CN116683349A - Correction method and system for power equipment sky inspection line and inspection unmanned aerial vehicle - Google Patents
Correction method and system for power equipment sky inspection line and inspection unmanned aerial vehicle Download PDFInfo
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
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- 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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Abstract
The application relates to the technical field of correction of an aerospace routing inspection line of power equipment, in particular to a correction method and system of the aerospace routing inspection line of the power equipment and an unmanned routing inspection plane. The problem that current unmanned aerial vehicle inspection mode can't distinguish animal and still thing and revise route of patrolling and examining fast is solved, this scheme includes: acquiring a pre-stored air inspection route and sending the pre-stored air inspection route to an inspection unmanned aerial vehicle; controlling the inspection unmanned aerial vehicle to carry out flight inspection along an aerial inspection route in an obstacle avoidance mode; acquiring real-time position data of the inspection unmanned aerial vehicle; obtaining a current inspection route of the inspection unmanned aerial vehicle according to the real-time position data; the deviation degree of the current routing inspection route is larger than a preset deviation threshold value, and the routing inspection unmanned aerial vehicle is controlled to return to a deviation starting point; distinguishing the obstacle as animal or static and taking different measures. The application can judge the unmanned aerial vehicle inspection mode of deviating routes and moving and static objects as obstacles, thereby achieving the purposes of improving the universality, the universality and the robustness of the processing mode.
Description
Technical Field
The application relates to the technical field of correction of an aerospace routing inspection line of power equipment, in particular to a correction method and system of the aerospace routing inspection line of the power equipment and an unmanned routing inspection plane.
Background
Along with the continuous development of unmanned aerial vehicle technology, unmanned aerial vehicle's application in aspects such as power equipment sky inspection is more and more extensive. In the field of air-sky inspection of force equipment, the quick response and high-efficiency performance of the unmanned aerial vehicle become an indispensable important tool in inspection work. In the power system, in order to ensure that the power line can normally operate, workers need to patrol the power line regularly, and along with the development of scientific technology, unmanned aerial vehicles are often used for patrol the power line, so that the working efficiency of the workers in patrol the power line is greatly improved.
Analysis of the existing unmanned aerial vehicle inspection route correction can find that:
(1) The target is single, is only a still object target, and has low robustness;
(2) The target is single, and the universality is low;
(3) The algorithm is complex and the processing efficiency is low.
Therefore, how to provide a way to quickly and conveniently distinguish animals and static objects at the same time and quickly correct the inspection route is a technical problem to be solved by the scheme.
Disclosure of Invention
In view of the above, the application provides a method and a system for correcting an air-sky inspection line of power equipment and an inspection unmanned aerial vehicle, which can judge the unmanned aerial vehicle inspection mode that the line deviates and an obstacle is a moving and static object, thereby achieving the purposes of improving the universality, the universality and the robustness of the processing mode.
In a first aspect, the present application provides a method for correcting an air-sky inspection line of a power device, including: acquiring a pre-stored air inspection route and sending the pre-stored air inspection route to an inspection unmanned aerial vehicle; controlling the inspection unmanned aerial vehicle to carry out flight inspection along the aerial inspection route in an obstacle avoidance mode; acquiring real-time position data of the inspection unmanned aerial vehicle; obtaining a current routing inspection route of the routing inspection unmanned aerial vehicle according to the real-time position data; if the deviation degree of the current routing inspection route is larger than a preset deviation threshold value, controlling the routing inspection unmanned aerial vehicle to return to a deviation starting point; acquiring an obstacle image in a preset radiation range of a rollback route of the inspection unmanned aerial vehicle; obtaining an obstacle as an animal or a still according to the obstacle image; if the obstacle is an animal, controlling the inspection unmanned aerial vehicle to perform expelling work; and if the obstacle is a static object, correcting and updating the aerial inspection route according to the rollback route to obtain a corrected inspection route.
