CN115367112B - Auxiliary overhaul unmanned aerial vehicle and auxiliary overhaul method - Google Patents
Auxiliary overhaul unmanned aerial vehicle and auxiliary overhaul method Download PDFInfo
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- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
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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 wire hanging hook is provided with the hanging lugs, under the action of the elastic element, the wire hanging hook can be inserted into the sliding grooves on the unmanned aerial vehicle through the hanging lugs and the sliding pins on the wheel frame, the sliding grooves are arranged on the stretching electromagnet, the wire hanging hook can be connected to 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 a target image, then determining a maintenance point according to a field image and the target image, and then hanging a grounding wire when the power failure of the maintenance point is confirmed. The unmanned aerial vehicle confirms the location of the target access point, and when the access point fails, the ground wire is hung, so that the manual intervention in the construction process is less, and the labor intensity of operators is reduced.
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 carried out by the power transmission line according to the problems found by inspection, detection and test, aiming at eliminating defects, improving the health level of equipment, preventing accidents and ensuring the safe operation of the line.
Overhead distribution line service is generally divided into improvement, overhaul and maintenance projects.
(1) Improved engineering
The maintenance work of improving or dismantling the line is classified as improvement engineering in order to improve the safe running performance of the line, the conveying capacity of the line and the labor condition. Such as changing to large section wire, increasing frame lightning conductor, increasing number of insulator sheets or changing common insulator to dirt-proof insulator, changing wood pole to reinforced concrete pole (concrete pole for short) or iron tower, etc.
(2) Overhaul engineering
The main task of the overhaul engineering is to repair the existing running line or maintain the original mechanical performance or electrical performance of the line and prolong the service life of the line, such as replacing wires, fittings, metal components or anti-corrosion treatment of the same type.
(3) Maintenance work
The maintenance work refers to all work done for maintaining the normal operation of the line except major repair and improvement projects, such as cleaning the insulator, testing the insulator, treating line defects and the like.
The accident emergency repair is an unscheduled maintenance work, and the emergency repair quality meets the standard as much as possible on the basis of the principle of recovering power as soon as possible. If the time and objective conditions are limited, the left problems can be additionally scheduled for power failure treatment on the premise of ensuring personal safety and equipment safety.
The line maintenance is a heavy work with high requirements on the qualification of staff, and accidents of people and equipment can be possibly brewed when the maintenance work is slightly careless.
Based on the above, an overhaul auxiliary device needs to be developed and designed to reduce the labor intensity of overhaul work and reduce the potential safety hazard in the operation process.
Disclosure of Invention
The embodiment of the invention provides an auxiliary overhaul unmanned aerial vehicle and an auxiliary overhaul method, which are used for solving the problem of high overhaul work labor intensity in the prior art.
In a first aspect, an embodiment of the present invention provides an auxiliary overhaul unmanned aerial vehicle, including: unmanned aerial vehicle body still includes:
The device comprises a processor, an electroscope and wire hanging pliers, wherein the electroscope is fixedly arranged on the upper surface of the unmanned aerial vehicle body, the electroscope end of the electroscope is higher than a rotor wing rotation area of the unmanned aerial vehicle body, and the wire hanging pliers are 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 electromagnet telescopic end, wherein sliding grooves are formed in the stretching electromagnet body and the stretching electromagnet telescopic end, and the extending direction of the sliding grooves is perpendicular to the stretching electromagnet telescopic direction;
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.
In a second aspect, an embodiment of the present invention provides a wire hook adapted to the auxiliary overhaul unmanned aerial vehicle according to the first aspect, including: the device comprises a wheel frame, pulleys, hangers and elastic elements; the pulley is rotationally connected with the wheel frame, the cross section of the wheel frame is 匚 -shaped, and the pulley seals the opening of the wheel frame;
the hanging lugs are hinged above the wheel frame and form an opening surrounding with the wheel frame;
A sliding pin for being inserted into the sliding groove is arranged on one side of the wheel frame and one side of the hanging lug;
The two ends of the elastic element are respectively connected with the hanging lugs and the wheel frame so as to generate force for enabling the surrounding to tend to be closed.
