CN116203558A - Hydraulic engineering power transmission line defect detection system and method based on multiple unmanned aerial vehicles - Google Patents

Hydraulic engineering power transmission line defect detection system and method based on multiple unmanned aerial vehicles Download PDF

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Publication number
CN116203558A
CN116203558A CN202211416021.2A CN202211416021A CN116203558A CN 116203558 A CN116203558 A CN 116203558A CN 202211416021 A CN202211416021 A CN 202211416021A CN 116203558 A CN116203558 A CN 116203558A
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transmission line
defect
radar
module
picture
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CN202211416021.2A
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朱赫
刘敏
王元卓
王煜炜
付艳波
张雯霖
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China Science And Technology Big Data Research Institute
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China Science And Technology Big Data Research Institute
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/89—Radar or analogous systems specially adapted for specific applications for mapping or imaging
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D21/00—Measuring or testing not otherwise provided for
    • G01D21/02—Measuring two or more variables by means not covered by a single other subclass
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y04—INFORMATION OR COMMUNICATION TECHNOLOGIES HAVING AN IMPACT ON OTHER TECHNOLOGY AREAS
    • Y04S—SYSTEMS INTEGRATING TECHNOLOGIES RELATED TO POWER NETWORK OPERATION, COMMUNICATION OR INFORMATION TECHNOLOGIES FOR IMPROVING THE ELECTRICAL POWER GENERATION, TRANSMISSION, DISTRIBUTION, MANAGEMENT OR USAGE, i.e. SMART GRIDS
    • Y04S10/00—Systems supporting electrical power generation, transmission or distribution
    • Y04S10/50—Systems or methods supporting the power network operation or management, involving a certain degree of interaction with the load-side end user applications

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Electromagnetism (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Radar Systems Or Details Thereof (AREA)

Abstract

The invention discloses a transmission line defect detection system and method based on multiple unmanned aerial vehicles, and relates to the technical field of hydraulic engineering transmission line detection, wherein the transmission line defect detection system comprises a picture identification module, a radar lattice image processing module, a data management and control module and a data acquisition module, wherein a picture identification model is built in the picture identification module and is used for distinguishing transmission line pictures with defects; the radar lattice image processing module is internally constructed with a three-dimensional model based on a radar image of the power transmission line and an image integrity judging model to judge the defect position of the power transmission line; and controlling a plurality of unmanned aerial vehicles in the data acquisition module to acquire information on the power transmission line through the data management and control module, and outputting a defect problem report through model matching analysis. According to the invention, the environment information of the defect position is provided while the detection accuracy is reserved, and corresponding repair suggestions are provided, so that the manual exploration of the defect position is reduced to the greatest extent, a large amount of manpower and material resources are saved, and the electric line repair efficiency is improved.