When the method is used, real-time position data of the inspection unmanned aerial vehicle are required to be acquired, whether the position accords with a pre-planned route is judged, the environment is monitored in real time, an obstacle image is judged, different modes of processing are carried out according to the fact that the obstacle is an animal or a static object, factors such as the navigation speed, the height and the steering radius of the unmanned aerial vehicle are required to be considered, and the situation of accidental collision and the like in the route correction process is avoided.
With reference to the first aspect, in one possible implementation manner, the method further includes: after the pre-stored air inspection route is acquired and sent to the inspection unmanned aerial vehicle, the method further comprises: acquiring the positioning position of the power equipment to be inspected; wherein, control patrol unmanned aerial vehicle with keep away the barrier mode and follow aerial patrol route and carry out the flight and patrol and examine includes: and if the inspection unmanned aerial vehicle and the positioning position of the power equipment are apart from a preset shooting distance, controlling the inspection unmanned aerial vehicle to shoot the power equipment to be inspected.
With reference to the first aspect, in one possible implementation manner, the method further includes: the step of obtaining the obstacle image in the preset radiation range of the rollback route of the inspection unmanned aerial vehicle comprises the following steps: when the inspection unmanned aerial vehicle retreats along the retreating route in the original way, controlling the unmanned aerial vehicle to shoot an environment image in a columnar area with the retreating route as a central axis and a preset radius; and removing the environmental background in the environmental image based on an image depth information algorithm to obtain the obstacle image.
With reference to the first aspect, in one possible implementation manner, the method further includes: when the patrol unmanned aerial vehicle returns to the original path along the back-off route, the patrol unmanned aerial vehicle is controlled to return to the original path at a preset navigation speed.
With reference to the first aspect, in one possible implementation manner, the method further includes: if the deviation degree of the current routing inspection route is greater than a preset deviation threshold, controlling the routing inspection unmanned aerial vehicle to return to the deviation starting point comprises: if the inspection unmanned aerial vehicle deviates from the aerial inspection route, starting to accumulate the deviated deviation route; and if the percentage of the deviated route accounting for the sailed route is larger than the preset deviation percentage, controlling the inspection unmanned aerial vehicle to fly to the deviation starting point.
With reference to the first aspect, in one possible implementation manner, the method further includes: if the obstacle is an animal, controlling the patrol unmanned aerial vehicle to expel comprises: if the obstacle is an animal, controlling the inspection unmanned aerial vehicle to perform sounding expelling; wherein the method further comprises: and if the obstacle is eliminated, controlling the inspection unmanned aerial vehicle to start to inspect the route along the air from the departure starting point.
With reference to the first aspect, in one possible implementation manner, the method further includes: if the obstacle is a static object, correcting and updating the aerial inspection route according to the rollback route to obtain a corrected inspection route comprises the following steps: if the obstacle is a static object, cutting off the aerial inspection route with the length of the rollback route from the deviating starting point and replacing the aerial inspection route with the rollback route; and connecting the tail end point of the replaced rollback route with the end point of the aerial inspection route cut off by the length of the rollback route in a straight line.
With reference to the first aspect, in one possible implementation manner, the method further includes: and if the distance between one or more pieces of power equipment to be inspected and the corrected inspection route is greater than a preset inspection distance, generating inspection alarm information and reporting the inspection alarm information to an upper server.
