CN116400263A - Unmanned aerial vehicle-mounted ultraviolet electric leakage detection system and method based on RTK - Google Patents
Unmanned aerial vehicle-mounted ultraviolet electric leakage detection system and method based on RTK Download PDFInfo
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- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
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- G01R31/1218—Testing dielectric strength or breakdown voltage ; Testing or monitoring effectiveness or level of insulation, e.g. of a cable or of an apparatus, for example using partial discharge measurements; Electrostatic testing using optical methods; using charged particle, e.g. electron, beams or X-rays
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- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
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- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
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Abstract
The invention provides an unmanned aerial vehicle-mounted ultraviolet electric leakage detection system based on an RTK (real time kinematic), which comprises a server, an unmanned aerial vehicle, a collection module, an RTK differential positioning module, a data processing module and an evaluation module, wherein the server is respectively connected with the unmanned aerial vehicle, the collection module, the RTK differential positioning module, the data processing module and the evaluation module; the system comprises an acquisition module, an RTK differential positioning module, a data processing module, an evaluation module, a data processing module and an evaluation result, wherein the acquisition module acquires image data of power equipment connected with a power transmission line to obtain image data of the power equipment connected with the power transmission line, the RTK differential positioning module is used for providing positioning information of an unmanned aerial vehicle, the data processing module is used for processing the image data acquired by the acquisition module, the evaluation module evaluates the image data processed by the data processing module to form an evaluation result, and the acquisition module is triggered to adjust the acquisition posture of the power equipment according to the evaluation result.
Description
Technical Field
The invention relates to the technical field of transmission line inspection, in particular to an unmanned aerial vehicle-mounted ultraviolet electric leakage detection system and method based on RTK.
Background
The electric high-voltage iron tower is mostly built in the field, is an important facility for the electric power department, and can be used for overhead transmission lines and has protection and support functions. Along with the continuous development of inspection technology, many intelligent terminals are widely applied to the inspection work of the power transmission line. However, aiming at some mountain high Lin Mi areas, the power transmission high-voltage iron towers mostly pass through mountain forests, and the contradiction of line trees in a line channel is prominent, so that the monitoring of critical trees is particularly important to timely clean the critical trees.
If CN213846865U prior art discloses an electric transmission line intelligence system of patrolling and examining, and current monitoring mode is mostly intelligent terminal combines artifical inspection, and inspection personnel often need regularly log on the tower, estimates line tree distance through the visual inspection, and the error is great on the one hand, and on the other hand is because the reason of visual angle, observes inadequately comprehensively, leaks critical trees easily.
Another typical weak leakage detection method based on single pixel imaging system as disclosed in the prior art of CN111736040B, often appears as a spark or arc discharge at atmospheric pressure; in highly non-uniform electric fields, corona discharge is formed where the local electric field is strong. Besides using pure air gaps as insulation, the electric power system is also provided with a plurality of solid insulation mediums in the air, such as insulators, bushings, insulation of outer parts of motor stator winding grooves and the like of a power transmission line, so that the situation that gas discharges along the solid surface is encountered, and phenomena such as electric pulse, luminescence, sounding, heating and electromagnetic radiation are accompanied in the discharging process, wherein the wavelength part of the radiated optical signal is positioned in an ultraviolet band, and in recent years, related electric departments, universities and scientific research institutions propose to detect a discharging area by imaging solar blind ultraviolet signals. But has the following problems: the solar blind ultraviolet signal released during discharge is weaker, so that the signal multiplication capacity of a single pixel in the area array detector is higher.
Meanwhile, in the prior art, the image data of the power equipment is excessively acquired, so that the difficulty of image processing is increased, and the calculated amount is increased;
therefore, the invention is made to solve the problems of poor detection efficiency, low intelligent degree, inaccurate acquired image data, overlarge acquired image data of the power equipment and the like in the prior art.
Disclosure of Invention
The invention aims to provide an unmanned aerial vehicle ultraviolet electric leakage detection system and method based on RTK (real time kinematic) aiming at the defects existing at present.