In a third aspect, an embodiment of the present invention provides an auxiliary overhaul method applied to the auxiliary overhaul unmanned aerial vehicle according to the first aspect, including:
Acquiring a target image, wherein the target image comprises the characteristics of an overhaul target;
determining an overhaul point according to a live image and the target image, wherein the live image is acquired for a live scene based on a geographic position corresponding to the target image;
carrying out electricity inspection on 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 the service point according to the live image and the target image includes:
Sending the target image into an identification model to obtain the category and the characteristic of the target;
A field image acquisition step: acquiring a live image, and sending the live image into an identification model to acquire the category of a live image main body;
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 field image comprises the characteristics of the target, determining the current geographic position as an overhaul point;
otherwise, jumping to the field image acquisition step.
In some possible implementation manners, the identification model is constructed based on a CNN neural network model, and comprises the following steps: an input layer, a convolution layer, a pooling layer, a full connection layer and an output layer; wherein, each neuron of the full-connection layer adopts LeakyReLU functions, each parameter of the identification model is determined by training, and the training step comprises:
obtaining a plurality of sample sets, wherein the sample sets comprise a plurality of samples and are used for representing a type of maintenance target, each sample comprises a sample image and a label, and the label represents the type of the sample image;
An input step: inputting a sample image into the identification model, and acquiring residual errors according to the output of the identification model and labels of the corresponding sample images, wherein the sample images are randomly extracted based on multiple sample images in the multiple sample sets;
if the residual error is larger than a threshold value, adjusting each parameter of the identification model through a back propagation algorithm, and jumping to the input step;
Otherwise, the parameters of the identification model are fixed.
In some possible implementations, the feature of the target image is an image block, and the determining whether the live image includes the feature of the target includes:
obtaining a main image block from the live image, wherein the aspect ratio of the main image block is equal to the aspect ratio of the feature;
compressing the main image block to obtain a compression diagram, wherein the total pixel number of the compression diagram is equal to the total pixel number of the characteristics of the target image;
Respectively carrying out de-coloring on the compressed image and the characteristics of the target image, respectively carrying out normalization processing according to each pixel value in the image, and respectively obtaining 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 field image includes a feature of the object according to the first vector, the second vector, and a first formula, the first formula being:
Where δ is the element comprising the coefficient, a i is the element of the 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 possible implementations, the checking the service point for electricity, and when the service point is confirmed to have a power failure, hanging the grounding wire, including:
Testing the acousto-optic characteristics of the test pencil;
When the acousto-optic characteristics are determined to be normal, the unmanned aerial vehicle body flies to the lower part of the detection point, and whether the maintenance target is electrified is tested in a mode that the electricity testing end of the electricity testing pen gradually approaches the maintenance target;
when the maintenance target is not electrified, installing a wire hanging hook on the unmanned aerial vehicle body, and flying the unmanned aerial vehicle body above the detection point so that the wire hanging point is arranged in the surrounding of the wire hanging hook;
and outputting a signal indicating the power failure of the stretching electromagnet, and hooking the hanging wire to the hooking point.
In some possible implementations, the method further includes installing a wire hook to the unmanned aerial vehicle body, including:
passing 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, embodiments of the present invention provide an electronic device comprising a memory and a processor, the memory having stored therein a computer program executable on the processor, the processor implementing the steps of the method as described in any one of the possible implementations of the third aspect or the third aspect above when the computer program is executed.
In a fifth aspect, embodiments of the present invention provide a computer readable storage medium storing a computer program which, when executed by a processor, implements the steps of the method as described above in the third aspect or any one of the possible implementations of the third aspect.
Compared with the prior art, the embodiment of the invention has the beneficial effects that:
the embodiment of the invention discloses an auxiliary overhaul unmanned aerial vehicle and a wire hanging hook, wherein the wire hanging hook drives a grounding wire to drag through a pulley and an insulating rope, so that 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 wire hanging hook is provided with the hanging lugs, under the action of the elastic element, the wire hanging hook can be inserted into the sliding grooves on the unmanned aerial vehicle through the hanging lugs and the sliding pins on the wheel frame, the sliding grooves are arranged on the stretching electromagnet, and the wire hanging hook can be connected to 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 invention also provides an implementation mode of the auxiliary overhaul method, which comprises the steps of firstly, obtaining a target image, and then, determining an overhaul point according to a field image and the target image, wherein the field image is acquired for a field scene based on a geographic position corresponding to the target image. And then, carrying out electricity inspection on the maintenance point, and when the power failure of the maintenance point is confirmed, hanging a grounding wire, and finally, sending a ground 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 position of the target access point, and hangs the ground wire by hooking the hanging wire at the hanging point when the access point fails, so that the manual intervention in the construction process is less, the labor intensity of operators is reduced, and the safety of the operation is ensured.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments or the prior art will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic diagram of an auxiliary overhaul unmanned aerial vehicle provided by an embodiment of the invention;
fig. 2 is a schematic diagram of the use of the wire hanging pliers and the wire hanging hook according to the embodiment of the invention;
FIG. 3 is a simplified side view of a wire hook according to 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. wire hanging pliers;
201. A wheel carrier;
202. a pulley;
203. Hanging lugs;
204. an elastic element;
301. A ground wire;
302. An insulating rope.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth such as the particular system architecture, techniques, etc., in order to provide a thorough understanding of the embodiments of the present 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.