In a second aspect, the present application provides an air-sky inspection line correction system for an electrical device, including: a route customization module configured to: acquiring a pre-stored air inspection route and sending the pre-stored air inspection route to an inspection unmanned aerial vehicle; the unmanned aerial vehicle control module is in communication connection with the route customization module, and the unmanned aerial vehicle control module is configured to: controlling the inspection unmanned aerial vehicle to carry out flight inspection along the aerial inspection route in an obstacle avoidance mode; a route monitoring module configured to: acquiring real-time position data of the inspection unmanned aerial vehicle; obtaining a current routing inspection route of the routing inspection unmanned aerial vehicle according to the real-time position data; the route return module is in communication connection with the route monitoring module and is configured to: if the deviation degree of the current routing inspection route is larger than a preset deviation threshold value, controlling the routing inspection unmanned aerial vehicle to return to a deviation starting point; an obstacle feedback module configured to: acquiring an obstacle image in a preset radiation range of a rollback route of the inspection unmanned aerial vehicle; obtaining an obstacle as an animal or a still according to the obstacle image; if the obstacle is an animal, controlling the inspection unmanned aerial vehicle to perform expelling work; and if the obstacle is a static object, correcting and updating the aerial inspection route according to the rollback route to obtain a corrected inspection route.
In a third aspect, the present application provides an inspection unmanned aerial vehicle, where the inspection unmanned aerial vehicle has an obstacle avoidance function, and is in communication connection with the power equipment space-sky inspection line correction system described in claim 9.
Compared with the prior art, the technical scheme of the application has the following beneficial effects:
1) The scheme effectively solves the problem that the prior route deviates and the obstacle is an animal or a still and various possible encounters are caused, and the corresponding route revision is carried out according to the conditions, so that the discrimination target and the corresponding route revision mode are increased, and the robustness and the applicability are improved.
2) Improve inspection efficiency: route correction is carried out according to the type of the obstacle, collision or jamming of the unmanned aerial vehicle can be avoided, and therefore inspection efficiency is improved.
3) Improving the data quality: through recognition and avoidance of the obstacle, the conditions of missed detection and false detection can be reduced, so that the accuracy and reliability of the inspection data are improved.
4) Risk and cost reduction: the risk of collision of the unmanned aerial vehicle with the obstacle is avoided, and the extra cost caused by damage of the repairing unmanned aerial vehicle is also avoided.
5) The intelligent degree is improved: by using advanced obstacle recognition technology and automatic path planning algorithm, unmanned aerial vehicle inspection can be more intelligent and automatic.
6) The robustness is low and the universality is improved: and the dynamic and static objects are rapidly distinguished, so that the robustness to different environments and the universality of inspection are improved.
Drawings
Fig. 1 is a schematic diagram of method steps of a method for correcting an air-sky inspection line of an electrical device according to an embodiment of the present application.
Fig. 2 is a schematic diagram of method steps of a method for correcting an air-sky inspection line of an electrical device according to another embodiment of the present application.
Fig. 3 is a schematic diagram of method steps of a method for correcting an air-sky inspection line of an electrical device according to another embodiment of the present application.
Fig. 4 is a schematic diagram of method steps of a method for correcting an air-sky inspection line of an electrical device according to another embodiment of the present application.
Fig. 5 is a schematic diagram of method steps of a method for correcting an air-sky inspection line of an electrical device according to another embodiment of the present application.
Fig. 6 is a schematic diagram of method steps of a method for correcting an air-sky inspection line of an electrical device according to another embodiment of the present application.
Fig. 7 is a schematic diagram of method steps of a method for correcting an air-sky inspection line of an electrical device according to another embodiment of the present application.
Detailed Description
The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
An exemplary power equipment sky inspection line correction method is as follows:
as shown in fig. 1, includes:
step 110, acquiring a pre-stored air inspection route and sending the pre-stored air inspection route to an inspection unmanned aerial vehicle;
in this step, the inspector needs to acquire a pre-stored air inspection route from the ground station and send the pre-stored air inspection route to the inspection unmanned aerial vehicle, and the inspector needs to ensure that the unmanned aerial vehicle follows a pre-set route during the flight so as to comprehensively inspect the safety condition of the inspected area. Meanwhile, the inspector also needs to pay attention to the remote measurement and sensor data of the unmanned aerial vehicle, so that the unmanned aerial vehicle can accurately and efficiently finish the work task. When the patrol starts, the patrol unmanned aerial vehicle can automatically take off and fly along a preset patrol route.
