CN115755946A - Power inspection method, device and system based on digital twinning - Google Patents
Power inspection method, device and system based on digital twinning Download PDFInfo
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Abstract
The present disclosure relates to the field of power inspection technologies, and in particular, to a method, an apparatus, and a system for power inspection based on digital twins. The method comprises the steps of obtaining coordinates of a plurality of electric towers and a line between two adjacent electric towers in advance, and establishing an electric tower three-dimensional model according to the coordinates; generating a routing inspection path according to the three-dimensional electric tower model and the power routing inspection requirement; and controlling the inspection unmanned aerial vehicle to shoot and inspect the electric tower and the line according to the inspection path and the inspection coordinate of the inspection unmanned aerial vehicle. Through this writing embodiment, realized according to the satellite positioning data controlling unmanned aerial vehicle's the process of patrolling and examining, realized automatic patrolling and examining, improved the efficiency that electric power patrolled and examined, solved among the prior art problem that electric power patrolled and examined inefficiency.
Description
Technical Field
The present disclosure relates to the field of power inspection technologies, and in particular, to a method, an apparatus, and a system for power inspection based on digital twins.
Background
Traditional electric power inspection method is mostly for the staff to carry out remote control unmanned aerial vehicle under the tower and patrol and examine, the staff is through range estimation and the camera on the unmanned aerial vehicle, carry out the distance to unmanned aerial vehicle and electric tower and control, receive the restriction of people's naked eye observation distance and camera observation scope, when unmanned aerial vehicle carries out remote high altitude and patrols and examines, the staff not only will control unmanned aerial vehicle's operation and remove, the operation of the inside camera angle of unmanned aerial vehicle of will controlling again, still need to shoot in real time and observe circuit and electric tower, single staff hardly carries out the high efficiency and patrols and examines.
At present, a power patrol inspection method based on digital twins is needed, so that the problem of low efficiency of power patrol inspection in the prior art is solved.
Disclosure of Invention
In order to solve the problems in the prior art, embodiments of the present disclosure provide a method, an apparatus, and a system for power inspection based on digital twins, which implement control of the inspection process of an unmanned aerial vehicle according to satellite positioning data, implement automatic inspection, improve the efficiency of power inspection, and solve the problem of low efficiency of power inspection in the prior art.
In order to solve the technical problems, the specific technical scheme is as follows:
in one aspect, embodiments herein provide a digital twin-based power patrol method, the method comprising,
the method comprises the steps of obtaining coordinates of a plurality of electric towers and a line between two adjacent electric towers in advance, and establishing an electric tower three-dimensional model according to the coordinates;
generating a routing inspection path according to the electric tower three-dimensional model and the power routing inspection requirement;
and controlling the inspection unmanned aerial vehicle to record and inspect the electric tower and the line according to the inspection path and the inspection coordinate of the inspection unmanned aerial vehicle.
Further, the power inspection requirement comprises an inspection electric tower number;
generating a patrol circuit according to the electric tower three-dimensional model and the power patrol requirement further comprises,
determining a target electric tower corresponding to the inspection electric tower number in the electric tower three-dimensional model;
and generating the routing inspection path according to the coordinates of the target electric towers and the coordinates of the lines between the adjacent target electric towers.
Further, generating the patrol circuit according to the coordinates of the target electric towers and the coordinates of the circuit between the adjacent target electric towers further comprises,
calculating a safe distance of the line according to the voltage of the line;
and generating the routing inspection path according to the coordinates of the target electric tower, the coordinates of the line and the safe distance.
Further, controlling the inspection unmanned aerial vehicle to shoot and inspect the electric tower and the line according to the inspection path and the inspection coordinate of the inspection unmanned aerial vehicle also comprises,
acquiring the quality score of the inspection image shot by the inspection unmanned aerial vehicle;
under the condition that the quality score is lower than a preset threshold value, marking an inspection path corresponding to the inspection image;
after the routing inspection unmanned aerial vehicle finishes shooting and routing inspection corresponding to the routing inspection path, generating a rechecking path according to the marked electric tower and line coordinates corresponding to the routing inspection path, and controlling the routing inspection unmanned aerial vehicle to shoot and route inspection again corresponding to the rechecking path according to the rechecking path and the routing inspection coordinates of the routing inspection unmanned aerial vehicle.
In another aspect, embodiments herein also provide a digital twin-based power patrol device, comprising,
the electric tower three-dimensional model building unit is used for acquiring coordinates of a plurality of electric towers and a line between every two adjacent electric towers in advance and building an electric tower three-dimensional model according to the coordinates;
the inspection path generating unit is used for generating an inspection path according to the electric tower three-dimensional model and the power inspection requirement;
and the inspection control unit is used for controlling the inspection unmanned aerial vehicle to record and inspect the electric tower and the line according to the inspection path and the inspection coordinate of the inspection unmanned aerial vehicle.