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the following description will be made with reference to the accompanying drawings.
The following describes in detail the embodiments of the present invention, and the present embodiment is implemented on the premise of the technical solution of the present invention, and a detailed implementation manner and a specific operation procedure are given, but the protection scope of the present invention is not limited to the following embodiments.
Fig. 1 is a schematic diagram of an auxiliary overhaul unmanned aerial vehicle provided by an embodiment of the invention.
As shown in fig. 1, a simplified diagram of an auxiliary overhaul unmanned aerial vehicle provided by the embodiment of the invention is shown, and the details are as follows:
An embodiment of the present invention provides an auxiliary overhaul unmanned aerial vehicle, including: unmanned aerial vehicle body 101 still includes:
The device comprises a processor, an electroscope 102 and a wire hanging clamp 103, wherein the electroscope 102 is fixedly arranged on the upper surface of the unmanned aerial vehicle body 101, the electroscope 102 is higher than a rotor wing rotation area of the unmanned aerial vehicle body 101 in an electroscope end, 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 include: the stretching electromagnet comprises a stretching electromagnet body and a stretching electromagnet telescopic end, wherein sliding grooves are formed in the stretching electromagnet body and the stretching electromagnet telescopic end, and the extending direction of the sliding grooves is perpendicular to the stretching electromagnet telescopic direction;
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 the use of the wire pliers 103 and the wire hook according to the embodiment of the present invention, and fig. 3 is a schematic side view of the wire hook according to the embodiment of the present invention.
As shown in fig. 2, a schematic diagram of the use of the wire hanging pliers 103 and the wire hanging hook according to the embodiment of the present invention is shown, and the details are as follows:
A second aspect of the embodiment of the present invention provides a wire hook adapted to the auxiliary maintenance unmanned aerial vehicle according to the first aspect, including: wheel frame 201, pulley 202, suspension 203 and elastic element 204; the pulley 202 is rotatably connected with the wheel frame 201, the cross section of the wheel frame 201 is 匚 -shaped, and the pulley 202 seals the opening of the wheel frame 201;
the hanging lugs 203 are hinged above the wheel frame 201 and form an opening surrounding with the wheel frame 201;
a sliding pin for being inserted into the sliding groove is arranged on one side of the wheel frame 201 and one side of the hanging lug 203;
the two ends of the elastic element 204 are connected to the lugs 203 and the wheel carrier 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 the ground wire 301, the pulley 202 is used for winding the insulating rope 302, and the ground wire 301 is pulled through the insulating rope 302, so that the ground wire 301 is electrically connected with the wheel frame 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 connected to the ground target point, the ground wire 301 is driven by dragging the insulating rope 302, so that finally, one end of the ground wire 301 is electrically connected to the wheel frame 201, and the ground operation is completed. The wheel frame 201 and/or the hanger 203 are conductors, and the final grounding wire 301 is electrically contacted with the wheel frame 201 and/or the hanger 203 to complete the grounding of the target grounding point.
The main body of the wire hanging hook comprises a wheel frame 201 for installing a pulley 202 and a hanging lug 203, wherein the hanging lug 203 is hinged with the wheel frame 201, and an opening surrounding is formed between the hanging lug and the wheel frame, and the opening surrounding tends to be closed under the action of an elastic element 204. There are a variety of embodiments of the resilient member 204, such as a spring, or a volute spring, etc.
Two slide pins are provided on the wheel frame 201 and the hanger 203, respectively, and by pulling the two slide pins, the opening enclosure can be made to tend to be opened.