In order to overcome the defects in the prior art, the invention adopts the following technical scheme:
the unmanned aerial vehicle-mounted ultraviolet electric leakage detection system based on the RTK comprises a server and an unmanned aerial vehicle, wherein the unmanned aerial vehicle-mounted ultraviolet electric leakage detection system also comprises an acquisition module, an RTK differential positioning module, a data processing module and an evaluation module, and the server is respectively connected with the unmanned aerial vehicle, the acquisition module, the RTK differential positioning module, the data processing module and the evaluation module;
the system comprises an acquisition module, a data processing module, an evaluation module, a control module and a control module, wherein the acquisition module acquires image data of power equipment connected with a power transmission line to obtain image data of the power equipment connected with the power transmission line, the RTK differential positioning module is used for providing positioning information of an unmanned aerial vehicle, the data processing module is used for processing the image data acquired by the acquisition module, the evaluation module evaluates the image data processed by the data processing module to form an evaluation result, and the acquisition module is triggered to adjust the acquisition posture of the power equipment according to the evaluation result;
the acquisition module and the evaluation module are arranged on the unmanned aerial vehicle and evaluate the image data acquired by the acquisition module in real time;
the acquisition module comprises an acquisition unit and a posture adjustment unit, wherein the acquisition module acquires image data of the power equipment, and the posture adjustment unit adjusts the acquisition posture of the acquisition unit;
the evaluation module comprises an evaluation unit and a gesture triggering unit, wherein the evaluation unit evaluates the image data processed by the data processing module, and the gesture triggering unit sends a gesture adjustment instruction to the acquisition module according to the evaluation result, so that the gesture adjustment unit receives the adjustment instruction and triggers the gesture adjustment unit to adjust the acquisition angle of the acquisition unit so as to trigger the acquisition unit to acquire ultraviolet radiation image data of the power equipment.
Optionally, the acquisition unit includes acquisition probe, ultraviolet detector, data memory, the acquisition probe is used for right the image data of power equipment, the ultraviolet detector gathers the ultraviolet radiation image data of power equipment, data memory is used for storing the image data that acquisition probe gathered and the ultraviolet radiation image data that ultraviolet detector gathered.
Optionally, the data processing module includes a data processing unit and a transmission unit, where the data processing unit is configured to process the image data, and the transmission unit transmits the processed image data to the evaluation unit.
Optionally, the evaluation unit acquires the image data acquired by the acquisition probe and processes the image data of the power device, where the processing includes graying, binarizing and edge extraction to extract an edge pixel contour of a rectangular acquisition area in the acquisition vision of the acquisition module, all edge pixel points of the power device, and any four edge pixel points D of the power device 1 、D 2 、D 3 、D 4 And according to the edge pixel point D of the power equipment 1 、D 2 、D 3 、D 4 To four vertexes G of the acquisition region 1 、G 2 、G 3 、G 4 Is used for calculating a positioning index position:
；
in U j Edge pixel point D of the power equipment 1 Distances to four vertices of the acquisition region, j=1, 2,3,4, and V k Edge pixel point D of power equipment 2 Distances to four vertices of the acquisition region, k=1, 2,3,4, w i Edge pixel point D of power equipment 3 Distances to four vertices of the acquisition region, i=1, 2,3,4, q s Edge pixel point D of power equipment 4 Distances to four vertices of the acquisition region, s=1, 2,3,4;
and if the positioning index positioning is larger than a set acquisition trigger threshold View, triggering the adjustment of the acquisition module to the acquisition posture of the power equipment.
Optionally, the posture adjustment unit includes an adjustment member for performing steering adjustment on positions of the ultraviolet detector and the adjustment member, and a steering member for performing adjustment on a pitch angle of the ultraviolet detector;
the adjusting component comprises an adjusting seat, a pitching driving mechanism and an angle detecting piece, wherein the adjusting seat is hinged with the steering component and is driven by the pitching driving mechanism to rotate along the axis of the hinged position, and the angle detecting piece is used for adjusting the pitching angle of the adjusting seat;
the ultraviolet detector and the acquisition probe are respectively arranged on the adjusting seat and rotate along with the rotation of the adjusting seat.
Optionally, the RTK differential positioning module includes an unmanned aerial vehicle receiver, and at least three base station receivers, where the at least three base station receivers are disposed on a route for inspection, and the unmanned aerial vehicle receiver is disposed on the unmanned aerial vehicle;
the unmanned aerial vehicle receiver and the at least three base station receivers simultaneously receive satellite signals, then the current position of the unmanned aerial vehicle receiver is calculated by utilizing a phase difference technology, and whether the current position is the set patrol position of the power transmission line is determined according to whether the current position is consistent with the set patrol position.