Furthermore, the inspection control unit comprises an inspection image quality score acquisition module used for acquiring the quality score of the inspection image shot by the inspection unmanned aerial vehicle;
the inspection path marking module is used for marking an inspection path corresponding to the inspection image under the condition that the quality score is lower than a preset threshold value;
the inspection path generating unit comprises a rechecking path generating module which is used for generating a rechecking path according to the marked electric tower and line coordinates corresponding to the inspection path after the inspection unmanned aerial vehicle finishes shooting and inspection corresponding to the inspection path;
and the inspection control unit is further used for controlling the inspection unmanned aerial vehicle to shoot and inspect the electric tower and the line corresponding to the rechecking path again according to the rechecking path and the inspection coordinate of the inspection unmanned aerial vehicle.
In another aspect, embodiments herein also provide a digital twin based power patrol system including the digital twin based power patrol apparatus described in embodiments herein, including,
the data transmitting and receiving device is used for acquiring positioning data of a plurality of electric towers and lines between two adjacent electric towers, acquiring patrol positioning data of the patrol unmanned aerial vehicle, converting the positioning data into coordinates, converting the patrol positioning data into patrol coordinates, and transmitting the coordinates and the patrol coordinates to the electric power patrol device based on digital twins;
the electric power inspection device based on the digital twin is used for controlling the inspection unmanned aerial vehicle to carry out shooting and recording inspection on the electric tower and the line according to the coordinate and the inspection coordinate;
and the inspection image processing device is used for processing the image shot by the inspection unmanned aerial vehicle to obtain the inspection result of the electric tower and the line.
Further, the data transceiver comprises a signal transceiver, a cloud processor and a signal base station;
the transceiver is used for acquiring positioning data of a plurality of electric towers and a line between two adjacent electric towers, acquiring patrol positioning data of a patrol unmanned aerial vehicle, and sending the positioning data and the patrol positioning data to the cloud processor;
the cloud processor is used for converting the positioning data into coordinates, converting the inspection positioning data into inspection coordinates, and sending the coordinates and the inspection coordinates to the signal base station;
the signal base station is used for sending the coordinates and the inspection coordinates to the electric power inspection device based on the digital twin, and the electric power inspection device based on the digital twin is deployed on a satellite.
In another aspect, embodiments herein also provide a computer device including a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the processor implements the method described above when executing the computer program.
Finally, embodiments herein also provide a computer storage medium having a computer program stored thereon, the computer program, when executed by a processor of a computer device, performing the method described above.
Utilize this paper embodiment, realized patrolling and examining the route according to the electricity tower three-dimensional model of founding in advance and the demand generation of patrolling and examining of electric power patrolling and examining, patrolled and examined unmanned aerial vehicle and shot with the video recording to electricity tower and circuit and patrol and examine according to patrolling and examining the route and patrolling and examining unmanned aerial vehicle's the lock table control of patrolling and examining, realized that automatic control patrols and examines unmanned aerial vehicle and accurately patrols and examines electricity tower and circuit, improved the efficiency that electric power patrolled and examined, solved among the prior art electric power and patrolled and examined the problem of inefficiency.
Drawings
In order to more clearly illustrate the embodiments or technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described 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 the drawings without creative efforts.
FIG. 1 is a flow chart illustrating a method for digital twin based power routing inspection according to an embodiment of the present disclosure;
FIG. 2 illustrates the steps of generating a patrol circuit according to the three-dimensional model of the electric tower and the power patrol requirement according to the embodiment;
fig. 3 illustrates a step of generating the inspection line according to the coordinates of the target electric towers and the coordinates of the line between the adjacent target electric towers according to the embodiment;
fig. 4 shows a step of controlling the inspection drone to shoot and inspect the electric tower and the line according to the inspection path and the inspection coordinates of the inspection drone in the embodiment;
FIG. 5 is a schematic structural diagram of a power inspection device based on digital twinning according to an embodiment of the present invention;
FIG. 6 is a detailed block diagram of a digital twin based power inspection device according to an embodiment of the present invention;
FIG. 7 is a schematic structural diagram of a power inspection system based on digital twinning according to an embodiment of the present invention;
FIG. 8 is a detailed block diagram of a digital twin based power routing inspection system according to an embodiment of the present invention;
fig. 9 is a schematic structural diagram of a computer device according to an embodiment of the present disclosure.