As shown in fig. 2, a wire hanging clamp 103 is arranged below the unmanned aerial vehicle body 101, the main body of the wire hanging clamp is a stretching electromagnet, the telescopic ends of the stretching electromagnet are respectively provided with a sliding groove for inserting the two sliding pins, the sliding pins are in clearance fit with the sliding grooves, and the clearance between the sliding pins and the sliding grooves is larger, when the sliding pins are inserted into the sliding grooves, if the stretching electromagnet is electrified, the opening surrounded by the opening is enlarged 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 is sleeved into the grounding target, the opening is surrounded by the elastic element 204 to clamp the grounding target when the stretching electromagnet is powered off, and at the moment, the stretching electromagnet is powered off, the telescopic end is in a free state, and the sliding pin can be freely pulled out of the sliding groove.
Besides the wire hanging pliers 103, an electricity testing end of an electricity testing pen 102 is arranged above the unmanned aerial vehicle body 101 and higher than a rotor wing rotation area.
The embodiment of the invention provides an auxiliary overhaul unmanned aerial vehicle and a wire hanging hook, wherein the wire hanging hook drives a grounding wire 301 to drag through a pulley 202 and an insulating rope 302, so that abrasion of the grounding wire 301, the insulating rope 302 and a target grounding point in a static friction dragging mode of the target grounding point in the prior art is avoided. The hanging wire hook is provided with the hanging lugs 203, under the action of the elastic element 204, the hanging wire hook can be inserted into the sliding grooves on the unmanned aerial vehicle through the hanging lugs 203 and the sliding pins on the wheel frame 201, the sliding grooves are arranged on the stretching electromagnet, and the hanging wire hook can be connected to 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 invention also 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 above-mentioned auxiliary overhaul method may include:
Step 401, obtaining a target image, wherein the target image contains characteristics of an overhaul target.
By way of example, the operation of the auxiliary overhaul of the unmanned aerial vehicle is carried out aiming at the problems found in the patrol process, and the images and the geographic coordinates of the patrol problem points are provided as evidence and the basis for the subsequent overhaul work while the problems are determined during the patrol. The images in the inspection process are important basis for confirming the places.
And step 402, determining an overhaul point according to the live image and the target image, wherein the live image is acquired by acquiring a live scene based on the geographic position corresponding to the target image.
In some embodiments, step 402 comprises:
Sending the target image into an identification model to obtain the category and the characteristic of the target;
A field image acquisition step: acquiring a live image, and sending the live image into an identification model to acquire the category of a live image main body;
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 field image comprises the characteristics of the target, determining the current geographic position as an overhaul point;
otherwise, jumping to the on-site image acquisition step
In some embodiments, the identification model is constructed based on a CNN neural network model, and comprises: an input layer, a convolution layer, a pooling layer, a full connection layer and an output layer; wherein, each neuron of the full-connection layer adopts LeakyReLU functions, each parameter of the identification model is determined by training, and the training step comprises:
obtaining a plurality of sample sets, wherein the sample sets comprise a plurality of samples and are used for representing a type of maintenance target, each sample comprises a sample image and a label, and the label represents the type of the sample image;
An input step: inputting a sample image into the identification model, and acquiring residual errors according to the output of the identification model and labels of the corresponding sample images, wherein the sample images are randomly extracted based on multiple sample images in the multiple sample sets;
if the residual error is larger than a threshold value, adjusting each parameter of the identification model through a back propagation algorithm, and jumping to the input step;
Otherwise, the parameters of the identification model are fixed.
In some possible implementations, the feature of the target image is an image block, and the determining whether the live image includes the feature of the target includes:
obtaining a main image block from the live image, wherein the aspect ratio of the main image block is equal to the aspect ratio of the feature;
compressing the main image block to obtain a compression diagram, wherein the total pixel number of the compression diagram is equal to the total pixel number of the characteristics of the target image;
Respectively carrying out de-coloring on the compressed image and the characteristics of the target image, respectively carrying out normalization processing according to each pixel value in the image, and respectively obtaining 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 field image includes a feature of the object according to the first vector, the second vector, and a first formula, the first formula being:
Where δ is the element comprising the coefficient, a i is the element of the 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.
For example, one function of the auxiliary service drone is to check the service site, which analyzes the images taken on site, first determines the class of service from the target image, and extracts the features, wherein the class surface service target is what kind of electric product is, for example, an insulator or a power line.