The invention also provides an unmanned aerial vehicle ultraviolet electric leakage detection method based on the RTK, which comprises the following steps:
step1, acquiring the current real-time position of the unmanned aerial vehicle;
step2, the RTK differential positioning module determines whether the position of the unmanned aerial vehicle is consistent with a set inspection position;
step3, the unmanned aerial vehicle autonomously goes to a set inspection position and controls the acquisition module to acquire image data of the power equipment;
step4, preprocessing the image data by the data processing module to obtain the edge pixel outline of the rectangular acquisition area and all edge pixel points of the power equipment in the acquisition vision of the acquisition module;
step5, the evaluation module evaluates the image data and sends a gesture adjustment instruction to the acquisition module according to the evaluation result;
step6, the gesture adjusting unit receives the adjusting instruction and triggers the gesture adjusting unit to adjust the acquisition angle of the acquisition unit;
step7, using the ultraviolet radiation image data under the acquisition angle as the ultraviolet radiation image data capable of reflecting the power equipment, and storing the ultraviolet radiation image data.
Optionally, in Step2, a phase difference technique is used to determine whether the position of the unmanned aerial vehicle is consistent with the set inspection position.
Optionally, the unmanned aerial vehicle-mounted ultraviolet electric leakage detection method further includes:
recording the collection angle of the power equipment collected by the collection unit at the set inspection position, so that the record of the collection angle of the inspection position can be inquired.
Optionally, the unmanned aerial vehicle-mounted ultraviolet electric leakage detection method further includes:
and collecting at least two pieces of ultraviolet radiation image data with different distances from the power equipment at the same set inspection position.
The beneficial effects obtained by the invention are as follows:
1. through the mutual matching of the evaluation module and the acquisition module, the area image of the acquired power equipment is more accurate, the data volume of image acquisition is reduced, and the accuracy and the high efficiency of the identification of the power equipment are further improved;
2. the differential positioning module is used for positioning and comparing the positions of the unmanned aerial vehicle, so that the positions of the unmanned aerial vehicle can be positioned more accurately, and the accuracy and reliability of the inspection positions of the unmanned aerial vehicle are improved;
3. the ultraviolet detector can realize multi-angle steering through the matching of the steering component and the adjusting component, so that the rotation process of the ultraviolet detector is more flexible and efficient;
4. the collected images are analyzed through the evaluation unit, so that the collection range of the power equipment is smaller, the difficulty of data processing is reduced, and the reliability and convenience of the whole system for identifying abnormal leakage of the power equipment are ensured;
5. through the cooperation of the evaluation unit and the posture adjustment unit, the acquisition probe and the ultraviolet detector can realize multi-angle steering, and the ultraviolet detector can obtain the most accurate ultraviolet radiation image data.
Drawings
The invention will be further understood from the following description taken in conjunction with the accompanying drawings. The components in the figures are not necessarily to scale, emphasis instead being placed upon illustrating the principles of the embodiments. Like reference numerals designate corresponding parts throughout the different views.
Fig. 1 is a schematic block diagram of the overall structure of the present invention.
Fig. 2 is a schematic view of the structure of the ultraviolet detector, the adjusting member and the steering member of the present invention.
FIG. 3 is a schematic diagram of an evaluation flow of the evaluation unit of the present invention.
Fig. 4 is a schematic step diagram of the unmanned aerial vehicle-mounted ultraviolet leakage detection method of the present invention.
Fig. 5 is a schematic view of an application scenario of the unmanned aerial vehicle and the acquisition unit of the present invention.
Reference numerals illustrate: 1-unmanned aerial vehicle; 2-ultraviolet detector; 3-adjusting seat.
Detailed Description
The following embodiments of the present invention are described in terms of specific examples, and those skilled in the art will appreciate the advantages and effects of the present invention from the disclosure herein. The invention is capable of other and different embodiments and its several details are capable of modification and variation in various respects, all without departing from the spirit of the present invention. The drawings of the present invention are merely schematic illustrations, and are not intended to be drawn to actual dimensions. The following embodiments will further illustrate the related art content of the present invention in detail, but the disclosure is not intended to limit the scope of the present invention.