[ description of reference ]:
501. an electric tower three-dimensional model building unit;
502. a routing inspection path generating unit;
5021. a recheck path generation module;
503. a patrol control unit;
5031. a quality score acquisition module of the inspection image;
5032. a routing inspection path marking module;
701. a data transceiver;
7011. a signal transceiver;
7012. a cloud processor;
7013. a signal base station;
702. a power patrol inspection device based on digital twinning;
703. an inspection image processing device;
902. a computer device;
904. a processing device;
906. a storage resource;
908. a drive mechanism;
910. an input/output module;
912. an input device;
914. an output device;
916. a presentation device;
918. a graphical user interface;
920. a network interface;
922. a communication link;
924. a communication bus.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments herein without making any creative effort, shall fall within the scope of protection.
It should be noted that the terms "first," "second," and the like in the description and claims herein and in the above-described drawings are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments herein described are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, apparatus, article, or device that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or device.
It should be noted that the steps illustrated in the flowcharts of the figures may be performed in a computer system such as a set of computer-executable instructions and that, although a logical order is illustrated in the flowcharts, in some cases, the steps illustrated or described may be performed in an order different than presented herein.
In order to solve the problems in the prior art, the embodiment of the text provides a power inspection method based on digital twins, a worker is no longer required to control an inspection unmanned aerial vehicle to inspect an electric tower and a line under the electric tower by holding a control device, and automatic inspection of the inspection unmanned aerial vehicle is realized. Fig. 1 is a flow chart illustrating a method for power patrol inspection based on digital twinning according to an embodiment of the present disclosure. The process of controlling the inspection drone to automatically inspect the tower and the line is described in this figure, but may include more or fewer operational steps based on routine or non-inventive labor. The order of steps recited in the embodiments is merely one manner of performing the steps in a multitude of orders and does not represent the only order of execution. When an actual system or apparatus product executes, it can execute sequentially or in parallel according to the method shown in the embodiment or the figures. Specifically, as shown in fig. 1, the method may be performed by a server, and the method may include:
step 101: the method comprises the steps of obtaining coordinates of a plurality of electric towers and a line between two adjacent electric towers in advance, and establishing an electric tower three-dimensional model according to the coordinates;
step 102: generating a patrol route according to the electric tower three-dimensional model and the power patrol requirement;
step 103: and controlling the inspection unmanned aerial vehicle to record and inspect the electric tower and the line according to the inspection path and the inspection coordinate of the inspection unmanned aerial vehicle.
Through the method of the embodiment, the inspection path is generated according to the pre-constructed three-dimensional electric tower model and the power inspection requirement, the inspection unmanned aerial vehicle is controlled to shoot and inspect the electric tower and the circuit according to the inspection path and the inspection lock table of the inspection unmanned aerial vehicle, the automatic control of the inspection unmanned aerial vehicle is realized, the inspection of the electric tower and the circuit is accurately performed, the power inspection efficiency is improved, and the problem of low power inspection efficiency in the prior art is solved.
In the embodiment, the positioning device can be installed on the electric tower and the line in advance, then the coordinates of the positioning device installed on the electric tower and the line are obtained through the satellite positioning system, and then the coordinates are input into the three-dimensional modeling software to build the three-dimensional model of the electric tower. Then generating a routing inspection path according to the three-dimensional electric tower model and the power routing inspection requirement, wherein the power routing inspection requirement can comprise a line number to be inspected, determining the coordinate of a target line according to the line number and the three-dimensional electric tower model, and controlling an inspection unmanned aerial vehicle to shoot, record and inspect according to the coordinate of the target line.
In this paper embodiment, patrol and examine the unmanned aerial vehicle and can install the camera on it, can patrol and examine unmanned aerial vehicle's shooting angle through remote software control, acquire the video image of more accurate electricity tower and circuit, then transmit the video image of electricity tower and circuit to the server in, by staff's manual work to video image analysis, confirm whether the electricity tower and circuit appear unusually. In addition, a video analysis model which is constructed in advance can be stored in the server, and video images are input into the video analysis model to obtain a routing inspection result whether the electric tower and the line are abnormal or not.
In this embodiment, the inspection drone may include a position control module, a speed detection module, a height detection module, and an inclination detection module;
the position control module is used for controlling the position of the unmanned aerial vehicle, controlling the inspection unmanned aerial vehicle to shoot and inspect the electric tower and the circuit according to the inspection path and the inspection coordinate of the inspection unmanned aerial vehicle,
and sending the routing inspection path to the position control module, and changing the coordinate of the routing inspection unmanned aerial vehicle by the position control module according to the routing inspection path.
In this embodiment, the position control module may change the latitude and longitude values of the drone, and the like, which is not limited in this embodiment.
