figure:
101. an unmanned aerial vehicle body;
102. an electroscope;
103. hanging wire pliers;
201. a wheel carrier;
202. a pulley;
203. hanging a lug;
204. an elastic element;
301. a ground line;
302. an insulating rope.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the invention. It will be apparent, however, to one skilled in the art that the present invention may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, and methods are omitted so as not to obscure the description of the present invention with unnecessary detail.
In order to make the objects, technical solutions and advantages of the present invention more apparent, the following description is made with reference to the accompanying drawings.
The following is a detailed description of the embodiments of the present invention, which is implemented on the premise of the technical solution of the present invention, and a detailed implementation manner and a specific operation process are given, but the scope of the present invention is not limited to the following embodiments.
Fig. 1 is a schematic view of an auxiliary maintenance unmanned aerial vehicle according to an embodiment of the present invention.
As shown in fig. 1, it shows a simplified diagram of an auxiliary maintenance drone provided by an embodiment of the present invention, which is detailed as follows:
a first aspect of an embodiment of the present invention provides an auxiliary maintenance unmanned aerial vehicle, including: unmanned aerial vehicle body 101 still includes:
the unmanned aerial vehicle comprises a processor, a test pencil 102 and a wire hanging clamp 103, wherein the test pencil 102 is fixedly arranged on the upper surface of the unmanned aerial vehicle body 101, the electricity testing end of the test pencil 102 is higher than the rotary wing rotation area of the unmanned aerial vehicle body 101, and the wire hanging clamp 103 is fixedly arranged on the lower surface of the unmanned aerial vehicle body 101;
the wire hanging pliers 103 comprises: the stretching electromagnet comprises a body and a telescopic end, wherein the body and the telescopic end are both provided with a sliding chute, and the extension direction of the sliding chute is perpendicular to the telescopic direction of the stretching electromagnet;
the processor is in signal connection with the stretching electromagnet, and the processor outputs a signal indicating that the stretching electromagnet is powered on or powered off.
Fig. 2 is a schematic diagram of a wire hanging clamp 103 and a wire hanging hook used together according to an embodiment of the present invention, and fig. 3 is a schematic side view of the wire hanging hook according to the embodiment of the present invention.
As shown in fig. 2, it shows a schematic diagram of the wire hanging clamp 103 provided by the embodiment of the present invention used in cooperation with a wire hanging hook, and the details are as follows:
a second aspect of an embodiment of the present invention provides a wire hook adapted to the unmanned auxiliary maintenance machine of the first aspect, including: a wheel frame 201, a pulley 202, a hanging lug 203 and an elastic element 204; the pulley 202 is rotatably connected with the wheel frame 201, the cross section of the wheel frame 201 is Contraband-shaped, and the pulley 202 seals the opening of the wheel frame 201;
the hanging lug 203 is hinged above the wheel frame 201 and forms an open enclosure with the wheel frame 201;
one side of the wheel carrier 201 and one side of the hanging lug 203 are both provided with a sliding pin for inserting the sliding groove;
the two ends of the elastic element 204 are connected to the hanging lug 203 and the wheel frame 201 respectively to generate a force tending to close the enclosure.
Illustratively, as shown in fig. 3, the wire hanging clamp 103 is used for hanging a ground wire 301, the pulley 202 is used for bypassing the insulating rope 302, and the ground wire 301 is dragged by the insulating rope 302, so that the ground wire 301 is electrically connected with the wheel carrier 201. Specifically, one end of the insulating rope 302 is connected to one end of the ground wire 301, when the wire hook is mounted in front of the ground target point, the insulating rope 302 is wound around the pulley 202, and when the wire hook is hooked to the ground target point, the insulating rope 302 is pulled to drive the ground wire 301, so that the one end of the ground wire 301 is electrically connected to the wheel carrier 201, and the grounding operation is completed. The wheel frame 201 and/or the lug 203 are conductors, and the final ground line 301 is electrically connected to the wheel frame 201 and/or the lug 203 to ground a target ground point.
The main body of the wire hook comprises a wheel frame 201 for mounting the pulley 202 and a hanging lug 203, the hanging lug 203 is hinged with the wheel frame 201, an opening enclosure is formed between the wheel frame 201 and the hanging lug, and the opening enclosure tends to be closed under the action of an elastic element 204. The elastic element 204 may be implemented in various ways, such as a spring, a volute spring, or the like.
Two sliding pins are respectively arranged on the wheel frame 201 and the hanging lug 203, and the opening enclosure can be opened by pulling the two sliding pins.