Then, by the same way, the main body of the field image is identified, the category of the main body is obtained, if the category of the main body is consistent with the category of the target image, whether the main body contains the extracted features is further judged, and if the main body contains the extracted features, 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 LeakyReLU functions, and the expression of the activation function is as follows:
in the above formula, x is the input of the activation function, and LeakyReLU functions have the advantages that when the back propagation algorithm is carried out, the algorithm is simple, and the problem of gradient disappearance can be solved.
The constructed model is trained through samples to find suitable 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, a power line image is a sample set, an insulator is a sample set, and the like, then the sample sets are input into the identification model in a disordered manner, 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 input of the next picture is performed, 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.
In terms of whether the field image includes the target image, one embodiment is to clip the field image, remove the edge portion of the field image, and the aspect ratio of the field image after being clipped is the same as the feature image, then compress, decolour, normalize the clipped image and the feature image according to the total pixel number of the feature image to obtain two matrixes, obtain the inclusion coefficient by taking the data from the two matrixes in order to the colleague, and obtain the inclusion coefficient by a first formula, wherein the inclusion coefficient represents the possibility of inclusion of the feature image, and the first formula is expressed as follows:
Where δ is the element comprising the coefficient, a i is the element of the 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.
Step 403, performing electricity inspection on the maintenance point, and hanging the grounding wire 301 when the power failure of the maintenance point is confirmed.
In some embodiments, step 403 comprises:
Testing the acousto-optic characteristics of the test pencil 102;
when the sound-light characteristic is determined to be normal, the unmanned aerial vehicle body 101 flies to the lower part of the detection point, and whether the maintenance target is electrified 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 maintenance target is not electrified, installing a wire hanging hook on the unmanned aerial vehicle body 101, and flying the unmanned aerial vehicle body 101 above the detection point so that the wire hanging point is arranged in the surrounding of the wire hanging hook;
and outputting a signal indicating the power failure of the stretching electromagnet, and hooking the hanging wire to the hooking point.
In some embodiments, installing a wire hook to the unmanned aerial vehicle body 101 includes:
passing an insulating rope 302 through a port formed by the pulley 202 and the wheel frame 201;
Fixedly connecting the first end of the insulating rope 302 with the first end of the grounding wire 301;
grounding the 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, in the case of the hanging ground wire 301, the electricity is tested by the test pencil 102 carried by the unmanned aerial vehicle, and when it is confirmed that the ground point is not electrified, the hanging wire hook is attached to the hanging point.
For the hanging connection of the wire hanging hook, the insulating rope 302 is first wound around the pulley 202, then the insulating rope 302 is connected with the grounding wire 301, the grounding wire of the grounding wire 301 is grounded, and the insulating rope 302 is usually made of a light material. Then, the sliding pin is inserted into the sliding groove, electricity is obtained through the stretching electromagnet, the wire hanging hook is fixed on the unmanned aerial vehicle, and finally, the unmanned aerial vehicle flies to prop against the hanging point, and the wire hanging hook is hung on the hanging point.
In step 404, a ground wire hooking confirmation signal of the service point is sent according to the state of the service point.
Illustratively, after the hooking ground wire 301 is finished, in some application scenarios, a hooking confirmation signal is also sent, for example, by capturing an image of the access point, confirming whether the access point is successfully hooked through the image, and when successful hooking is confirmed, sending a message that the hooking is successful.
According to the auxiliary overhaul method, firstly, a target image is acquired, and then, overhaul points are determined according to a field image and the target image, wherein the field image is acquired for a field scene based on a geographic position corresponding to the target image. And then, the maintenance point is subjected to electricity inspection, when the power failure of the maintenance point is confirmed, the ground wire 301 is hung, and finally, a ground wire hanging confirmation signal of the maintenance point is sent 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 position of the target access point, and hangs the ground wire 301 by hooking the hanging wire to the hanging point when the access point fails, 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 number of each step in the foregoing embodiment does not mean that the execution sequence of each process should be determined by the function and the internal logic, and should not limit the implementation process of the embodiment of the present invention.
Fig. 5 is a functional block diagram of an electronic device provided by 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, said memory 501 having stored therein a computer program 502 executable on said processor 500. The processor 500, when executing the computer program 502, implements the steps of the foregoing power metering device operation and maintenance methods and embodiments, 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 accomplish the present invention.