In this paper, the speed detection module with position control module passes through the wire and connects, speed detection module receives position control module's influence, control patrol and examine unmanned aerial vehicle and record the speed of patrolling and examining the in-process at taking pictures, prevent to patrol and examine unmanned aerial vehicle's speed too fast, influence the shooting quality. Specifically, can carry out image quality analysis to the video image who patrols and examines unmanned aerial vehicle and pass back in real time, obtain image quality score under the condition that image quality score is less than predetermined score, with the instruction of speed of adjustment send for position control module, position control module according to patrol and examine unmanned aerial vehicle's position, through speed detection module adjusts patrol and examine unmanned aerial vehicle's speed. For example, the height of patrolling and examining unmanned aerial vehicle is higher, then adjusts patrol and examine the speed of unmanned aerial vehicle's a plurality of wings to both can avoid patrolling and examining unmanned aerial vehicle's flying speed too fast, can resist the influence of higher high wind speed to patrolling and examining unmanned aerial vehicle flight again.
In this paper embodiment, height detection module is at the in-process of unmanned aerial vehicle operation, and real time monitoring patrols and examines unmanned aerial vehicle's operating height to electricity tower three-dimensional model is the benchmark, calculates and calculates the vertical height of patrolling and examining the relative electricity tower of unmanned aerial vehicle. The staff can be according to the height of calculating to patrolling and examining unmanned aerial vehicle and carrying out manual control under emergency.
In this paper embodiment, inclination detection module passes through the wire and is connected with height detection module and position control module, and when real-time supervision patrolled and examined unmanned aerial vehicle operation and suspension, the inclination of fuselage. Furthermore, the flight of the inspection unmanned aerial vehicle can be controlled according to the inclination angle of the body, and the normal work of the inspection unmanned aerial vehicle is guaranteed.
In this embodiment, the inspection unmanned aerial vehicle can be provided with an image capturing unit for recording the inspected electric tower and the inspected line. Further, the image capturing unit includes an optical photographing module, a night vision module, an identification module, and a feedback module;
the optical shooting module is mainly used for checking environments with sufficient light in the daytime and transmitting the shot information to the recognition module for recognition and recording;
the night vision module adopts a night vision device, thermal imaging is carried out by detecting thermal radiation, the night vision module is used in an environment with insufficient light at night, when an instrument in the electric tower is overloaded, the night vision module is used for releasing a large amount of thermal radiation outwards due to overhigh temperature, and a thermal imaging picture inputs a high-temperature short circuit dangerous case which cannot be directly observed by naked eyes into the identification module;
the identification module is used for receiving the image state information of the electric towers received by the optical shooting module and the night vision module, identifying and marking each electric tower shot and patrolled, and inputting a detection result into the system, so that the electric towers with dangerous situations can be called and compared in time during subsequent overhaul;
the feedback module receives the digital signals transmitted by the identification module, the signals transmitted by the identification module cannot be distinguished by the feedback module, the image is very fuzzy, in order to improve the shooting quality and the inspection accuracy, the feedback module reversely transmits unqualified shooting information to the inside of the optical shooting module or the night vision module, and the equipment shoots again.
According to one embodiment herein, as shown in fig. 2, generating a patrol line based on the three-dimensional model of the electric tower and the power patrol requirement further comprises,
step 201: determining a target electric tower corresponding to the inspection electric tower number in the electric tower three-dimensional model;
step 202: and generating the routing inspection path according to the coordinates of the target electric towers and the coordinates of the lines between the adjacent target electric towers.
In this embodiment, a target electric tower corresponding to the inspection electric tower number may be determined in the electric tower three-dimensional model, and then an inspection path may be generated according to coordinates of the target electric tower and coordinates of a line between adjacent target electric towers, items of the inspection electric tower may include a temperature of an instrument on the electric tower, whether a structure of the electric tower is distorted, whether a foreign object (e.g., a bird nest) is on the electric tower, and the like, and items of the inspection line may include whether a foreign object is hung on the line, and the like.
According to one embodiment of the present disclosure, a high voltage electric field may be generated near the high voltage line, and the routing inspection unmanned aerial vehicle may have a problem of abnormal operation when approaching the high voltage electric field, and in view of the above problem, as shown in fig. 3, generating the routing inspection line according to the coordinates of the target electric towers and the coordinates of the line between the adjacent target electric towers further includes,
step 301: calculating a safe distance of the line according to the voltage of the line;
step 302: and generating the routing inspection path according to the coordinates of the target electric tower, the coordinates of the line and the safe distance.
In this paper embodiment, can calculate the safe distance of circuit according to the voltage of circuit, show at this safe distance and use the circuit as the centre of a circle, safe distance is the radius, outside this safe distance, patrol and examine unmanned aerial vehicle and just can not be disturbed by high-voltage electric field, this paper embodiment is according to coordinate of target electricity tower, the coordinate and the safe distance generation of circuit and is patrolled and examined the route, can understand, should patrol and examine the route outside safe distance to unmanned aerial vehicle's normal work has been patrolled and examined in the assurance.
