CN117673953A - Unmanned aerial vehicle-based power line operation and maintenance system and method - Google Patents
Unmanned aerial vehicle-based power line operation and maintenance system and method Download PDFInfo
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Abstract
The invention discloses an unmanned aerial vehicle-based power line operation and maintenance system and method, and relates to the technical field of power line operation and maintenance. Comprising the following steps: unmanned aerial vehicle module, judgement processing module, visualization module, control center, work terminal. According to the invention, by carrying the laser radar, the scanning equipment, the communication equipment and the visible light camera, the unmanned aerial vehicle can acquire multi-dimensional data of the power transmission line, so that comprehensive and efficient acquisition of inspection data of the power transmission line is realized, manual intervention and operation are not required, and a rich information basis is provided for subsequent data fault analysis and processing; through the judgment and processing of the data, whether each device fails or not is judged, so that an overhaul work order is generated, and operation and maintenance personnel can carry out operation and maintenance on the power line failure.
Description
Technical Field
The invention relates to the technical field of operation and maintenance of power lines, in particular to an operation and maintenance system and method of power lines based on unmanned aerial vehicles.
Background
In the environment of rapid development of power industry in China, power guarantee work is more and more important, inspection work of a power transmission line is an important ring, and meanwhile, due to the increase of inspection tasks of the line, the traditional manual inspection mode is changed. Because the power transmission network in China is very complicated, under the condition of power supply in the past, the inspection task can be finished by means of manual inspection, but under the situation of rapid development of power construction, particularly expansion of cross-region power transmission construction, the inspection work of a power transmission line is heavy, and a lot of difficulties are increased, which necessarily results in the situation that the growth rate of power operation maintainers is lower than that of power lines and power towers, meanwhile, the traditional manual inspection mode also has a lot of problems in modern power facilities, such as low inspection efficiency caused by heavy inspection work task, complicated and changeable inspection environment and great inconvenience to work, and certain danger is caused by the need of climbing operation, and various defects indicate that the traditional power inspection mode cannot always meet the development of modern power industry when emergency faults and severe disasters are met.
At present, manual inspection, robot inspection, helicopter inspection and unmanned aerial vehicle inspection are the most commonly used inspection modes of a power transmission line. The manual inspection is relatively traditional, and the inspection difficulty is often high in the face of the characteristics of long transmission line and complex environment. The robot inspection is more applicable in high-voltage transmission lines, but the current detection speed and working range of the robot are still to be improved and expanded. Helicopter inspection requires a large amount of resources, has high cost and cannot be widely applied. Unmanned aerial vehicles (UnmannedAerial Vehicles, UAVs), which are unmanned aerial vehicle systems that use radio remote control or control by their own control programs to control the flight, are known as unmanned aerial vehicles. Along with the continuous upgrading and improvement of unmanned aerial vehicle technology and related software and hardware, unmanned aerial vehicle will play an increasingly important role in electric power transmission line inspection. Because the operation environment of the power transmission line is complex, and the power transmission line needs to operate for a long time, the problems of equipment aging, line breakage, heating of connecting parts and the like are easy to occur, and the safe operation of the line is greatly influenced. In the inspection of the power transmission line, the unmanned aerial vehicle automatic inspection technology not only can improve inspection efficiency and accuracy, but also can realize efficient collection, transmission, analysis and processing of data, thereby better supporting the operation, maintenance and overhaul of the power line.
Therefore, an unmanned aerial vehicle-based power line operation and maintenance system and method are provided to solve the problems of the prior art, which are needed to be solved by the skilled person.