The electronic device 5 may be a computing device such as a desktop computer, a notebook computer, a palm computer, a cloud server, etc. The electronic device 5 may include, but is not limited to, a processor 500, a memory 501. It will be appreciated by those skilled in the art that fig. 5 is merely an example of the electronic device 5 and is not meant to be limiting as the electronic device 5 may include more or fewer components than shown, or may combine certain components, or different components, e.g., the electronic device may further include an input-output device, a network access device, a bus, etc.
The Processor 500 may be a central processing unit (Central Processing Unit, CPU), other general purpose Processor, digital signal Processor (DIGITAL SIGNAL Processor, DSP), application SPECIFIC INTEGRATED Circuit (ASIC), field-Programmable gate array (Field-Programmable GATE ARRAY, FPGA) or other Programmable logic device, discrete gate or transistor logic device, discrete hardware components, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 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 memory card (SMART MEDIA CARD, SMC), a Secure Digital (SD) card, a flash memory card (FLASH CARD) or 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 to store 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-described division of the functional units and modules is illustrated, and in practical application, the above-described functional distribution may be performed by different functional units and modules according to needs, i.e. the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-described functions. The functional units and modules in the embodiment may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit, where the integrated units may be implemented in a form of hardware or a form of a software functional unit. In addition, the specific names of the functional units and modules are only for distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working process of the units and modules in the above system may refer to the corresponding process in the foregoing method embodiment, and will not be described herein again.
In the foregoing embodiments, the descriptions of the embodiments are focused on, and the details or descriptions of other embodiments may be referred to for those parts of an embodiment that are not described in detail or are described in detail.
Those of ordinary skill in the art will appreciate that the elements and algorithm steps described in connection with the embodiments disclosed herein can 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 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.
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 manners. For example, the apparatus/electronic device embodiments described above are merely illustrative, e.g., the division of the modules or units is merely a logical function division, and there may be additional divisions when actually implemented, e.g., multiple units or components may be combined or integrated into another system, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection via interfaces, devices or units, which may be in electrical, mechanical or other forms.
The units described as separate units may or may not be physically separate, and units shown 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 may be selected according to actual needs to achieve the purpose of the embodiment.
In addition, each functional unit in each embodiment of the present invention may be integrated in one processing unit, each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The integrated modules/units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the present invention may also be implemented by implementing all or part of the flow of the method of the above embodiment, or by instructing the relevant hardware by a computer program, where the computer program may be stored in a computer readable storage medium, and the computer program may be executed by a processor to implement the steps of each of the above embodiments of the method for detecting an underground electric pipeline. Wherein the computer program comprises computer program code which may be in source code form, object code form, executable file or some intermediate form etc. The computer readable medium may include: any entity or device capable of carrying the computer program code, a recording medium, a U disk, a removable hard disk, a magnetic disk, an optical disk, a computer Memory, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), an electrical carrier signal, a telecommunications signal, a software distribution medium, and so forth.
The above embodiments are only for illustrating the technical solution of the present invention, and are not limited thereto; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention, and they should be included in the protection scope of the present invention.
Claims (7)
1. An auxiliary service drone, comprising: unmanned aerial vehicle body, its characterized in that still includes:
The device comprises a processor, an electroscope and wire hanging pliers, wherein the electroscope is fixedly arranged on the upper surface of the unmanned aerial vehicle body, the electroscope end of the electroscope is higher than a rotor wing rotation area of the unmanned aerial vehicle body, and the wire hanging pliers are 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 electromagnet telescopic end, wherein sliding grooves are formed in the stretching electromagnet body and the stretching electromagnet telescopic end, and the extending direction of the sliding grooves is perpendicular to the stretching electromagnet telescopic direction;
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;
The auxiliary overhaul unmanned aerial vehicle further comprises a wire hanging hook matched with the wire hanging pliers, and the wire hanging hook comprises: the device comprises a wheel frame, pulleys, hangers and elastic elements; the pulley is rotationally connected with the wheel frame, the cross section of the wheel frame is 匚 -shaped, and the pulley seals the opening of the wheel frame;
the hanging lugs are hinged above the wheel frame and form an opening surrounding with the wheel frame;
A sliding pin for being inserted into the sliding groove is arranged on one side of the wheel frame and one side of the hanging lug;
The two ends of the elastic element are respectively connected with the hanging lugs and the wheel frame so as to generate force for enabling the surrounding to tend to be closed;
The sliding pin of the wire hanging hook is in clearance fit with the sliding groove of the stretching electromagnet;
When the sliding pin of the wire hanging hook is inserted into the sliding groove of the stretching electromagnet and the stretching electromagnet is electrified, the opening of the wire hanging hook is surrounded and enlarged under the action of the stretching electromagnet and the elastic element, so that the wire hanging hook is fixed on the wire hanging pliers; when the stretching electromagnet is powered off, the wire hanging hook opening is surrounded and contracted under the action of the elastic element, and the sliding pin of the wire hanging clamp is freely pulled out of the sliding groove of the stretching electromagnet.