According to one embodiment of the present disclosure, during the inspection process of the inspection drone, there may be a case that the quality of the video recording is insufficient, and therefore, in order to improve the quality of the inspection, as shown in fig. 4, controlling the inspection drone to perform the video recording inspection of the electric tower and the line according to the inspection path and the inspection coordinates of the inspection drone further includes,
step 401: acquiring the quality score of the inspection image shot by the inspection unmanned aerial vehicle;
step 402: under the condition that the quality score is lower than a preset threshold value, marking an inspection path corresponding to the inspection image;
step 403: after the routing inspection unmanned aerial vehicle finishes shooting and routing inspection corresponding to the routing inspection path, generating a rechecking path according to the marked electric tower and line coordinates corresponding to the routing inspection path, and controlling the routing inspection unmanned aerial vehicle to shoot and route inspection again corresponding to the rechecking path according to the rechecking path and the routing inspection coordinates of the routing inspection unmanned aerial vehicle.
In this embodiment, the image capture unit on the inspection unmanned aerial vehicle may calculate a quality score of the image, the inspection unmanned aerial vehicle then sends the quality score of the image to the server, and the server marks the inspection path corresponding to the inspection image when the quality score is lower than a preset threshold value, so that after the inspection unmanned aerial vehicle completes the recording inspection corresponding to the inspection path, the recording inspection is performed on the marked inspection path again until the quality score of the image corresponding to the marked inspection path meets the requirement of the preset threshold value.
Based on the same inventive concept, the present embodiment further provides a power inspection device based on digital twin, as shown in fig. 5, including,
the electric tower three-dimensional model building unit 501 is used for obtaining coordinates of a plurality of electric towers and a line between every two adjacent electric towers in advance and building an electric tower three-dimensional model according to the coordinates;
the inspection path generating unit 502 is used for generating an inspection path according to the electric tower three-dimensional model and the power inspection requirement;
and the inspection control unit 503 is used for controlling the inspection unmanned aerial vehicle to record and inspect the electric tower and the line according to the inspection path and the inspection coordinate of the inspection unmanned aerial vehicle.
According to an embodiment of the present disclosure, as shown in fig. 6, the inspection control unit 503 includes an inspection image quality score obtaining module 5031, configured to obtain a quality score of the inspection image captured by the inspection drone;
the routing inspection path marking module 5032 is configured to mark a routing inspection path corresponding to the routing inspection image when the quality score is lower than a preset threshold value;
the inspection path generating unit 502 comprises a recheck path generating module 5021, which is used for generating a recheck path according to the electric tower and the line coordinates corresponding to the marked inspection path after the inspection unmanned aerial vehicle finishes shooting and recording inspection corresponding to the inspection path;
the inspection control unit 503 is further configured to control the inspection unmanned aerial vehicle to shoot and inspect the electric tower and the line corresponding to the rechecking path again according to the rechecking path and the inspection coordinate of the inspection unmanned aerial vehicle.
The beneficial effects obtained by the above device are consistent with those obtained by the above method, and the embodiments of the present description are not repeated.
Based on the same inventive concept, the present embodiments also provide a digital twin-based power inspection system including the digital twin-based power inspection device according to the present embodiments, as shown in fig. 7, including,
the data transceiver 701 is used for acquiring positioning data of a plurality of electric towers and lines between two adjacent electric towers, acquiring patrol positioning data of the patrol unmanned aerial vehicle, converting the positioning data into coordinates, converting the patrol positioning data into patrol coordinates, and sending the coordinates and the patrol coordinates to the electric power patrol inspection device 702 based on the digital twin;
the electric power inspection device 702 based on the digital twin is used for controlling the inspection unmanned aerial vehicle to shoot and inspect the electric tower and the line according to the coordinates and the inspection coordinates;
and the inspection image processing device 703 is used for processing the image shot by the inspection unmanned aerial vehicle to obtain the inspection results of the electric tower and the line.
According to an embodiment herein, as shown in fig. 8, the data transceiver 701 includes a signal transceiver 7011, a cloud processor 7012, and a signal base station 7013;
the signal transceiver 7011 is configured to acquire positioning data of a plurality of electric towers and a line between two adjacent electric towers, acquire inspection positioning data of an inspection unmanned aerial vehicle, and send the positioning data and the inspection positioning data to the cloud processor 7012;
the cloud processor 7012 is configured to convert the positioning data into coordinates, convert the inspection positioning data into inspection coordinates, and send the coordinates and the inspection coordinates to the signal base station;
the signal base station 7013 is configured to send the coordinates and the inspection coordinates to the power inspection device based on the digital twin, where the power inspection device based on the digital twin is deployed on a satellite.