The step is to obtain a pre-stored inspection route and send the pre-stored inspection route to the inspection unmanned aerial vehicle, so that the unmanned aerial vehicle can be ensured to fly and inspect according to the pre-determined route. Therefore, the accuracy and the efficiency of the inspection task can be improved, and the requirement of manual operation is reduced.
Step 120, controlling the inspection unmanned aerial vehicle to carry out flight inspection along the aerial inspection route in an obstacle avoidance mode;
in the step, the inspection unmanned aerial vehicle is controlled to carry out flight inspection along an aerial inspection route in an obstacle avoidance mode of radar obstacle avoidance, and the radar obstacle avoidance transmits short-wave electromagnetic waves to the periphery through a transmitter; when these electromagnetic waves encounter obstacles, a portion of the electromagnetic waves are reflected back; the receiver receives the reflected electromagnetic wave and analyzes the signal characteristics of the reflected electromagnetic wave by the processing circuit to determine the position and the size of the obstacle; according to the received signals, the system can judge the distance and the direction of the obstacle and make a control decision for avoiding the obstacle. Radar obstacle avoidance can cause deviations from a preset air tour route.
The unmanned aerial vehicle is controlled to carry out inspection in an obstacle avoidance mode, so that the unmanned aerial vehicle can be ensured to avoid in time when encountering obstacles, and collision and accidents are avoided. In the mode, the unmanned aerial vehicle can intelligently avoid obstacles, and the safety of the inspection process is improved.
130, acquiring real-time position data of the inspection unmanned aerial vehicle;
in the step, real-time position data can be acquired through a GPS positioning system of the unmanned aerial vehicle, and the data is transmitted to a designated monitoring platform for real-time monitoring. Meanwhile, the unmanned aerial vehicle with the camera can acquire image or video data on a flight route, and road conditions, environments and the like are monitored and recorded in real time so as to analyze the data and correct the inspection plan later. In addition, the method can be matched with other sensors such as temperature, humidity and air pressure to find or predict possible fault hidden dangers, and process, store and analyze data through cloud computing, so that more comprehensive support is provided for operation and maintenance of equipment.
According to the method, the flight state and the position information of the unmanned aerial vehicle can be known in time by acquiring the real-time position data of the unmanned aerial vehicle. Therefore, monitoring personnel can be helped to grasp the progress of the inspection task in real time, and timely adjustment and decision can be made.
Step 140, obtaining a current inspection route of the inspection unmanned aerial vehicle according to the real-time position data;
in the step, according to the unmanned aerial vehicle positioning information transmitted back in real time, the moving track of the unmanned aerial vehicle can be tracked and recorded in real time, and then the current inspection route of the unmanned aerial vehicle is obtained. The data can be used for monitoring the inspection process of the unmanned aerial vehicle in real time and finding errors or fault conditions in time.
According to the method, the current inspection route of the unmanned aerial vehicle is obtained through calculation according to the real-time position data, so that the flight track of the unmanned aerial vehicle can be monitored in real time and the position correction can be carried out. Therefore, the unmanned aerial vehicle can be ensured to fly accurately according to the set inspection route, and the inspection accuracy and efficiency are improved.
Step 150, if the deviation degree of the current routing inspection route is greater than a preset deviation threshold value;
in the step, the unmanned aerial vehicle calculates the percentage of the deviated route to the sailed route from the deviation, and if the percentage is larger than a preset deviation value, the inspection unmanned aerial vehicle is controlled to retract to the deviation starting point; the rollback route is recorded during the rollback to the departure point.
When the current inspection route of the unmanned aerial vehicle deviates from a preset range greatly, the step is triggered to find out the inspection abnormal condition in time. Therefore, monitoring personnel can be reminded to check and adjust the flight track of the unmanned aerial vehicle, and the accuracy and effect of the inspection task are ensured.