Disclosure of Invention
In view of the above, the invention provides an unmanned aerial vehicle-based power line operation and maintenance system and method, which are favorable for finding and eliminating line defects and major hidden dangers in time, greatly improve the pole tower inspection efficiency and save a large amount of manpower and material resources.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
an unmanned aerial vehicle-based power line operation and maintenance system, comprising: the system comprises an unmanned aerial vehicle module, a judging and processing module, a visualization module, a control center and a working terminal; wherein,
the unmanned aerial vehicle module is connected with the input ends of the visualization module and the judgment processing module and is used for transmitting the positions of the towers and the images of the equipment on the towers into the visualization module and transmitting the images of the equipment on the towers into the judgment processing module;
the judging and processing module is connected with the first input end of the control center and is used for receiving the images of all the equipment on the tower, judging whether the equipment has faults or not, and if so, generating a fault processing scheme;
the visualization module is connected with the second input end of the control center and used for carrying out three-dimensional visual display on the position of the tower, the images of all equipment on the tower and the whole flight process of the unmanned aerial vehicle;
the control center is connected with the input end of the working terminal and is used for receiving the fault processing scheme to form an overhaul work order and distributing the overhaul work order to the corresponding operation and maintenance personnel working terminal; monitoring and managing the position of the tower, images of all equipment on the tower and three-dimensional visual display of the whole flight process of the unmanned aerial vehicle;
and the working terminal is connected with the output end of the control center and is used for receiving the overhaul work order and carrying out operation and maintenance overhaul on the power line fault.
Optionally, the unmanned aerial vehicle module comprises an unmanned aerial vehicle body, and the unmanned aerial vehicle body is provided with a laser radar, a scanning device, a communication device and a visible light camera;
the laser radar is used for avoiding obstacles in the flight process;
the scanning equipment is used for scanning the tower information and judging the position of the tower;
the visible light camera is used for carrying out omnibearing shooting on the pole tower and all equipment on the pole tower in the flight process;
a communication device for communicating with an external device.
Optionally, the unmanned aerial vehicle body that adopts is four rotor unmanned aerial vehicle.
Optionally, the all-round shooting equipment of visible light camera includes but is not limited to shaft tower body, cross arm, insulator, hanging point, fitting iron annex, lead ground wire, drainage line, transformer, fuse.
Optionally, the specific content of judging whether each device has a fault and generating a fault processing scheme by the judging processing module is as follows:
performing edge detection and graying treatment on each equipment image to obtain a preprocessed image; performing feature extraction on the preprocessed image by using OpenCV; judging whether each equipment image has faults or not by using a BOW algorithm;
and calling the Oracle database to generate a fault processing scheme.
Optionally, the judging and processing module further comprises expert system fault diagnosis for judging whether each device has faults.
An unmanned aerial vehicle-based power line operation and maintenance method is applied to any one of the unmanned aerial vehicle-based power line operation and maintenance system, and comprises the following steps:
s1, acquiring a tower position and image data of each device on the tower by using an unmanned aerial vehicle module;
s2, inputting the image data of each device on the tower into a judging and processing module, judging whether each device has faults, and if so, generating a fault processing scheme;
s3, carrying out three-dimensional visual display on the position of the tower, each equipment image on the tower and the whole flight process of the unmanned aerial vehicle based on the visual module;
s4, the control center receives the fault processing scheme to form an overhaul work order, and distributes the overhaul work order to the corresponding operation and maintenance personnel working terminals; monitoring and managing the position of the tower, images of all equipment on the tower and three-dimensional visual display of the whole flight process of the unmanned aerial vehicle;
s5, the operation and maintenance personnel receive the maintenance work order and carry out operation and maintenance on the fault position of the power line.
Compared with the prior art, the invention provides the unmanned aerial vehicle-based power line operation and maintenance system and method, which have the following beneficial effects:
(1) Through carrying laser radar, scanning equipment, communication equipment and visible light camera, unmanned aerial vehicle can acquire the multidimensional data of electric power transmission line and realize comprehensive and high-efficient collection of electric power transmission line inspection data, need not manual intervention and operation, provides abundant information basis for subsequent data fault analysis and processing.
(2) Through the judgment and processing of the data, whether each device fails or not is judged, so that an overhaul work order is generated, and operation and maintenance personnel can carry out operation and maintenance on the power line failure.
(3) The unmanned aerial vehicle is applied to the inspection of the electric power transmission line, is not limited by the topography and the landform, the visual module can monitor the electric power transmission line on line in real time, the control center can timely find and eliminate line defects and major hidden dangers according to the returning condition of the ground station, the inspection efficiency of the pole tower is greatly improved, and a large amount of manpower and material resources are saved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only embodiments of the present invention, and that other drawings can be obtained according to the provided drawings without inventive effort for a person skilled in the art.
Fig. 1 is a block diagram of a power line operation and maintenance system based on an unmanned aerial vehicle;
fig. 2 is a flowchart of a power line operation and maintenance method based on an unmanned aerial vehicle.