In some other embodiments herein, the signal transceiver 7011 may also be deployed inside a mobile operation terminal of a worker, a cloud processor, and a signal base station, and since transmission and interaction of remote information have strong real-time performance and stability, the cloud processor is located at a remote terminal, receives, encodes, decodes, and stores signals output by the inspection unmanned aerial vehicle, and transmits analyzed information to the mobile operation terminal of the worker by radio, so that similar workers can perform human-computer interaction. The purpose of the cloud processor is to decode and compile information, and to store the received and transmitted information in the cloud while transmitting and receiving information. The method for directly sending the information to the mobile operation terminal is only suitable for short distance, and when the information is received and sent in a long distance, the cloud processor serves as a middle springboard for information transmission and processing, so that the transmitted information is stored while the information is transmitted, loss is prevented, and subsequent calling is facilitated.
In the embodiment, the power inspection device based on the digital twin is deployed on a satellite, specifically, the satellite can be a Beidou satellite, the satellite can comprise a longitude and latitude identification module and an altitude detection module, the Beidou satellite is located on a near-earth orbit, the ground clearance is far, and due to the fact that the Beidou satellite is located in an outer space, information transmission of a large area can be achieved through equipment; the satellite is used for receiving and transmitting the position coordinate information of the unmanned aerial vehicle, and the safety factor of inspection is ensured by comparing the position coordinates of the inspection unmanned aerial vehicle and the electric tower.
The longitude and latitude identification module is positioned in the Beidou satellite and used for detecting the plane X, Y coordinates of the unmanned aerial vehicle relative to the high-voltage power tower and carrying out real-time tracking and point fixing on the inspection unmanned aerial vehicle; altitude detection module is located the inside of big dipper satellite for the altitude of unmanned aerial vehicle is patrolled and examined in the receipt, detects unmanned aerial vehicle's Z axle coordinate.
The process of establishing the routing inspection path may further include:
s1: a worker randomly selects a high-voltage electric tower as a reference;
s2: the method comprises the steps that the electric tower is used as a starting point, the inspection unmanned aerial vehicle is positioned through a satellite, a corresponding three-dimensional space coordinate is established, a plane map and an altitude line are used as auxiliary materials, a three-dimensional space map is established, the position coordinate of the inspection unmanned aerial vehicle during moving is recorded as X, Y coordinates of a map model horizontal plane, the altitude coordinate of the inspection unmanned aerial vehicle is recorded as Z coordinates of a map model, the purpose of establishing the three-dimensional space map is that in the process of inspection of the unmanned aerial vehicle, the flight track of the inspection unmanned aerial vehicle is recorded and compared with the position coordinate of the electric tower, after follow-up inspection is finished, the flight direction and the speed of the inspection unmanned aerial vehicle can be input through a three-dimensional simulated map model, simulated flight inspection is carried out, and an exercise model is provided for follow-up automatic inspection;
s3: the method comprises the steps that an inspection unmanned aerial vehicle moves from an initial point location to a point location of a next high-voltage electric tower, the next electric tower to be inspected is determined in a pre-planned sequence, if the shooting quality is not over-close, the inspection unmanned aerial vehicle returns to the original path and performs inspection again, the inspection path is unchanged, the position of the next electric tower to be inspected is provided through satellite coordinates, the moving route is determined under the control of a distance measuring radar inside the inspection unmanned aerial vehicle, when the inspection unmanned aerial vehicle moves towards the next electric tower, a cable is located on one side of the inspection unmanned aerial vehicle, a reflection signal is received by an internal distance measuring radar, one reflection signal is a mark point, the cable is subdivided into points through a plurality of reflection signals, an inclination angle detection module is used for overcoming the influence of external wind power on the inspection unmanned aerial vehicle, the inspection unmanned aerial vehicle is enabled to move horizontally all the time, the stability is improved, the rotating speed and the inclination angle of a rotary vane are controlled by a motor and a rotating shaft inside the unmanned aerial vehicle, the rotating speed and the inclination angle are larger, the higher the inspection unmanned aerial vehicle speed and the height are, and the process of the cables between two adjacent electric towers is completed;
s4: when the unmanned aerial vehicle is moved to the next electric tower, the coordinate signal of the inspection unmanned aerial vehicle is superposed with the coordinate signal of the next electric tower, and the steps are repeated by taking the next electric tower as a reference, so that the steps are repeated until the inspection is finished.