Embodiment one: according to the embodiments shown in fig. 1,2,3,4 and 5, the present disclosure provides an RTK-based ultraviolet leakage detection system, where the ultraviolet leakage detection system includes a server, an unmanned aerial vehicle, and the ultraviolet leakage detection system further includes an acquisition module, an RTK differential positioning module, a data processing module and an evaluation module, where the server is respectively connected to the unmanned aerial vehicle, the acquisition module, the RTK differential positioning module, the data processing module and the evaluation module, so that data of the unmanned aerial vehicle, the acquisition module, the RTK differential positioning module, the data processing module and the evaluation module can be recorded for query;
the system comprises an acquisition module, a data processing module, an evaluation module, a control module and a control module, wherein the acquisition module acquires image data of power equipment connected with a power transmission line to obtain image data of the power equipment connected with the power transmission line, the RTK differential positioning module is used for providing positioning information of an unmanned aerial vehicle, the data processing module is used for processing the image data acquired by the acquisition module, the evaluation module evaluates the image data processed by the data processing module to form an evaluation result, and the acquisition module is triggered to adjust the acquisition posture of the power equipment according to the evaluation result;
the acquisition module and the evaluation module are arranged on the unmanned aerial vehicle and evaluate the image data acquired by the acquisition module in real time;
the unmanned aerial vehicle-mounted ultraviolet electric leakage detection system further comprises a central processor, wherein the central processor is respectively in control connection with the server, the acquisition module, the RTK differential positioning module and the data processing module, and the acquisition module, the RTK differential positioning module and the data processing module are controlled in a centralized manner based on the central processor;
when the unmanned aerial vehicle approaches to the inspection position, the image data of the inspection position is acquired through the acquisition module, so that the state of the inspection position can be acquired;
the evaluation module comprises an evaluation unit and a gesture triggering unit, wherein the evaluation unit evaluates the image data processed by the data processing module, and the gesture triggering unit sends a gesture adjustment instruction to the acquisition module according to the evaluation result, so that the gesture adjustment unit receives the adjustment instruction and triggers the gesture adjustment unit to adjust the acquisition angle of the acquisition unit so as to trigger the acquisition unit to acquire ultraviolet radiation image data of the power equipment;
the evaluation unit acquires the image data acquired by the acquisition probe and processes the image data of the power equipment, wherein the processing comprises graying, binarization and edge extraction so as to extract the edge pixel outline of a rectangular acquisition area in the acquisition vision of the acquisition module, all edge pixel points of the power equipment and any four edge pixel points D of the power equipment 1 、D 2 、D 3 、D 4 And according to the edge pixel point D of the power equipment 1 、D 2 、D 3 、D 4 To four vertexes G of the acquisition region 1 、G 2 、G 3 、G 4 Is used for calculating a positioning index position:
in U j Edge pixel point D of the power equipment 1 Distances to four vertices of the acquisition region, j=1, 2,3,4, and V k Edge pixel point D of power equipment 2 Distances to four vertices of the acquisition region, k=1, 2,3,4, w i Edge pixel point D of power equipment 3 Distances to four vertices of the acquisition region, i=1, 2,3,4, q s Edge pixel point D of power equipment 4 Distances to four vertices of the acquisition region, s=1, 2,3,4;
and if the positioning index positioning is larger than a set acquisition trigger threshold View, triggering the adjustment of the acquisition module to the acquisition posture of the power equipment. If the abnormality index Location is lower than a set acquisition trigger threshold View, triggering the acquisition unit to directly acquire ultraviolet radiation image data of the power equipment;
the acquisition trigger threshold View is set by the system or the manager, which is well known to those skilled in the art, and those skilled in the art can query related technical manuals to learn the technology, so in this embodiment, the details are not repeated;
edge pixel point D for the power device 1 Distances U to four vertices of the edge pixel profile of the rectangular acquisition region 1 、U 2 、U 3 、U 4 ：