As shown in fig. 2, a wire hanging clamp 103 is arranged below the main body 101 of the unmanned aerial vehicle, the main body of the wire hanging clamp is a stretching electromagnet, the body of the stretching electromagnet is provided with a sliding slot for inserting the two sliding pins, the sliding pin is in clearance fit with the sliding slot, the gap between the sliding pin and the sliding slot is larger, when the sliding pin is inserted into the sliding slot, if the stretching electromagnet is powered on, the opening surrounded by the opening is widened under the action of the stretching electromagnet and the elastic element 204, and the wire hanging hook is fixed on the wire hanging clamp 103. When the opening with the large opening is sleeved into the grounding target, the opening is surrounded under the action of the elastic element 204 when the stretching electromagnet is powered off to clamp the grounding target, and at the moment, the stretching end is in a free state because the stretching electromagnet is powered off, so that the sliding pin can be freely pulled out of the sliding groove.
Unmanned aerial vehicle is equipped with above-mentioned hanging wire pincers 103 except, in the top of unmanned aerial vehicle body 101, is higher than the local electroscope end that is equipped with electroscope pen 102 of rotor gyration region.
The embodiment of the invention provides an auxiliary maintenance unmanned aerial vehicle and a wire hook, wherein the wire hook drives a grounding wire 301 to drag through a pulley 202 and an insulating rope 302, so that the abrasion of the grounding wire 301, the insulating rope 302 and a target grounding point in the prior art in a static friction dragging mode of the target grounding point is avoided. The hanging wire hook is provided with the hanging lug 203, under the effect of the elastic element 204, the hanging lug 203 and the sliding pin on the wheel carrier 201 can be inserted into the sliding groove on the unmanned aerial vehicle, the sliding groove is arranged on the stretching electromagnet, and the hanging wire hook can be hung on a target grounding point through the stretching electromagnet, so that the operation is simpler and more convenient, and the working efficiency is greatly improved.
The third aspect of the embodiment of the present invention further provides an auxiliary overhaul method, which is applied to the auxiliary overhaul unmanned aerial vehicle according to the first aspect. As shown in fig. 4, the auxiliary repair method may include:
For example, the operation of auxiliary maintenance of the unmanned aerial vehicle is performed for the problems found in the inspection process, and when the problems are determined during inspection, the images and the geographic coordinates of inspection problem points are provided as evidences and the basis for subsequent maintenance work. The image in the inspection process is an important basis for location confirmation.
In some embodiments, step 402 comprises:
sending the target image into an identification model to obtain the category and the characteristics of the target;
a field image acquisition step: acquiring a field image, sending the field image to an identification model, and acquiring the category of a main body of the field image;
if the type of the live image main body is consistent with the type of the target, determining whether the live image comprises the characteristics of the target;
if the live image comprises the characteristics of the target, determining the current geographic position as a maintenance point;
otherwise, skipping to the field image acquisition step
In some embodiments, the recognition model is constructed based on a CNN neural network model, including: an input layer, a convolution layer, a pooling layer, a full-link layer and an output layer; each neuron of the full connection layer adopts a LeakyReLU function, each parameter of the recognition model is determined by training, and the training step comprises the following steps:
obtaining a plurality of sample sets, wherein each sample set comprises a plurality of samples and is used for representing a class of overhaul targets, each sample comprises a sample image and a label, and the label represents the class of the sample image;
an input step: inputting a sample image into the identification model, and acquiring a residual error according to the output of the identification model and a label corresponding to the sample image, wherein the sample image is randomly extracted based on a multi-sample image in the plurality of sample sets;
if the residual error is larger than the threshold value, adjusting each parameter of the identification model through a back propagation algorithm, and skipping to the input step;
otherwise, fixing each parameter of the identification model.
In some possible implementations, the features of the target image are image blocks, and the determining whether the live image includes the features of the target includes:
acquiring a subject image block from the live image, wherein an aspect ratio of the subject image block is equal to an aspect ratio of the feature;
compressing the subject image block to obtain a compression map, wherein the total pixel number of the compression map is equal to the total pixel number of the features of the target image;
respectively decolorizing the features of the compressed image and the target image, and respectively carrying out normalization processing according to each pixel value in the image to respectively obtain a first matrix and a second matrix;
arranging a plurality of elements of the first matrix and a plurality of elements of the second matrix according to the same preset sequence to obtain a first vector and a second vector;
determining whether the live image includes features of the target according to the first vector, the second vector, and a first formula, the first formula being:
wherein δ is an inclusion coefficient, a i Is an element of a first vector, b i N is the number of elements in the first vector and the second vector.