Detailed Description
The following description of the embodiments of the present invention 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 invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1, the invention discloses an unmanned aerial vehicle-based power line operation and maintenance system, which comprises: the system comprises an unmanned aerial vehicle module, a judging and processing module, a visualization module, a control center and a working terminal; wherein,
the unmanned aerial vehicle module is connected with the input ends of the visualization module and the judgment processing module and is used for transmitting the positions of the towers and the images of the equipment on the towers into the visualization module and transmitting the images of the equipment on the towers into the judgment processing module;
the judging and processing module is connected with the first input end of the control center and is used for receiving the images of all the equipment on the tower, judging whether the equipment has faults or not, and if so, generating a fault processing scheme;
the visualization module is connected with the second input end of the control center and used for carrying out three-dimensional visual display on the position of the tower, the images of all equipment on the tower and the whole flight process of the unmanned aerial vehicle;
the control center is connected with the input end of the working terminal and is used for receiving the fault processing scheme to form an overhaul work order and distributing the overhaul work order to the corresponding operation and maintenance personnel working terminal; monitoring and managing the position of the tower, images of all equipment on the tower and three-dimensional visual display of the whole flight process of the unmanned aerial vehicle;
and the working terminal is connected with the output end of the control center and is used for receiving the overhaul work order and carrying out operation and maintenance overhaul on the power line fault.
Further, the unmanned aerial vehicle module comprises an unmanned aerial vehicle body, and the unmanned aerial vehicle body is provided with a laser radar, a scanning device, a communication device and a visible light camera;
the laser radar is used for avoiding obstacles in the flight process;
the scanning equipment is used for scanning the tower information and judging the position of the tower;
the visible light camera is used for carrying out omnibearing shooting on the pole tower and all equipment on the pole tower in the flight process;
a communication device for communicating with an external device.
Further, the unmanned aerial vehicle body that adopts is four rotor unmanned aerial vehicle.
Further, the visible light camera shoots all devices in all directions, including but not limited to a tower body, a cross arm, an insulator, a hanging point, a hardware fitting iron accessory, a ground wire, a drainage wire, a transformer and a fuse.
Further, the specific contents of judging whether each device has a fault or not and generating a fault processing scheme by the judging and processing module are as follows:
performing edge detection and graying treatment on each equipment image to obtain a preprocessed image; performing feature extraction on the preprocessed image by using OpenCV; judging whether each equipment image has faults or not by using a BOW algorithm;
and calling the Oracle database to generate a fault processing scheme.
Further, the judging and processing module further comprises expert system fault diagnosis and judges whether each device has faults or not.
In a specific embodiment, line operation and maintenance work is mainly carried out on 25 110kV lines and 25 35kV lines in a county, line channel visual monitoring inspection and pole tower body unmanned aerial vehicle flying inspection are mainly carried out on overhead lines, outer breakage prevention inspection is carried out on cable lines, and inspection of fault points is carried out after line tripping.
Unmanned aerial vehicle selection
The four-rotor unmanned aerial vehicle is quite simple in mechanism, the main body is composed of symmetrical cross rigid frames, the frame materials are generally carbon fibers with light weight and high strength, a brushless direct current motor is placed on each frame, and the motor is driven by an electronic speed regulator to control the rotating speed by a central control unit, so that the required lifting force is provided.
(II) determining a Path
In unmanned aerial vehicle actual working, often there are multiple barrier, because the influence of barrier, the space can be divided into a plurality of not unidimensional regions, and some regions are too narrow because too narrow to form narrow space, can't search feasible route. The invention uses an improved RRT algorithm, when path searching starts, a starting point is taken as a root node of a search tree, sampling points are randomly generated in a starting local space, after new nodes are generated through a new node generating function, whether the new nodes collide with obstacles is judged, if yes, the new nodes are added into the search tree, and otherwise, the new nodes are discarded. When the random search process iterates, whether the local space is increased or not is judged through the evaluation function, and the adjustment of the search height space is carried out. In the process of searching the space, when judging that a target point exists in a certain adjacent area of a new node added to the search tree, the method can determine that a feasible path is searched, and add the target point to the search tree. At this time, in the search tree, a path formed by connecting nodes can be found from the target point to the root node, thereby forming a complete unmanned plane specified path.