Step 160, obtaining an obstacle image in a preset radiation range of a rollback route of the inspection unmanned aerial vehicle;
in this step, the preset radiation range is a range in which the rollback route extends outward by 3 to 8 m.
In the step, the potential obstacle can be found and identified in time by acquiring the obstacle image within the preset range of the unmanned aerial vehicle rollback route. Therefore, decision support can be provided for the unmanned aerial vehicle, the obstacle is prevented from being impacted, and the inspection safety is improved.
Step 170, obtaining that the obstacle is an animal or a still according to the obstacle image;
in this step, by an image recognition algorithm, for example, convolutional Neural Network (CNN), to classify and recognize images, it is judged whether or not the obstacle performs a biological action such as a movement, a hover flight, or the like;
the step can judge whether the obstacle is an animal or a still through analysis and analysis of the obstacle image. Therefore, corresponding measures can be taken for different types of obstacles, such as avoiding animals or removing static objects, so that smooth running of the inspection task is ensured.
Through the operation of above-mentioned step, can realize patrolling and examining unmanned aerial vehicle's accurate flight and obstacle avoidance ability, improve the security and the efficiency of patrolling and examining the task.
Step 171, if the obstacle is an animal, controlling the inspection unmanned aerial vehicle to perform expelling work;
in this step, if the obstacle is identified as an animal, then an expelling measure should be taken during the control of the drone tour to avoid injury to the animal. This may include sounding or flashing an animal to avoid access to their nest or habitat.
Step 172, if the obstacle is a static object, correcting and updating the aerial inspection route according to the rollback route to obtain a corrected inspection route;
in this step, the route is followed by an aerial inspection after yaw is replaced with the rollback route.
In one embodiment, as shown in fig. 2, in step 110, after the pre-stored air inspection route is obtained and sent to the inspection unmanned aerial vehicle, the method further includes: step 111, acquiring the positioning position of the electric equipment to be inspected; in step 120, the controlling the inspection unmanned aerial vehicle to perform flight inspection along the aerial inspection route in the obstacle avoidance mode includes: and step 121, if the locating positions of the inspection unmanned aerial vehicle and the power equipment are apart from a preset shooting distance, controlling the inspection unmanned aerial vehicle to shoot the power equipment to be inspected.
In this step, the inspector needs to pre-store the position information of the power equipment to be inspected into the unmanned aerial vehicle, so as to determine the inspection route. When the unmanned aerial vehicle reaches a specific position, the inspection unmanned aerial vehicle is controlled to shoot the power equipment.
In an embodiment, as shown in fig. 3, in step 160, the obtaining an obstacle image within a preset radiation range of the back-off route of the inspection unmanned aerial vehicle includes: step 161, when the inspection unmanned aerial vehicle retreats along the retreating route, controlling the unmanned aerial vehicle to shoot an environment image in a columnar area taking the retreating route as a central axis and with a preset radius;
step 162 removes the environmental background in the environmental image based on the image depth information algorithm, and obtains the obstacle image.
In this step, the columnar region may be curved or straight. Meanwhile, according to an image depth information algorithm, the depth information of each pixel point in the image is obtained, namely the distance between the pixel point and the unmanned aerial vehicle camera is obtained, and according to the depth information, which image pixels are environmental background (such as sky and ground) and which image pixels are obstacles are obtained.
In an embodiment, in step 160, when the inspection unmanned aerial vehicle performs the original route retraction along the retraction route, the inspection unmanned aerial vehicle is controlled to perform the original route retraction at a preset navigation speed.
In an embodiment, as shown in fig. 4, if the deviation degree of the current routing inspection route is greater than a preset deviation threshold, controlling the routing inspection unmanned aerial vehicle to retract to the deviation starting point includes: if the inspection unmanned aerial vehicle deviates from the aerial inspection route, starting to accumulate the deviated deviation route; and if the percentage of the deviated route accounting for the sailed route is larger than the preset deviation percentage, controlling the inspection unmanned aerial vehicle to fly to the deviation starting point.