2. An auxiliary overhaul method, which is applied to the auxiliary overhaul unmanned aerial vehicle as claimed in claim 1, comprises the following steps:
Acquiring a target image, wherein the target image comprises the characteristics of an overhaul target;
determining an overhaul point according to a live image and the target image, wherein the live image is acquired for a live scene based on a geographic position corresponding to the target image;
carrying out electricity inspection on the maintenance point, and hanging a grounding wire when the power failure of the maintenance point is confirmed;
According to the state of the overhaul point, sending a ground wire hooking confirmation signal of the overhaul point;
wherein, determining the maintenance point according to the field image and the target image includes:
Sending the target image into an identification model to obtain the category and the characteristic of the target;
A field image acquisition step: acquiring a live image, and sending the live image into an identification model to acquire the category of a live image main body;
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 field image comprises the characteristics of the target, determining the current geographic position as an overhaul point;
otherwise, jumping to the on-site image acquisition step;
the identification model is constructed based on a CNN neural network model, and comprises the following components: an input layer, a convolution layer, a pooling layer, a full connection layer and an output layer; wherein, each neuron of the full-connection layer adopts LeakyReLU functions, each parameter of the identification model is determined by training, and the training step comprises:
obtaining a plurality of sample sets, wherein the sample sets comprise a plurality of samples and are used for representing a type of maintenance target, each sample comprises a sample image and a label, and the label represents the type of the sample image;
An input step: inputting a sample image into the identification model, and acquiring residual errors according to the output of the identification model and labels of the corresponding sample images, wherein the sample images are randomly extracted based on multiple sample images in the multiple sample sets;
if the residual error is larger than a threshold value, adjusting each parameter of the identification model through a back propagation algorithm, and jumping to the input step;
Otherwise, the parameters of the identification model are fixed.
3. The method of assisted inspection of claim 2, wherein the feature of the target image is an image block, and the determining whether the field image includes the feature of the target comprises:
obtaining a main image block from the live image, wherein the aspect ratio of the main image block is equal to the aspect ratio of the feature;
compressing the main image block to obtain a compression diagram, wherein the total pixel number of the compression diagram is equal to the total pixel number of the characteristics of the target image;
Respectively carrying out de-coloring on the compressed image and the characteristics of the target image, respectively carrying out normalization processing according to each pixel value in the image, and respectively obtaining 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 field image includes a feature of the object according to the first vector, the second vector, and a first formula, the first formula being:
In the method, in the process of the invention, In order to include the coefficients of the coefficients,As an element of the first vector,As an element of the second vector,Is the number of elements in the first vector and the second vector.
4. A method of auxiliary service according to any one of claims 2 to 3, wherein the service points are subjected to an electricity test and, when a power outage at the service points is confirmed, a ground wire is hooked up, comprising:
Testing the acousto-optic characteristics of the test pencil;
When the acousto-optic characteristics are determined to be normal, the unmanned aerial vehicle body flies to the lower part of the overhaul point, and whether the overhaul target is electrified is tested in a mode that the electricity testing end of the electricity testing pen gradually approaches the overhaul target;
when the maintenance target is not electrified, installing a wire hanging hook on the unmanned aerial vehicle body, and flying the unmanned aerial vehicle body to the upper part of the maintenance point, so that the wire hanging point is arranged in the surrounding of the wire hanging hook;
and outputting a signal indicating the power failure of the stretching electromagnet, and hooking the hanging wire to the hooking point.
5. The method of claim 4, wherein installing a wire hook to the unmanned aerial vehicle body comprises:
passing 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.
6. An electronic device comprising a memory and a processor, the memory having stored therein a computer program executable on the processor, characterized in that the processor, when executing the computer program, implements the steps of the method according to any of the preceding claims 2-5.
7. A computer readable storage medium storing a computer program, characterized in that the computer program when executed by a processor implements the steps of the method according to any of the preceding claims 2 to 5.
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