Description

Hydraulic engineering power transmission line defect detection system and method based on multiple unmanned aerial vehicles
Technical Field
The invention belongs to the technical field of hydraulic engineering transmission line detection, and particularly relates to a hydraulic engineering transmission line defect detection system and method based on multiple unmanned aerial vehicles.
Background
The hydraulic engineering transmission line is an important facility for guaranteeing safe and stable operation of the hydraulic engineering, is also an infrastructure facility equipment of China, and is required to carry out reliable maintenance and electric power inspection on the hydraulic engineering transmission line, the operation reliability of the hydraulic engineering transmission line is guaranteed through a daily technical monitoring means, but in the operation and maintenance management process of the hydraulic engineering transmission line, the environment where the hydraulic engineering transmission line is located is complex, so that the labor intensity is high, the manual inspection difficulty is high, the existing inspection mode of the hydraulic engineering transmission line is mainly carried out through an unmanned plane to carry out inspection monitoring, and then the inspection result is synchronously transmitted to ground staff in real time, the ground staff judges the inspection result according to inspection content information, and corresponding solving measures are formulated according to specific conditions, but the method is generally high in matching error rate; some of the defects on the specific power transmission line are obtained through radar lattice, but specific environmental information cannot be obtained only through radar monitoring, so that the method is unfavorable for later maintenance and repair.
Disclosure of Invention
Aiming at the problems that the environment of the hydraulic engineering transmission line is complex, the manual inspection difficulty is high and the labor intensity is high, the existing inspection mode of the hydraulic engineering transmission line mainly carries out inspection monitoring through an unmanned plane, and the error rate of matching is high generally; the defect position on a specific power transmission line is obtained through a radar lattice, but specific environmental information cannot be obtained only through radar monitoring, so that the defect and the problem of later maintenance and repair are not facilitated.
The invention solves the technical problems by adopting the scheme that: the hydraulic engineering transmission line defect detection system based on the multiple unmanned aerial vehicles comprises a picture identification module, a radar lattice image processing module, a data management and control module and a data acquisition module, wherein a picture identification model is built in the picture identification module and is connected with the data management and control module, and the system is used for distinguishing a transmission line picture with defects from a normal picture, and outputting distinguishing results to the data management and control module according to defect types; the radar lattice image processing module is internally provided with a three-dimensional model based on a radar image of the power transmission line and an image integrity judging model, is connected with the data management and control module, and is used for judging the defect position of the power transmission line and outputting the result to the data management and control module through parameter comparison with a normal three-dimensional model; the data acquisition module is connected with the data management and control module, comprises a plurality of unmanned aerial vehicle devices for acquiring picture image information and radar lattice image information of a set position, and transmits the picture image information and the radar lattice image information to the data management and control module; the data management and control module provides a data operation service platform for the picture identification module and the radar dot matrix image processing module, meanwhile, a plurality of unmanned aerial vehicles in the data acquisition module are controlled to acquire image data of set positions on the power transmission line, the acquired image data are analyzed to obtain defect positions on the power transmission line, and then, based on models constructed by the picture identification module and the radar dot matrix image processing module, the images of the defect positions are subjected to model matching, and a final defect problem report is output.
As a preferable technical scheme of the invention, the picture recognition module distinguishes the defect pictures through a machine learning technology and continuous parameter adjustment, and outputs a result according to the defect types.
As a preferable technical scheme of the invention, the radar dot matrix image processing module establishes a three-dimensional space configuration structure analysis model of the power transmission line by constructing a three-dimensional point cloud image analysis model of the power transmission line of the hydraulic engineering and adopting an airborne laser radar measurement technology to mount a radar module pendant on an unmanned plane for image acquisition of the power transmission line.
As a preferable technical scheme of the invention, the image data information on the power transmission line is obtained by installing the camera module hanging pieces on a plurality of unmanned aerial vehicles in the data acquisition module.
As a preferable technical scheme of the invention, an error correction mechanism is arranged in the data management and control module, and is used for providing a manual adjustment method by manually starting the error correction mechanism to correlate with the defect types when errors occur in the data management and control module by performing model matching on the images, so that the accuracy of an output result is further improved.
As a preferable technical scheme of the invention, the data management and control module performs matching processing on the picture and the dot matrix respectively according to the image information acquired by the unmanned aerial vehicle, eliminates the picture through radar information to identify an inaccurate position, and outputs a final defect problem report containing defect types and a repairing scheme.
The invention provides a hydraulic engineering power transmission line defect detection method based on multiple unmanned aerial vehicles, which is applied to the hydraulic engineering power transmission line defect detection system based on the multiple unmanned aerial vehicles, and comprises the following steps:
step one: constructing a picture identification model, wherein the picture identification model comprises a machine learning matching model obtained by training a defect picture, so that the defect picture can be distinguished from a normal picture and a distinguishing result is output according to the defect type;
step two: constructing a radar lattice image processing model which comprises a three-dimensional information reconstruction and image integrity judgment model, so that the acquired radar image can be subjected to three-dimensional model reconstruction and parameter comparison with a normal three-dimensional model, and the specific position of the defect can be judged;
step three: the unmanned aerial vehicle is controlled to acquire images of the field power transmission line through the data management and control module, the images comprise radar lattice image information and picture image information, and image data are sent to the data management and control module;
step four: the data management and control module analyzes the image data information sent back by the unmanned aerial vehicle according to the model algorithm set in the first step and the second step, performs splicing processing on the images, identifies defects and outputs defect information;
step five: and D, respectively carrying out model matching on the picture image combination and the radar lattice result output in the step four and normal conditions, carrying out matching processing on the two image output results, eliminating the inaccurate position of picture identification through radar information, outputting a final problem report containing defect types and a repairing scheme, and repairing the power transmission line by a patrol inspector according to the output defect problem report.