In this step, the departure point is recorded in the unmanned aerial vehicle, the navigation system of the unmanned aerial vehicle can navigate to the departure point, and obstacle avoidance may be performed in the process of returning to the departure point, but the unmanned aerial vehicle is not influenced, as long as the unmanned aerial vehicle returns to the departure point.
In an embodiment, as shown in fig. 5, if the obstacle is an animal, controlling the patrol unmanned aerial vehicle to perform the expelling operation includes: if the obstacle is an animal, controlling the inspection unmanned aerial vehicle to perform sounding expelling; wherein the method further comprises: and if the obstacle is eliminated, controlling the inspection unmanned aerial vehicle to start to inspect the route along the air from the departure starting point.
In this step, if the obstacle is identified as an animal, then an expelling measure should be taken during the control of the drone tour to avoid injury to the animal. This may include sounding or flashing a sound to the animals and avoiding access to their nest or habitat, and controlling the inspection drone to follow an aerial inspection route from an off-start point when the animal's obstruction is removed.
In an embodiment, as shown in fig. 6, if the obstacle is a static object, correcting and updating the air inspection route according to the rollback route to obtain a corrected inspection route includes: if the obstacle is a static object, cutting off the aerial inspection route with the length of the rollback route from the deviating starting point and replacing the aerial inspection route with the rollback route; and connecting the tail end point of the replaced rollback route with the end point of the aerial inspection route cut off by the length of the rollback route in a straight line.
In the step, if the obstacle is a static object, the aerial inspection route with the back-off route length is cut off and replaced by the back-off route from the deviating starting point; and cutting off a section of air tour-inspection route according to the length of the rollback route as the same length. And linearly connecting the tail end point of the replaced rollback route with the cut-off tail end point of the aerial inspection route cut off the rollback route length. After the length of the rollback route after the air inspection route is cut off, a cut-off neutral position is formed, the rollback route is replaced to the cut-off neutral position, and the cut-off neutral position is used as an end point in the step; taking the end point of the cut-off neutral position as a cut-off wiping point of the air inspection route; and finally, connecting the tail end point with the cut-off tail end point in a straight line to finish line closure, and forming an updated modified routing inspection line.
In one embodiment, as shown in fig. 7, further includes: and if the distance between one or more pieces of power equipment to be inspected and the corrected inspection route is greater than a preset inspection distance, generating inspection alarm information and reporting the inspection alarm information to an upper server.
In this step, design in advance aerial route of patrolling and examining, can design and make the power equipment that waits to patrol and aerial route of patrolling and examining can not be too far away for the nearest distance of power equipment and aerial route of patrolling and examining keeps in predetermineeing to patrol and examine the distance, so as to guarantee to patrol and examine unmanned aerial vehicle and can not be too far away from power equipment and can't take a clear image when patrolling and examining. If the power equipment is excessively far beyond the preset inspection distance due to the inspection route correction, the power equipment is required to be timely alarmed to remind a worker to adopt manual correction, or the worker can manually operate the unmanned aerial vehicle to carry out inspection.
In an embodiment, the application provides an air-sky inspection line correction system for power equipment, comprising: a route customization module configured to: acquiring a pre-stored air inspection route and sending the pre-stored air inspection route to an inspection unmanned aerial vehicle; the unmanned aerial vehicle control module is in communication connection with the route customization module, and the unmanned aerial vehicle control module is configured to: controlling the inspection unmanned aerial vehicle to carry out flight inspection along the aerial inspection route in an obstacle avoidance mode; a route monitoring module configured to: acquiring real-time position data of the inspection unmanned aerial vehicle; obtaining a current routing inspection route of the routing inspection unmanned aerial vehicle according to the real-time position data; the route return module is in communication connection with the route monitoring module and is configured to: if the deviation degree of the current routing inspection route is larger than a preset deviation threshold value, controlling the routing inspection unmanned aerial vehicle to return to a deviation starting point; an obstacle feedback module configured to: acquiring an obstacle image in a preset radiation range of a rollback route of the inspection unmanned aerial vehicle; obtaining an obstacle as an animal or a still according to the obstacle image; if the obstacle is an animal, controlling the inspection unmanned aerial vehicle to perform expelling work; and if the obstacle is a static object, correcting and updating the aerial inspection route according to the rollback route to obtain a corrected inspection route.