Illustratively, one role of the auxiliary service drone is to verify a service site, which analyzes images taken at the site, first determines a type of service through a target image, and extracts features, wherein the type indicates what kind of electric product the service target is, such as an insulator or a power line.
Then, in the same way, the subject of the live image is identified, the category of the subject is obtained, if the category of the subject is consistent with that of the target image, whether the extracted feature is contained in the subject is further judged, and if the extracted feature is contained, the current position is an inspection point.
For the model of image category identification, the embodiment of the invention adopts a CNN neural network model, wherein, the activation function of each neuron of the full connection layer adopts a LeakyReLU function, and the expression of the activation function is as follows:
in the above formula, x is the input of the activation function, and the LeakyReLU function has the advantages of simple algorithm and capability of solving the problem of gradient disappearance when a back propagation algorithm is performed.
The constructed model is trained through samples to find appropriate model parameters. In one embodiment, the samples are divided into a plurality of sample sets, each sample set represents a type of maintenance target, for example, the power line image is a sample set, the insulator is a sample set, and the like, and then the samples are input into the identification model in a disorder mode, the difference between the output of the model and the label of the image is used as a residual error, the parameters of the model are corrected based on the residual error, then the next picture is input, and finally the parameters of the identification model can enable the model to accurately identify the type of the object contained in the image through the repeated process.
Regarding whether the live image contains the target image, one embodiment is to crop the live image, remove the edge portion of the live image, the aspect ratio of the live image after being cropped is the same as that of the feature image, then, according to the total number of pixels of the feature image, compress, decolor, normalize the cropped image and the feature image, obtain two matrices, by taking out data from the two matrices according to the order of colleagues, and obtain the inclusion coefficient through a first formula, the inclusion coefficient represents the possibility of containing the feature image, and the first formula expression is:
wherein δ is an inclusion coefficient, a i Is an element of a first vector, b i Is the element of the second vector, and n is the number of elements in the first vector and the second vector.
In some embodiments, step 403 comprises:
testing the acousto-optic characteristics of the test pencil 102;
when the acousto-optic characteristic is determined to be normal, the unmanned aerial vehicle body 101 is floated to the position below the detection point, and whether the maintenance target is electrified or not is tested in a mode that the electricity testing end of the electricity testing pen 102 is gradually close to the maintenance target;
when the overhaul target is not electrified, installing a wire hook on the unmanned aerial vehicle body 101, and flying the unmanned aerial vehicle body 101 to the upper part of the detection point so as to enable a hanging point to be arranged in the surrounding part of the wire hook;
and outputting a signal for indicating the power failure of the stretching electromagnet, and hooking the hanging wire to the hanging point.
In some embodiments, installing a wire hook to the drone body 101 includes:
passing an insulating rope 302 through a port formed by the pulley 202 and the wheel frame 201;
fixedly connecting a first end of the insulating rope 302 with a first end of a grounding wire 301;
grounding a second end of the grounding wire 301;
inserting a sliding pin of a wire hanging hook into the sliding groove;
and indicating the stretching electromagnet to be electrified.
Illustratively, for the aspect of hanging the ground wire 301, test electricity through the test pencil 102 that the unmanned aerial vehicle has, when confirming that the ground point is uncharged, install the hanging wire hook in the hanging contact.
For the hook of the wire hook, the insulating rope 302 is firstly wound around the pulley 202, then the insulating rope 302 is connected with the grounding wire 301, the grounding end of the grounding wire 301 is grounded, and the insulating rope 302 is usually made of light materials. Then, insert the sliding pin in the spout, get electric through the tensile electro-magnet, fix the peg hook on unmanned aerial vehicle, finally, unmanned aerial vehicle flies to support the peg point, hangs the peg hook in the peg point.
In step 404, a ground wire hanging confirmation signal of the inspection point is sent according to the state of the inspection point.
Illustratively, after the hooking of the ground wire 301 is finished, in some application scenarios, a signal for hooking confirmation is further sent, for example, by acquiring an image of the inspection point, confirming whether the inspection point is successfully hooked through the image, and when confirming that the inspection point is successfully hooked, sending a message that the hooking is successful.
According to the embodiment of the auxiliary maintenance method, firstly, a target image is obtained, and then, a maintenance point is determined according to a site image and the target image, wherein the site image is acquired on the basis of the geographic position corresponding to the target image. And then, testing electricity of the maintenance point, hanging a grounding wire 301 when the power failure of the maintenance point is confirmed, and finally sending a grounding wire hanging confirmation signal of the maintenance point according to the state of the maintenance point. According to the embodiment of the invention, the unmanned aerial vehicle analyzes and positions the site according to the target image and the site image, confirms the site where the target maintenance point is located, and hooks the grounding wire 301 in a mode of hooking the wire on the hooking point when the maintenance point has power failure, so that the manual intervention in the construction process is less, the labor intensity of operators is reduced, and the operation safety is ensured.