(III) acquiring data
The unmanned aerial vehicle body is provided with a laser radar, a scanning device, a communication device and a visible light camera, and flies according to a specified path; the laser radar is used for avoiding obstacles in the flight process; the scanning equipment is used for scanning the tower information and judging the position of the tower; the visible light camera is used for carrying out omnibearing shooting on all equipment on the pole tower in the flight process; the communication device is used for communicating with an external device; the communication device establishes a connection with a ground communication station. The visible light camera shoots the equipment such as the tower body, the cross arm, the insulator, the hanging point, the fitting iron accessory, the ground wire, the drainage wire, the transformer, the fuse and the like of the tower body in all directions.
(IV) judging and processing the faults
Judging faults:
firstly, preprocessing each equipment image by utilizing edge detection processing and graying processing, and then calling a Rect function in OpenCV to extract characteristics of the preprocessed image; and judging whether each device image has faults or not by using a BOW algorithm.
The specific contents of judging whether each equipment image has faults by using the BOW algorithm are as follows:
(1) And acquiring M equipment images as a training set, and preprocessing the training image set. Including image enhancement, segmentation, image unification format, unification specification, etc.
(2) SIFT features are extracted for each image (how many SIFT features are extracted per image is variable). Each SIFT feature is represented by a 128-dimensional descriptor vector, and the M images altogether extract N SIFT features.
(3) And (3) clustering the N SIFT features extracted in the step (2) by using K-means, wherein the number of the visual words is K, the length of the codebook is K, the distance from each SIFT feature of each image to the K visual words is calculated, and the distance is mapped to the visual word closest to the SIFT feature, namely the corresponding word frequency of the visual word is +1. Each image becomes a word frequency vector corresponding to the visual word sequence.
(4) Because the number of SIFT features of each image is variable, normalization is required. The test image is also required to be preprocessed, SIFT features are extracted, the features are mapped to codebook vectors, the codebook vectors are normalized, the distance between the codebook vectors and the training codebook is calculated finally, and the training image corresponding to the nearest distance is considered to be matched with the test image (the normal image without faults in the same direction and the same angle of the same equipment).
Processing faults:
and calling the Oracle database to generate a fault processing scheme.
When solving the actual fault diagnosis problem, the expert with abundant experience usually judges whether the fault occurs or not through the correlation knowledge of the fault source and the fault symptom, and the knowledge is derived from long-term learning accumulation of the expert on various forms of the fault, thereby playing a key role in accurately analyzing the fault.
Therefore, judging whether each device fails or not and generating a failure processing scheme also requires an expert to judge according to experience.
And the visualization module performs three-dimensional visualization display on the position of the pole tower, the images of all equipment on the pole tower and the whole flight process of the unmanned aerial vehicle.
The control center receives the fault processing scheme to form an overhaul work order and distributes the overhaul work order to the corresponding operation and maintenance personnel working terminals; the operation and maintenance personnel receive the maintenance work order and carry out operation and maintenance on the fault position of the power line; and the three-dimensional visual display of the position of the tower, the images of all equipment on the tower and the whole flight process of the unmanned aerial vehicle is monitored and managed.
According to the invention, the unmanned aerial vehicle is applied to the inspection of the electric power transmission line, the unmanned aerial vehicle is not limited by the topography and the landform, the visual module can perform real-time on-line monitoring on the electric power transmission line, the control center can timely find and eliminate line defects and major hidden dangers according to the ground station return situation, the inspection efficiency of the pole tower is greatly improved, and a large amount of manpower and material resources are saved.