In an embodiment, the inspection unmanned aerial vehicle provided by the application has an obstacle avoidance function, and is in communication connection with the power equipment space inspection line correction system of claim 9.
The basic principles of the present application have been described above in connection with specific embodiments, however, it should be noted that the advantages, benefits, effects, etc. mentioned in the present application are merely examples and not intended to be limiting, and these advantages, benefits, effects, etc. are not to be considered as essential to the various embodiments of the present application. Furthermore, the specific details disclosed herein are for purposes of illustration and understanding only, and are not intended to be limiting, as the application is not necessarily limited to practice with the above described specific details.
The block diagrams of the devices, apparatuses, devices, systems referred to in the present application are only illustrative examples and are not intended to require or imply that the connections, arrangements, configurations must be made in the manner shown in the block diagrams. As will be appreciated by one of skill in the art, the devices, apparatuses, devices, systems may be connected, arranged, configured in any manner. Words such as "including," "comprising," "having," and the like are words of openness and mean "including but not limited to," and are used interchangeably therewith. The terms "or" and "as used herein refer to and are used interchangeably with the term" and/or "unless the context clearly indicates otherwise. The term "such as" as used herein refers to, and is used interchangeably with, the phrase "such as, but not limited to.
It is also noted that in the apparatus, devices and methods of the present application, the components or steps may be disassembled and/or assembled. Such decomposition and/or recombination should be considered as equivalent aspects of the present application.
The previous description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other aspects without departing from the scope of the application. Thus, the present application is not intended to be limited to the aspects shown herein but is to be accorded the widest scope consistent with the principles and novel features herein.
The foregoing description of the preferred embodiments of the application is not intended to be limiting, but rather is to be construed as including any modifications, equivalents, and alternatives falling within the spirit and principles of the application.
Claims (10)
1. The utility model provides a power equipment sky inspection line correction method which is characterized in that the method comprises the following steps:
acquiring a pre-stored air inspection route and sending the pre-stored air inspection route to an inspection unmanned aerial vehicle;
controlling the inspection unmanned aerial vehicle to carry out flight inspection along the aerial inspection route in an obstacle avoidance mode;
acquiring real-time position data of the inspection unmanned aerial vehicle;
obtaining a current routing inspection route of the routing inspection unmanned aerial vehicle according to the real-time position data;
if the deviation degree of the current routing inspection route is larger than a preset deviation threshold value, controlling the routing inspection unmanned aerial vehicle to return to a deviation starting point;
acquiring an obstacle image in a preset radiation range of a rollback route of the inspection unmanned aerial vehicle;
obtaining an obstacle as an animal or a still according to the obstacle image;
if the obstacle is an animal, controlling the inspection unmanned aerial vehicle to perform expelling work; and
and if the obstacle is a static object, correcting and updating the aerial inspection route according to the rollback route to obtain a corrected inspection route.
2. The method for correcting an air-sky inspection line of a power device according to claim 1, wherein after the pre-stored air inspection line is acquired and sent to an inspection unmanned aerial vehicle, the method further comprises:
acquiring the positioning position of the power equipment to be inspected;
wherein, control patrol unmanned aerial vehicle with keep away the barrier mode and follow aerial patrol route and carry out the flight and patrol and examine includes:
and if the inspection unmanned aerial vehicle and the positioning position of the power equipment are apart from a preset shooting distance, controlling the inspection unmanned aerial vehicle to shoot the power equipment to be inspected.