It should be understood that the sequence numbers of the steps in the above embodiments do not mean the execution sequence, and the execution sequence of each process should be determined by the function and the inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.
Fig. 5 is a functional block diagram of an electronic device according to an embodiment of the present invention. As shown in fig. 5, the electronic apparatus 5 of this embodiment includes: a processor 500 and a memory 501, the memory 501 having stored therein a computer program 502 executable on the processor 500. The processor 500 executes the computer program 502 to implement the above-mentioned operation and maintenance methods and steps of the embodiments of the power metering device, such as steps 401 to 404 shown in fig. 4.
Illustratively, the computer program 502 may be partitioned into one or more modules/units that are stored in the memory 501 and executed by the processor 500 to implement the present invention.
The electronic device 5 may be a desktop computer, a notebook, a palm computer, a cloud server, or other computing devices. The electronic device 5 may include, but is not limited to, a processor 500 and a memory 501. Those skilled in the art will appreciate that fig. 5 is merely an example of an electronic device 5, and does not constitute a limitation of the electronic device 5, and may include more or fewer components than shown, or some of the components may be combined, or different components, e.g., the electronic device may also include input-output devices, network access devices, buses, etc.
The Processor 500 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The storage 501 may be an internal storage unit of the electronic device 5, such as a hard disk or a memory of the electronic device 5. The memory 501 may also be an external storage device of the electronic device 5, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital Card (SD), a Flash memory Card (Flash Card), and the like, which are provided on the electronic device 5. Further, the memory 501 may also include both an internal storage unit and an external storage device of the electronic device 5. The memory 501 is used for storing the computer program and other programs and data required by the electronic device. The memory 501 may also be used to temporarily store data that has been output or is to be output.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-mentioned functions. Each functional unit and module in the embodiments may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit, and the integrated unit may be implemented in a form of hardware, or may be implemented in a form of software functional unit. In addition, specific names of the functional units and modules are only used for distinguishing one functional unit from another, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the above embodiments, the description of each embodiment is focused on, and for parts that are not described or illustrated in detail in a certain embodiment, reference may be made to the description of other embodiments.
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 implementation. 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.
In the embodiments provided in the present invention, it should be understood that the disclosed apparatus/electronic device and method may be implemented in other ways. For example, the above-described apparatus/electronic device embodiments are merely illustrative, and for example, the division of the modules or units is only one logical division, and there may be other divisions when actually implemented, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each of the units may exist alone physically, or two or more units may be integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated modules/units, if implemented in the form of software functional units and sold or used as separate products, may be stored in a computer readable storage medium. Based on such understanding, all or part of the processes in the method of the above embodiments may be implemented by a computer program, which may be stored in a computer readable storage medium and used by a processor to implement the steps of the above embodiments of the underground power line detection method. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, read-Only Memory (ROM), random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like.
The above embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may be modified or some technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the embodiments of the present invention, and they should be construed as being included therein.
Claims (10)
1. An auxiliary service drone, comprising: unmanned aerial vehicle body, its characterized in that still includes:
the device comprises a processor, an electricity testing pen and a wire hanging clamp, wherein the electricity testing pen is fixedly arranged on the upper surface of the unmanned aerial vehicle body, the electricity testing end of the electricity testing pen is higher than a rotor wing rotation area of the unmanned aerial vehicle body, and the wire hanging clamp is fixedly arranged on the lower surface of the unmanned aerial vehicle body;
the wire hanging pliers comprise: the stretching electromagnet comprises a stretching electromagnet body and a stretching end, wherein sliding grooves are formed in the stretching electromagnet body and the stretching end of the stretching electromagnet body, and the extending direction of the sliding grooves is perpendicular to the stretching direction of the stretching electromagnet;
the processor is in signal connection with the stretching electromagnet, and the processor outputs a signal indicating that the stretching electromagnet is powered on or powered off.
2. A wire hook adapted to the service-assisted unmanned aerial vehicle of claim 1, comprising: the device comprises a wheel frame, a pulley, a suspension loop and an elastic element; the pulley is rotationally connected with the wheel frame, the cross section of the wheel frame is Contraband, and the pulley seals the opening of the wheel frame;
the hanger is hinged above the wheel carrier and forms an opening enclosure with the wheel carrier;
one side of the wheel carrier and one side of the hanging lug are both provided with a sliding pin for inserting into the sliding groove;
the two ends of the elastic element are respectively connected with the hanging lug and the wheel carrier so as to generate force which enables the enclosure to tend to be closed.