Corresponding to the system shown in fig. 1, the embodiment of the invention also provides an operation and maintenance method for the power line based on the unmanned aerial vehicle, wherein a flow chart of the method is shown in fig. 2, and the method specifically comprises the following steps:
s1, acquiring a tower position and image data of each device on the tower by using an unmanned aerial vehicle module;
s2, inputting the image data of each device on the tower into a judging and processing module, judging whether each device has faults, and if so, generating a fault processing scheme;
s3, carrying out three-dimensional visual display on the position of the tower, each equipment image on the tower and the whole flight process of the unmanned aerial vehicle based on the visual module;
s4, the control center receives the fault processing scheme to form an overhaul work order, and distributes the overhaul work order to the corresponding operation and maintenance personnel working terminals; monitoring and managing the position of the tower, images of all equipment on the tower and three-dimensional visual display of the whole flight process of the unmanned aerial vehicle;
s5, the operation and maintenance personnel receive the maintenance work order and carry out operation and maintenance on the fault position of the power line.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (7)
1. Unmanned aerial vehicle-based power line operation and maintenance system, which is characterized by comprising: the system comprises an unmanned aerial vehicle module, a judging and processing module, a visualization module, a control center and a working terminal; wherein,
the unmanned aerial vehicle module is connected with the input ends of the visualization module and the judgment processing module and is used for transmitting the positions of the towers and the images of the equipment on the towers into the visualization module and transmitting the images of the equipment on the towers into the judgment processing module;
the judging and processing module is connected with the first input end of the control center and is used for receiving the images of all the equipment on the tower, judging whether the equipment has faults or not, and if so, generating a fault processing scheme;
the visualization module is connected with the second input end of the control center and used for carrying out three-dimensional visual display on the position of the tower, the images of all equipment on the tower and the whole flight process of the unmanned aerial vehicle;
the control center is connected with the input end of the working terminal and is used for receiving the fault processing scheme to form an overhaul work order and distributing the overhaul work order to the corresponding operation and maintenance personnel working terminal; monitoring and managing the position of the tower, images of all equipment on the tower and three-dimensional visual display of the whole flight process of the unmanned aerial vehicle;
and the working terminal is connected with the output end of the control center and is used for receiving the overhaul work order and carrying out operation and maintenance overhaul on the power line fault.
2. The unmanned aerial vehicle-based power line operation and maintenance system of claim 1, wherein,
the unmanned aerial vehicle module comprises an unmanned aerial vehicle body, wherein the unmanned aerial vehicle body is provided with a laser radar, scanning equipment, communication equipment and a visible light camera;
the laser radar is used for avoiding obstacles in the flight process;
the scanning equipment is used for scanning the tower information and judging the position of the tower;
the visible light camera is used for carrying out omnibearing shooting on the pole tower and all equipment on the pole tower in the flight process;
a communication device for communicating with an external device.
3. The unmanned aerial vehicle-based power line operation and maintenance system of claim 2, wherein,
the unmanned aerial vehicle body that adopts is four rotor unmanned aerial vehicle.
4. The unmanned aerial vehicle-based power line operation and maintenance system of claim 2, wherein,
the all-round shooting equipment of visible light camera includes but is not limited to shaft tower body, cross arm, insulator, hanging point, fitting iron annex, lead ground wire, drainage line, transformer, fuse.
5. The unmanned aerial vehicle-based power line operation and maintenance system of claim 1, wherein,
the specific contents of judging whether each device has faults or not and generating a fault processing scheme by the judging and processing module are as follows:
performing edge detection and graying treatment on each equipment image to obtain a preprocessed image; performing feature extraction on the preprocessed image by using OpenCV; judging whether each equipment image has faults or not by using a BOW algorithm;
and calling the Oracle database to generate a fault processing scheme.
6. The unmanned aerial vehicle-based power line operation and maintenance system of claim 1, wherein,
the judging and processing module also comprises expert system fault diagnosis and judges whether each device has faults or not.
7. An unmanned aerial vehicle-based power line operation and maintenance method, which is characterized by being applied to the unmanned aerial vehicle-based power line operation and maintenance system according to any one of claims 1 to 6, and comprising the following steps:
s1, acquiring a tower position and image data of each device on the tower by using an unmanned aerial vehicle module;
s2, inputting the image data of each device on the tower into a judging and processing module, judging whether each device has faults, and if so, generating a fault processing scheme;
s3, carrying out three-dimensional visual display on the position of the tower, each equipment image on the tower and the whole flight process of the unmanned aerial vehicle based on the visual module;
s4, the control center receives the fault processing scheme to form an overhaul work order, and distributes the overhaul work order to the corresponding operation and maintenance personnel working terminals; monitoring and managing the position of the tower, images of all equipment on the tower and three-dimensional visual display of the whole flight process of the unmanned aerial vehicle;
s5, the operation and maintenance personnel receive the maintenance work order and carry out operation and maintenance on the fault position of the power line.
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