In the formula (u) a ，v a ) Edge pixel point D of the power equipment 1 Coordinates of (x) 1 ,y 1 ) Edge pixel contour G for the rectangular acquisition region 1 Pixel coordinates of (x) 2 ,y 2 ) Edge pixel contour G for the rectangular acquisition region 2 Pixel coordinates of (x) 3 ,y 3 ) Edge pixel contour G for the rectangular acquisition region 3 Image of (2)Coordinates of prime (x) 4 ,y 4 ) Edge pixel contour G for the rectangular acquisition region 4 Is defined by the pixel coordinates of (a);
edge pixel point D for the power device 1 Distances V to four vertices of the edge pixel profile of the rectangular acquisition region 1 、V 2 、V 3 、V 4 Edge pixel point D for the power equipment 3 Distance W to four vertices of the edge pixel profile of the rectangular acquisition region 1 、W 2 、W 3 、W 4 Edge pixel point D for the power equipment 4 Distances Q to four vertices of the edge pixel profile of the rectangular acquisition region 1 、Q 2 、Q 3 、Q 4 Reference may be made to an edge pixel point D of the power device 1 Distances U to four vertices of the edge pixel profile of the rectangular acquisition region 1 、U 2 、U 3 、U 4 The mode calculation is not repeated one by one;
the image data acquired by the acquisition unit is evaluated through the evaluation unit to determine whether the acquisition posture of the acquisition unit is the optimal posture, wherein the optimal acquisition posture is to ensure that the power equipment is positioned in the middle position of the image data so as to reduce other background interference and improve the accuracy and reliability of electric leakage detection of the power equipment;
the collected images are analyzed through the evaluation unit, so that the collection range of the power equipment is smaller, the difficulty of data processing is reduced, and the reliability and convenience of the whole system for identifying abnormal leakage of the power equipment are ensured.
Optionally, the collecting module includes a collecting unit and a posture adjusting unit, the collecting module collects image data of the electric power equipment, and the posture adjusting unit adjusts a collecting posture of the collecting unit;
the acquisition unit comprises an acquisition probe, an ultraviolet detector and a data memory, wherein the acquisition probe is used for acquiring image data of the power equipment, the ultraviolet detector is used for acquiring ultraviolet radiation image data of the power equipment, and the data memory is used for storing the image data acquired by the acquisition probe and the ultraviolet radiation image data acquired by the ultraviolet detector.
The posture adjustment unit comprises an adjustment member and a steering member, wherein the steering member is used for steering and adjusting the positions of the ultraviolet detector and the adjustment member, and the adjustment member is used for adjusting the pitching angle of the ultraviolet detector;
the adjusting component comprises an adjusting seat, a pitching driving mechanism and an angle detecting piece, wherein the adjusting seat is hinged with the steering component and is driven by the pitching driving mechanism to rotate along the axis of the hinged position, and the angle detecting piece is used for adjusting the pitching angle of the adjusting seat;
the ultraviolet detector and the acquisition probe are respectively arranged on the adjusting seat and rotate along with the rotation of the adjusting seat;
the steering component comprises a steering seat, a steering driving mechanism and a steering angle measuring piece, wherein the steering seat is hinged with the unmanned aerial vehicle body, the steering driving mechanism drives the steering seat so that the steering seat can horizontally steer, and the steering angle measuring piece is used for detecting the steering angle of the steering seat;
through the mutual matching of the evaluation unit and the posture adjustment unit, the acquisition probe and the ultraviolet detector can realize multi-angle steering, so that the ultraviolet detector can obtain the most accurate ultraviolet radiation image data;
through the mutual matching of the evaluation module and the acquisition module, the area image of the acquired power equipment is more accurate, the data volume of image acquisition is reduced, and the accuracy and the high efficiency of the identification of the power equipment are further improved; optionally, the data processing module includes a data processing unit and a transmission unit, the data processing unit is used for processing the image data acquired by the acquisition probe and the ultraviolet radiation image data acquired by the ultraviolet detector, and the transmission unit transmits the processed image data to the evaluation unit. Optionally, the RTK differential positioning module includes an unmanned aerial vehicle receiver, and at least three base station receivers, where the at least three base station receivers are disposed on a route for inspection, and the unmanned aerial vehicle receiver is disposed on the unmanned aerial vehicle;