Compared with the prior art, the invention has the beneficial effects that: according to the invention, the picture identification model is constructed, so that the defect picture information and the defect class on the power transmission line can be obtained, and the environment information of the defect position can be conveniently judged; the specific defect position of the power transmission line is accurately obtained by constructing the radar lattice image processing module, the two model algorithms are matched, the inaccurate position of picture identification is removed through radar information, the output data of the original two defect detection systems are integrated, the environment information of the defect position is provided while the detection accuracy is reserved, corresponding repair suggestions are given, the defect position and the related environment condition can be known without reaching the site, the repair defect can be realized by only carrying out repair operation directly with corresponding tools, the manual exploration of the defect position is reduced to the greatest extent, a large amount of manpower and material resources are saved, and the repair efficiency of the power line is improved.
Drawings
FIG. 1 is a flow chart of the overall structure of the present invention.
Detailed Description
The invention will be further described with reference to the drawings and examples.
Referring to fig. 1, the invention provides a hydraulic engineering transmission line defect detection system and method based on multiple unmanned aerial vehicles,
embodiment one: the invention provides a multi-unmanned aerial vehicle-based hydraulic engineering transmission line defect detection system, which comprises a picture identification module, a radar lattice image processing module, a data management and control module and a data acquisition module, wherein the picture identification module builds a picture identification model by applying a machine learning technology, specifically, a machine learning frame is built firstly, a traditional defect picture and a normal picture are used as input of machine learning, and a machine learning matching model is trained through continuous parameter adjustment, so that the defect picture can be distinguished from the normal picture and meanwhile a distinguishing result can be output according to the defect type; the radar lattice image processing module mainly builds a three-dimensional point cloud image analysis model of the hydraulic engineering transmission line by adopting an airborne laser radar measurement technology, further comprises a three-dimensional information reconstruction and image integrity judgment model, judges the defect position of an electric wire on the transmission line by reconstructing the three-dimensional model of the acquired radar image and comparing parameters with a normal three-dimensional model, and obtains the defect position of the transmission line more accurately and precisely by reconstructing the three-dimensional model of the radar image, so that the positioning performance is better.
The data management and control module is connected with the picture identification module and the radar dot matrix image processing module, and in the embodiment, the data management and control module is equivalent to a total service system and is used for providing a data operation service platform for the picture identification module and the radar dot matrix image processing module; the data acquisition module is connected with the data management and control module, the data acquisition module acquires image information through a plurality of unmanned aerial vehicles, specifically, the data management and control module controls the flight route of the unmanned aerial vehicles, radar module pendants and camera module pendants are respectively mounted on the unmanned aerial vehicles, radar data information on the on-site power transmission line is acquired through the radar module pendants, picture data information on the on-site power transmission line is acquired through the camera module pendants, and as the mounting weight of one unmanned aerial vehicle is limited, the radar and the picture module pendants cannot be mounted at the same time, the acquisition efficiency can be improved by controlling the plurality of unmanned aerial vehicles to perform information acquisition operation, the later information processing is accelerated, the image data are all sent to the data management and control module after the unmanned aerial vehicles acquire radar lattice image information and picture image information, the data management and control module carries out matching analysis on the image data sent back by the unmanned aerial vehicles according to models, namely, the complete images of a region are respectively spliced according to an established picture recognition model and a radar lattice image processing model algorithm, specific defect information is finally obtained through recognition and output, the defect information about a picture image is finally obtained, the defect information about the picture radar image and the defect information about the picture is not required to be corrected through a special image processing scheme, and the error is corrected when the error is corrected by the error-correction module, and the error-correction mechanism is required to be arranged on the picture information, and the error is corrected by the error-corrected by the error correction module, when errors occur in the model matching of the images, the data management and control module is associated with the defect types, and a manual adjustment method is provided, so that the processing method has certain flexibility, and the accuracy of an output result can be further improved. According to the invention, the picture identification model and the radar lattice model are established to compare and analyze the defect position of the transmission line, so that a patrol worker can know the accurate position of the defect of the transmission line and related environmental circumstances without reaching the scene, and only needs to carry corresponding tools to directly carry out repair operation according to a repair scheme finally output by the data management and control module, if the radar is used for positioning, the environment conditions of the scene can not be mastered, and the error is larger only through picture image analysis, the misjudgment phenomenon is frequently caused, and the patrol worker is required to carry out the patrol for many times.
Embodiment two:
the embodiment provides a hydraulic engineering transmission line defect detection method based on multiple unmanned aerial vehicles, which is applied to the hydraulic engineering transmission line defect detection system based on the multiple unmanned aerial vehicles and comprises the following steps:
step one: constructing a picture identification model, wherein the picture identification model comprises a machine learning matching model obtained by training a defect picture, so that the defect picture can be distinguished from a normal picture and a distinguishing result is output according to the defect type;
step two: constructing a radar lattice image processing model which comprises a three-dimensional information reconstruction and image integrity judgment model, so that the acquired radar image can be subjected to three-dimensional model reconstruction and parameter comparison with a normal three-dimensional model, and the specific position of the defect can be judged;
step three: the unmanned aerial vehicle is controlled to acquire images of the field power transmission line through the data management and control module, the images comprise radar lattice image information and picture image information, and image data are sent to the data management and control module;
step four: the data management and control module analyzes the image data information sent back by the unmanned aerial vehicle according to the model algorithm set in the first step and the second step, performs splicing processing on the images, identifies defects and outputs defect information;
step five: and D, respectively carrying out model matching on the picture image combination and the radar lattice result output in the step four and normal conditions, carrying out matching processing on the two image output results, eliminating the inaccurate position of picture identification through radar information, outputting a final problem report containing defect types and a repairing scheme, and repairing the power transmission line by a patrol inspector according to the output defect problem report.
The foregoing description of the preferred embodiments of the invention is not intended to limit the invention to the particular embodiments disclosed, but on the contrary, the intention is to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the invention.