When the device is used, a signal transceiver on each high-voltage electric tower transmits position coordinates to a cloud processor through a signal base station, the cloud processor transmits the position coordinates to a Beidou satellite, the Beidou satellite transmits the coordinates of each electric tower to a mobile control terminal of a worker through the signal transceiver, the mobile control terminal transmits the coordinate information to an inspection unmanned aerial vehicle, the inspection unmanned aerial vehicle receives the coordinate information, flies to a specified electric tower, after flying to a specified position, the internal coordinates of the inspection unmanned aerial vehicle are reset, the inspection unmanned aerial vehicle carries out real-time positioning detection through the Beidou satellite by taking the position of the initial electric tower as a reference under the guidance of a longitude and latitude identification module and an altitude detection module, the inspection unmanned aerial vehicle moves to the electric tower to be detected, and in the process, the inspection unmanned aerial vehicle carries out shooting and inspection on high-voltage electric wires between the two towers, patrol and examine to waiting to detect behind the electric tower, the system marks the high-voltage electric tower that finishes patrolling and examining, before patrolling and examining, according to the coordinate of each electric tower, the inside model that establishes of computer, calculate the optimal route of patrolling and examining for patrolling and examining unmanned aerial vehicle, it is suitable when external environment, block when less, it can carry out the automation according to the route of automatic recommendation to patrol and examine unmanned aerial vehicle, it is more to block when the outside, the changeable manual mode of staff of mobile control end, through automatic and manual switching, reduce the working strength of patrolling and examining, the system is through segmenting a large amount of high-voltage electric towers, the branch point detects, monitor a large amount of detection range segmentation by segments originally, the stage that finishes with the stage that does not detect marks respectively, follow-up time measurement once more, the system directly gets rid of the electric tower that finishes with the detection, carry out secondary path planning with the electric tower that does not detect, reduce and patrol and examine pressure. The problem of shooting distance of the inspection unmanned aerial vehicle can be solved by installing the existing long focus and wide-angle lens.
Fig. 9 is a schematic structural diagram of a computer device according to an embodiment of the present invention, and an apparatus in the present invention may be the computer device in the embodiment, and execute the method of the present invention. The computer device 902 may include one or more processing devices 904, such as one or more Central Processing Units (CPUs), each of which may implement one or more hardware threads. Computer device 902 may also include any storage resources 906 for storing any kind of information, such as code, settings, data, etc. For example, without limitation, storage resources 906 may include any one or more of the following in combination: any type of RAM, any type of ROM, flash memory devices, hard disks, optical disks, etc. More generally, any storage resource may use any technology to store information. Further, any storage resource may provide volatile or non-volatile reservation of information. Further, any storage resources may represent fixed or removable components of computer device 902. In one case, when processing device 904 executes associated instructions stored in any storage resource or combination of storage resources, computer device 902 can perform any of the operations of the associated instructions. The computer device 902 also includes one or more drive mechanisms 908, such as a hard disk drive mechanism, an optical disk drive mechanism, or the like, for interacting with any storage resource.
Embodiments herein also provide a computer-readable storage medium storing a computer program which, when executed by a processor, implements the above-described method.
Embodiments herein also provide computer readable instructions, wherein a program thereof causes a processor to perform the above method when the instructions are executed by the processor.
It should be understood that, in various embodiments herein, the sequence numbers of the above-mentioned processes do not mean the execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments herein.
It should also be understood that, in the embodiments herein, the term "and/or" is only one kind of association relation describing an associated object, meaning that three kinds of relations may exist. For example, a and/or B, may represent: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship.
Those of ordinary skill in the art will appreciate that the elements and algorithm steps of the examples described in connection with the embodiments disclosed herein may be embodied in electronic hardware, computer software, or combinations of both, and that the components and steps of the examples have been described in a functional general in the foregoing description for the purpose of illustrating clearly the interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the technical solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present disclosure.
It can be clearly understood by those skilled in the art that, for convenience and simplicity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the several embodiments provided herein, it should be understood that the disclosed system, apparatus, and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, 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 also be an electric, mechanical or other form of connection.
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 purposes of the embodiments herein.
In addition, functional units in the embodiments herein may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are 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 unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the present invention may be implemented in a form of a software product, which is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the methods described in the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The principles and embodiments of this document are explained herein using specific examples, which are presented only to aid in understanding the methods and their core concepts; meanwhile, for the general technical personnel in the field, according to the idea of this document, there may be changes in the concrete implementation and the application scope, in summary, this description should not be understood as the limitation of this document.
Claims (10)
1. A power inspection method based on digital twinning is characterized by comprising the following steps,
the method comprises the steps of obtaining coordinates of a plurality of electric towers and a line between two adjacent electric towers in advance, and establishing an electric tower three-dimensional model according to the coordinates;
generating a routing inspection path according to the electric tower three-dimensional model and the power routing inspection requirement;
and controlling the inspection unmanned aerial vehicle to record and inspect the electric tower and the line according to the inspection path and the inspection coordinate of the inspection unmanned aerial vehicle.