the unmanned aerial vehicle receiver and the at least three base station receivers simultaneously receive satellite signals, then a current position of the unmanned aerial vehicle receiver is calculated by utilizing a phase difference technology, and whether the current position is the set inspection position of the power transmission line or not is determined according to whether the current position is consistent with the set inspection position or not;
the differential positioning module performs positioning and comparison operation on the position of the unmanned aerial vehicle, so that the position of the unmanned aerial vehicle can be positioned more accurately, and the accuracy and reliability of the inspection position of the unmanned aerial vehicle are improved;
the invention also provides an unmanned aerial vehicle ultraviolet electric leakage detection method based on the RTK,
the unmanned aerial vehicle-mounted ultraviolet electric leakage detection method comprises the following steps of:
step1, acquiring the current real-time position of the unmanned aerial vehicle;
step2, the RTK differential positioning module determines whether the position of the unmanned aerial vehicle is consistent with a set inspection position;
step3, the unmanned aerial vehicle autonomously goes to a set inspection position and controls the acquisition module to acquire image data of the power equipment;
step4, preprocessing the image data by the data processing module to obtain the edge pixel outline of the rectangular acquisition area and all edge pixel points of the power equipment in the acquisition vision of the acquisition module;
step5, the evaluation module evaluates the image data and sends a gesture adjustment instruction to the acquisition module according to the evaluation result;
step6, the gesture adjusting unit receives the adjusting instruction and triggers the gesture adjusting unit to adjust the acquisition angle of the acquisition unit;
step7, using the ultraviolet radiation image data under the acquisition angle as the ultraviolet radiation image data capable of reflecting the power equipment, and storing the ultraviolet radiation image data.
Optionally, in Step2, determining whether the position of the unmanned aerial vehicle is consistent with the set inspection position by using a phase difference technology; the phase difference technology is a technical means that can be well known to those skilled in the art, so in this embodiment, a detailed description is omitted;
optionally, the unmanned aerial vehicle-mounted ultraviolet electric leakage detection method further includes: recording the collection angle of the power equipment collected by the collection unit at the set inspection position, so that the record of the collection angle of the inspection position can be inquired.
Optionally, the unmanned aerial vehicle-mounted ultraviolet electric leakage detection method further includes: and collecting at least two pieces of ultraviolet radiation image data with different distances from the power equipment at the same set inspection position.
Embodiment two: this embodiment should be understood to include all the features of any one of the foregoing embodiments and further improve on the foregoing embodiments, and according to fig. 1,2,3,4, and 5, the collecting module further includes a posture analysis unit, where the posture analysis unit is configured to analyze a pitch angle of the posture adjustment unit, form an analysis result, and transmit the analysis result to the posture adjustment unit, so that the posture adjustment unit performs adjustment of a collecting posture;
after the gesture adjusting unit receives the control instruction sent by the evaluating unit, the gesture analyzing unit analyzes gesture adjustment amounts of the acquisition probe and the ultraviolet detector, adjusts the gesture adjustment amounts one by one, determines whether the current acquisition gesture is the optimal acquisition gesture according to image data acquired by the acquisition probe, and triggers the ultraviolet detector to acquire ultraviolet radiation image data of the power equipment when the current acquisition gesture is the optimal acquisition gesture;
in addition, in the present embodiment, the attitude adjusting unit is provided as two rotary joints, one for pitch adjustment and the other for horizontal steering adjustment, assuming that the pitch adjustment angle is θ 1 The horizontal steering adjustment angle is theta 2 ；
For pitch adjustment and horizontal steer adjustment, a rotation matrix may be used to represent the initial pose and adjustment angle of the probe.