3. An auxiliary maintenance method, applied to the auxiliary maintenance unmanned aerial vehicle of claim 1, comprising:
acquiring a target image, wherein the target image comprises characteristics of a maintenance target;
determining a maintenance point according to a field image and the target image, wherein the field image is acquired on the basis of the geographic position corresponding to the target image;
testing electricity of the maintenance point, and hanging a grounding wire when the power failure of the maintenance point is confirmed;
and sending a ground wire hanging confirmation signal of the maintenance point according to the state of the maintenance point.
4. The auxiliary service method of claim 3 wherein determining a service point from the live image and the target image comprises:
sending the target image into an identification model to obtain the category and the characteristics of the target;
a field image acquisition step: acquiring a field image, sending the field image to an identification model, and acquiring the category of a main body of the field image;
if the category of the live image main body is consistent with the category of the target, determining whether the live image comprises the characteristics of the target;
if the live image comprises the characteristics of the target, determining the current geographic position as a maintenance point;
otherwise, skipping to the field image acquisition step.
5. The auxiliary overhaul method according to claim 4, wherein the identification model is constructed based on a CNN neural network model, and the method comprises the following steps: an input layer, a convolution layer, a pooling layer, a full-link layer and an output layer; each neuron of the full connection layer adopts a LeakyReLU function, each parameter of the recognition model is determined by training, and the training step comprises the following steps:
obtaining a plurality of sample sets, wherein each sample set comprises a plurality of samples and is used for representing a class of overhaul targets, each sample comprises a sample image and a label, and the label represents the class of the sample image;
an input step: inputting a sample image into the identification model, and acquiring a residual error according to the output of the identification model and a label corresponding to the sample image, wherein the sample image is randomly extracted based on a multi-sample image in the plurality of sample sets;
if the residual error is larger than the threshold value, adjusting each parameter of the identification model through a back propagation algorithm, and skipping to the input step;
otherwise, fixing each parameter of the identification model.
6. The auxiliary service method as recited in claim 4, wherein the features of the target image are image patches, and the determining whether the live image includes features of the target comprises:
obtaining a subject patch from the live image, wherein an aspect ratio of the subject patch is equal to an aspect ratio of the feature;
compressing the subject image block to obtain a compression map, wherein the total pixel number of the compression map is equal to the total pixel number of the features of the target image;
respectively decolorizing the features of the compressed image and the target image, and respectively carrying out normalization processing according to each pixel value in the image to respectively obtain a first matrix and a second matrix;
arranging a plurality of elements of the first matrix and a plurality of elements of the second matrix according to the same preset sequence to obtain a first vector and a second vector;
determining whether the live image includes features of the target according to the first vector, the second vector, and a first formula, the first formula being:
wherein δ is an inclusion coefficient, a i Is an element of a first vector, b i N is the number of elements in the first vector and the second vector.
7. An auxiliary overhaul method according to any one of claims 3 to 6, wherein the inspection of electricity at the overhaul site and the hanging of a ground wire when the power failure at the overhaul site is confirmed comprise:
testing the acousto-optic characteristic of the test pencil;
when the acousto-optic characteristic is determined to be normal, the unmanned aerial vehicle body is supported below the detection point in a flying mode, and whether the maintenance target is electrified or not is tested in a mode that the electricity testing end of the electricity testing pen is gradually close to the maintenance target;
when the overhaul target is not electrified, installing a wire hook on the unmanned aerial vehicle body, and flying the unmanned aerial vehicle body to the upper part of the detection point so as to enable a hanging point to be arranged in the surrounding of the wire hook;
and outputting a signal indicating that the stretching electromagnet is powered off, and hooking the hanging wire to the hanging point.
8. The auxiliary service method of claim 7, wherein installing a wire hook to the drone body comprises:
the insulating rope passes through a port formed by the pulley and the wheel frame;
fixedly connecting the first end of the insulating rope with the first end of the grounding wire;
grounding a second end of the grounding wire;
inserting a sliding pin of a wire hanging hook into the sliding groove;
and indicating that the stretching electromagnet is electrified.
9. An electronic device comprising a memory and a processor, the memory having stored therein a computer program operable on the processor, wherein the processor, when executing the computer program, implements the steps of the method as claimed in any of claims 3 to 8 above.
10. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 3 to 8.
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