Claims (7)

1. Hydraulic engineering transmission line defect detection system based on many unmanned aerial vehicle, its characterized in that: the system comprises a picture identification module, a radar dot matrix image processing module, a data management and control module and a data acquisition module, wherein the picture identification module is internally provided with a picture identification model and is connected with the data management and control module, and the picture identification module is used for distinguishing a power transmission line picture with defects from a normal picture and outputting distinguishing results to the data management and control module according to the types of the defects; the radar lattice image processing module is internally provided with a three-dimensional model based on a radar image of the power transmission line and an image integrity judging model, is connected with the data management and control module, and is used for judging the defect position of the power transmission line and outputting the result to the data management and control module through parameter comparison with a normal three-dimensional model; the data acquisition module is connected with the data management and control module, comprises a plurality of unmanned aerial vehicle devices for acquiring picture image information and radar lattice image information of a set position, and transmits the picture image information and the radar lattice image information to the data management and control module; the data management and control module provides a data operation service platform for the picture identification module and the radar dot matrix image processing module, meanwhile, a plurality of unmanned aerial vehicles in the data acquisition module are controlled to acquire image data of set positions on the power transmission line, the acquired image data are analyzed to obtain defect positions on the power transmission line, and then, based on models constructed by the picture identification module and the radar dot matrix image processing module, the images of the defect positions are subjected to model matching, and a final defect problem report is output.
2. The transmission line defect detection system according to claim 1, wherein: the picture identification module distinguishes the defect pictures through a machine learning technology and continuous parameter adjustment, and outputs a result according to the defect types.
3. The transmission line defect detection system according to claim 1, wherein: the radar lattice image processing module is used for constructing a three-dimensional point cloud image analysis model of the hydraulic engineering transmission line, adopting an airborne laser radar measurement technology, installing a radar module pendant on an unmanned aerial vehicle to collect images of the transmission line, and establishing a three-dimensional space configuration structure analysis model of the transmission line.
4. The transmission line defect detection system according to claim 1, wherein: and acquiring the picture data information on the power transmission line by installing a shooting module hanging piece on a plurality of unmanned aerial vehicles in the data acquisition module.
5. The transmission line defect detection system according to claim 1, wherein: the data management and control module is provided with an error correction mechanism, and the error correction mechanism can be manually started to be associated with the defect type when the data management and control module performs model matching on the image to generate errors, so that a manual adjustment method is provided, and the accuracy of an output result is further improved.
6. The transmission line defect detection system according to claim 1, wherein: the data management and control module performs matching processing on the pictures and the lattices respectively according to the image information acquired by the unmanned aerial vehicle, eliminates the inaccurate positions of picture identification through radar information, and outputs a final defect problem report containing defect types and a repairing scheme.
7. The hydraulic engineering transmission line defect detection method based on the multiple unmanned aerial vehicles is applied to the hydraulic engineering transmission line defect detection system based on the multiple unmanned aerial vehicles as claimed in the claims 1-6, and is characterized by comprising the following steps:
step one: constructing a picture identification model, wherein the picture identification model comprises a machine learning matching model obtained by training a defect picture, so that the defect picture can be distinguished from a normal picture and a distinguishing result is output according to the defect type;
step two: constructing a radar lattice image processing model which comprises a three-dimensional information reconstruction and image integrity judgment model, so that the acquired radar image can be subjected to three-dimensional model reconstruction and parameter comparison with a normal three-dimensional model, and the specific position of the defect can be judged;
step three: the unmanned aerial vehicle is controlled to acquire images of the field power transmission line through the data management and control module, the images comprise radar lattice image information and picture image information, and image data are sent to the data management and control module;
step four: the data management and control module analyzes the image data information sent back by the unmanned aerial vehicle according to the model algorithm set in the first step and the second step, performs splicing processing on the images, identifies defects and outputs defect information;
step five: and D, respectively carrying out model matching on the picture image combination and the radar lattice result output in the step four and normal conditions, carrying out matching processing on the two image output results, eliminating the inaccurate position of picture identification through radar information, outputting a final problem report containing defect types and a repairing scheme, and repairing the power transmission line by a patrol inspector according to the output defect problem report.
CN202211416021.2A 2022-11-11 2022-11-11 Hydraulic engineering power transmission line defect detection system and method based on multiple unmanned aerial vehicles Pending CN116203558A (en)

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