Firstly, taking initial positions of the acquisition probe and the ultraviolet detector as origin of coordinates, as shown in fig. 5, taking current postures of the acquisition probe and the ultraviolet detector as origin, establishing an X-Y-Z three-dimensional coordinate system, and defining an initial rotation matrix R 0 Representing an initial pose of the probe;
pitch adjustment: a rotation matrix Rx (θ1) rotated around the x-axis is constructed:
in θ 1 Pitch adjustment angle;
matrix R of initial pose of probe 0 Multiplying Rx (θ1) to obtain a rotation matrix R after pitching adjustment 1 ：
Horizontal steering adjustment: a rotation matrix Ry (θ2) rotated around the y axis is constructed:
in θ 2 The angle is adjusted for horizontal steering;
the rotation matrix R after pitching adjustment 1 Multiplying Ry (theta 2) to obtain rotation matrix R after pitch adjustment and horizontal steering adjustment 2 ：
Final probe pose matrix R 2 Namely, the posture after pitching adjustment and horizontal steering adjustment;
the gesture analysis unit also comprises a gesture matrix library, wherein the gesture matrix library is pre-arrangedIs provided with a final probe posture matrix R for each use 2 When the acquisition unit needs to perform gesture adjustment, a final probe gesture matrix R in the gesture matrix library is called 2 And control the acquisition probe to acquire a final probe posture matrix R corresponding to the final probe posture matrix 2 The image data is used for determining whether the acquisition posture of the acquisition probe is the optimal acquisition posture;
triggering the ultraviolet detector to acquire ultraviolet radiation image data of the power equipment if the power equipment is in the optimal acquisition posture;
through the cooperation of the gesture analysis unit and the gesture adjustment unit, the acquisition unit can obtain the most accurate ultraviolet radiation image data of the power equipment, and the accuracy of detecting the leakage abnormality is improved.
The foregoing disclosure is only a preferred embodiment of the present invention and is not intended to limit the scope of the invention, so that all equivalent technical changes made by applying the description of the present invention and the accompanying drawings are included in the scope of the present invention, and in addition, elements in the present invention can be updated as the technology develops.
Claims (10)
1. The unmanned aerial vehicle-mounted ultraviolet electric leakage detection system based on the RTK comprises a server and an unmanned aerial vehicle, and is characterized by further comprising an acquisition module, an RTK differential positioning module, a data processing module and an evaluation module, wherein the server is respectively connected with the unmanned aerial vehicle, the acquisition module, the RTK differential positioning module, the data processing module and the evaluation module;
the system comprises an acquisition module, a data processing module, an evaluation module, a control module and a control module, wherein the acquisition module acquires image data of power equipment connected with a power transmission line to obtain image data of the power equipment connected with the power transmission line, the RTK differential positioning module is used for providing positioning information of an unmanned aerial vehicle, the data processing module is used for processing the image data acquired by the acquisition module, the evaluation module evaluates the image data processed by the data processing module to form an evaluation result, and the acquisition module is triggered to adjust the acquisition posture of the power equipment according to the evaluation result;
the acquisition module and the evaluation module are arranged on the unmanned aerial vehicle and evaluate the image data acquired by the acquisition module in real time;
the acquisition module comprises an acquisition unit and a posture adjustment unit, wherein the acquisition module acquires image data of the power equipment, and the posture adjustment unit adjusts the acquisition posture of the acquisition unit;
the evaluation module comprises an evaluation unit and a gesture triggering unit, wherein the evaluation unit evaluates the image data processed by the data processing module, and the gesture triggering unit sends a gesture adjustment instruction to the acquisition module according to the evaluation result, so that the gesture adjustment unit receives the adjustment instruction and triggers the gesture adjustment unit to adjust the acquisition angle of the acquisition unit so as to trigger the acquisition unit to acquire ultraviolet radiation image data of the power equipment.
2. The RTK-based unmanned aerial vehicle-mounted ultraviolet leakage detection system according to claim 1, wherein the acquisition unit includes an acquisition probe, an ultraviolet detector, and a data storage, the acquisition probe is used for acquiring image data of the power equipment, the ultraviolet detector is used for acquiring ultraviolet radiation image data of the power equipment, and the data storage is used for storing image data acquired by the acquisition probe and ultraviolet radiation image data acquired by the ultraviolet detector.
3. The RTK-based unmanned aerial vehicle-mounted ultraviolet leakage detection system according to claim 2, wherein the data processing module includes a data processing unit and a transmission unit, the data processing unit is configured to process image data acquired by an acquisition probe and ultraviolet radiation image data acquired by the ultraviolet detector, and the transmission unit transmits the processed image data to the evaluation unit.