2. The method of claim 1, wherein the power patrol requirements include a patrol tower number;
generating a patrol line according to the electric tower three-dimensional model and the power patrol requirement further comprises,
determining a target electric tower corresponding to the inspection electric tower number in the electric tower three-dimensional model;
and generating the routing inspection path according to the coordinates of the target electric towers and the coordinates of the lines between the adjacent target electric towers.
3. The method of claim 2, wherein generating the patrol route from the coordinates of the target electrical towers and coordinates of the route between adjacent target electrical towers further comprises,
calculating a safe distance of the line according to the voltage of the line;
and generating the routing inspection path according to the coordinates of the target electric tower, the coordinates of the line and the safe distance.
4. The method of claim 1, wherein controlling the inspection drone to videotape the electrical tower and line based on the inspection path and the inspection coordinates of the inspection drone further comprises,
acquiring the quality score of the inspection image shot by the inspection unmanned aerial vehicle;
under the condition that the quality score is lower than a preset threshold value, marking an inspection path corresponding to the inspection image;
after the routing inspection unmanned aerial vehicle finishes shooting and routing inspection corresponding to the routing inspection path, generating a rechecking path according to the marked electric tower and line coordinates corresponding to the routing inspection path, and controlling the routing inspection unmanned aerial vehicle to shoot and route inspection again corresponding to the rechecking path according to the rechecking path and the routing inspection coordinates of the routing inspection unmanned aerial vehicle.
5. A power inspection device based on digital twinning is characterized by comprising,
the electric tower three-dimensional model building unit is used for acquiring coordinates of a plurality of electric towers and a line between every two adjacent electric towers in advance and building an electric tower three-dimensional model according to the coordinates;
the inspection path generating unit is used for generating an inspection path according to the electric tower three-dimensional model and the power inspection requirement;
and the inspection control unit is used for controlling the inspection unmanned aerial vehicle to record and inspect the electric tower and the line according to the inspection path and the inspection coordinate of the inspection unmanned aerial vehicle.
6. The device according to claim 5, wherein the inspection control unit comprises an inspection image quality score acquisition module used for acquiring the quality score of the inspection image shot by the inspection unmanned aerial vehicle;
the inspection path marking module is used for marking an inspection path corresponding to the inspection image under the condition that the quality score is lower than a preset threshold value;
the inspection path generating unit comprises a rechecking path generating module which is used for generating a rechecking path according to the marked electric tower and line coordinates corresponding to the inspection path after the inspection unmanned aerial vehicle finishes shooting and inspection corresponding to the inspection path;
and the inspection control unit is further used for controlling the inspection unmanned aerial vehicle to shoot and inspect the electric tower and the line corresponding to the rechecking path again according to the rechecking path and the inspection coordinate of the inspection unmanned aerial vehicle.
7. A digital twin based power inspection system including the digital twin based power inspection device according to any one of claims 5-6, including,
the data transmitting and receiving device is used for acquiring positioning data of a plurality of electric towers and lines between two adjacent electric towers, acquiring patrol positioning data of the patrol unmanned aerial vehicle, converting the positioning data into coordinates, converting the patrol positioning data into patrol coordinates, and transmitting the coordinates and the patrol coordinates to the electric power patrol device based on digital twins;
the electric power inspection device based on the digital twin is used for controlling the inspection unmanned aerial vehicle to carry out shooting inspection on the electric tower and the line according to the coordinates and the inspection coordinates;
and the inspection image processing device is used for processing the image shot by the inspection unmanned aerial vehicle to obtain the inspection result of the electric tower and the line.
8. The system of claim 7, wherein the data transceiver comprises a signal transceiver, a cloud processor, and a signal base station;
the signal transceiver is used for acquiring positioning data of a plurality of electric towers and a line between two adjacent electric towers, acquiring patrol positioning data of a patrol unmanned aerial vehicle, and sending the positioning data and the patrol positioning data to the cloud processor;
the cloud processor is used for converting the positioning data into coordinates, converting the inspection positioning data into inspection coordinates, and sending the coordinates and the inspection coordinates to the signal base station;
the signal base station is used for sending the coordinates and the inspection coordinates to the electric power inspection device based on the digital twin, and the electric power inspection device based on the digital twin is deployed on a satellite.
9. A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the method of any one of claims 1 to 4 when executing the computer program.
10. A computer storage medium having a computer program stored thereon, the computer program, when executed by a processor of a computer device, performing the method of any one of claims 1 to 4.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116667531A (en) * | 2023-05-19 | 2023-08-29 | 国网江苏省电力有限公司泰州供电分公司 | Acousto-optic-electric collaborative inspection method and device based on digital twin transformer substation |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116667531A (en) * | 2023-05-19 | 2023-08-29 | 国网江苏省电力有限公司泰州供电分公司 | Acousto-optic-electric collaborative inspection method and device based on digital twin transformer substation |
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