3. The method for correcting an air-sky inspection line of a power device according to claim 1, wherein the acquiring an obstacle image within a preset radiation range of a back-off route of the inspection unmanned aerial vehicle comprises:
when the inspection unmanned aerial vehicle retreats along the retreating route in the original way, controlling the unmanned aerial vehicle to shoot an environment image in a columnar area with the retreating route as a central axis and a preset radius;
and removing the environmental background in the environmental image based on an image depth information algorithm to obtain the obstacle image.
4. The method for correcting an air-sky inspection line of a power device according to claim 3,
when the patrol unmanned aerial vehicle returns to the original path along the back-off route, the patrol unmanned aerial vehicle is controlled to return to the original path at a preset navigation speed.
5. The method for correcting an air-sky inspection line of a power device according to claim 1, wherein if the deviation degree of the current inspection line is greater than a preset deviation threshold, controlling the inspection unmanned aerial vehicle to retract to a deviation starting point comprises:
if the inspection unmanned aerial vehicle deviates from the aerial inspection route, starting to accumulate the deviated deviation route; and
and if the percentage of the deviated route accounting for the sailed route is larger than the preset deviation percentage, controlling the inspection unmanned aerial vehicle to fly to the deviation starting point.
6. The method for correcting an air-sky inspection line of a power device according to claim 1, wherein if the obstacle is an animal, controlling the inspection unmanned aerial vehicle to perform an expelling operation comprises:
if the obstacle is an animal, controlling the inspection unmanned aerial vehicle to perform sounding expelling;
wherein the method further comprises:
and if the obstacle is eliminated, controlling the inspection unmanned aerial vehicle to start to inspect the route along the air from the departure starting point.
7. The method for correcting an air-sky tour inspection line of a power plant according to claim 1, wherein if the obstacle is a stationary object, correcting and updating the air tour inspection line according to the rollback line to obtain a corrected tour inspection line comprises:
if the obstacle is a static object, cutting off the aerial inspection route with the length of the rollback route from the deviating starting point and replacing the aerial inspection route with the rollback route; and
and linearly connecting the tail end point of the replaced rollback route with the cut-off tail end point of the aerial inspection route cut off the rollback route length.
8. The method for correcting an air-sky inspection line of a power device according to claim 1, further comprising:
and if the distance between one or more pieces of power equipment to be inspected and the corrected inspection route is greater than a preset inspection distance, generating inspection alarm information and reporting the inspection alarm information to an upper server.
9. An empty sky inspection line correction system of power equipment, which is characterized by comprising:
a route customization module configured to: acquiring a pre-stored air inspection route and sending the pre-stored air inspection route to an inspection unmanned aerial vehicle;
the unmanned aerial vehicle control module is in communication connection with the route customization module, and the unmanned aerial vehicle control module is configured to: controlling the inspection unmanned aerial vehicle to carry out flight inspection along the aerial inspection route in an obstacle avoidance mode;
a route monitoring module configured to: acquiring real-time position data of the inspection unmanned aerial vehicle; obtaining a current routing inspection route of the routing inspection unmanned aerial vehicle according to the real-time position data;
the route return module is in communication connection with the route monitoring module and is configured to: if the deviation degree of the current routing inspection route is larger than a preset deviation threshold value, controlling the routing inspection unmanned aerial vehicle to return to a deviation starting point;
an obstacle feedback module configured to: acquiring an obstacle image in a preset radiation range of a rollback route of the inspection unmanned aerial vehicle; obtaining an obstacle as an animal or a still according to the obstacle image; if the obstacle is an animal, controlling the inspection unmanned aerial vehicle to perform expelling work; and if the obstacle is a static object, correcting and updating the aerial inspection route according to the rollback route to obtain a corrected inspection route.
10. An inspection unmanned aerial vehicle is characterized in that,
the unmanned aerial vehicle has obstacle avoidance function, and the unmanned aerial vehicle is in communication connection with the power equipment sky inspection line correction system according to claim 9.
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