4. The RTK-based unmanned aerial vehicle ultraviolet leakage detection system according to claim 3, wherein the evaluation unit acquires the image data acquired by an acquisition probe and processes the image data of the power device, wherein the processing includes graying, binarizing, and edge extraction to extract an edge pixel contour of a rectangular acquisition area in an acquisition vision of the acquisition module, all edge pixel points of the power device, and any four edge pixel points D of the power device 1 、D 2 、D 3 、D 4 And according to the edge pixel point D of the power equipment 1 、D 2 、D 3 、D 4 To four vertexes G of the acquisition region 1 、G 2 、G 3 、G 4 Is used for calculating a positioning index position:
；
in U j Edge pixel point D of the power equipment 1 Distances to four vertices of the acquisition region, j=1, 2,3,4, and V k Edge pixel point D of power equipment 2 Distances to four vertices of the acquisition region, k=1, 2,3,4, w i Edge pixel point D of power equipment 3 Distances to four vertices of the acquisition region, i=1, 2,3,4, q s Edge pixel point D of power equipment 4 Distances to four vertices of the acquisition region, s=1, 2,3,4;
and if the positioning index positioning is larger than a set acquisition trigger threshold View, triggering the adjustment of the acquisition module to the acquisition posture of the power equipment.
5. The RTK-based unmanned aerial vehicle ultraviolet leakage detection system of claim 4, wherein the attitude adjustment unit includes an adjustment member for steering adjustment of positions of the ultraviolet detector and the adjustment member, and a steering member for adjusting a pitch angle of the ultraviolet detector;
the adjusting component comprises an adjusting seat, a pitching driving mechanism and an angle detecting piece, wherein the adjusting seat is hinged with the steering component and is driven by the pitching driving mechanism to rotate along the axis of the hinged position, and the angle detecting piece is used for adjusting the pitching angle of the adjusting seat;
the ultraviolet detector and the acquisition probe are respectively arranged on the adjusting seat and rotate along with the rotation of the adjusting seat.
6. The RTK-based unmanned aerial vehicle-mounted ultraviolet leakage detection system of claim 5, wherein the RTK differential positioning module comprises an unmanned aerial vehicle receiver and at least three base station receivers, at least three of the base station receivers are disposed on a route for inspection, and the unmanned aerial vehicle receiver is disposed on the unmanned aerial vehicle;
the unmanned aerial vehicle receiver and the at least three base station receivers simultaneously receive satellite signals, then the current position of the unmanned aerial vehicle receiver is calculated by utilizing a phase difference technology, and whether the current position is the set patrol position of the power transmission line is determined according to whether the current position is consistent with the set patrol position.
7. An unmanned aerial vehicle ultraviolet electric leakage detection method based on RTK, which is applied with the unmanned aerial vehicle ultraviolet electric leakage detection system based on RTK as set forth in claim 6, characterized in that the unmanned aerial vehicle ultraviolet electric leakage detection method comprises the following steps:
step1, acquiring the current real-time position of the unmanned aerial vehicle;
step2, the RTK differential positioning module determines whether the position of the unmanned aerial vehicle is consistent with a set inspection position;
step3, the unmanned aerial vehicle autonomously goes to a set inspection position and controls the acquisition module to acquire image data of the power equipment;
step4, preprocessing the image data by the data processing module to obtain the edge pixel outline of the rectangular acquisition area and all edge pixel points of the power equipment in the acquisition vision of the acquisition module;
step5, the evaluation module evaluates the image data and sends a gesture adjustment instruction to the acquisition module according to the evaluation result;
step6, the gesture adjusting unit receives the adjusting instruction and triggers the gesture adjusting unit to adjust the acquisition angle of the acquisition unit;
step7, using the ultraviolet radiation image data under the acquisition angle as the ultraviolet radiation image data capable of reflecting the power equipment, and storing the ultraviolet radiation image data.
8. The method for detecting ultraviolet leakage of an unmanned aerial vehicle based on an RTK according to claim 7, wherein in Step2, a phase difference technique is used to determine whether the position of the unmanned aerial vehicle is consistent with the set inspection position.
9. The RTK-based unmanned aerial vehicle ultraviolet leakage detection method of claim 8, further comprising:
recording the collection angle of the power equipment collected by the collection unit at the set inspection position, so that the record of the collection angle of the inspection position can be inquired.
10. The RTK-based unmanned aerial vehicle ultraviolet leakage detection method of claim 9, further comprising:
and collecting at least two pieces of ultraviolet radiation image data with different distances from the power equipment at the same set inspection position.
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