CN111459178A - Automatic laser defect-eliminating 5G intelligent patrol system - Google Patents
Automatic laser defect-eliminating 5G intelligent patrol system Download PDFInfo
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- 230000007547 defect Effects 0.000 claims abstract description 65
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- 238000003379 elimination reaction Methods 0.000 claims abstract description 14
- 238000004891 communication Methods 0.000 claims abstract description 13
- 238000000034 method Methods 0.000 claims description 14
- 238000000608 laser ablation Methods 0.000 claims description 12
- 230000008569 process Effects 0.000 claims description 12
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- 238000007689 inspection Methods 0.000 description 7
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- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
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- G—PHYSICS
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
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Abstract
The invention provides a 5G intelligent patrol system capable of automatically eliminating laser defects, which comprises: the system comprises an unmanned aerial vehicle end, a 5G base station end and a ground service end; the ground service terminal transmits information with the unmanned aerial vehicle terminal through the 5G base station terminal, and the unmanned aerial vehicle terminal patrols the power line and executes laser defect elimination operation according to the instruction of the ground service terminal; the unmanned aerial vehicle end comprises a power supply module, a driving module, an acquisition module, a 5G communication module and a laser defect elimination integrated control circuit; the laser defect eliminating integrated control circuit comprises a microcontroller, an attitude sensor and an automatic defect eliminating laser device; the 5G base station end comprises a multi-channel multi-dimensional antenna module, a low time delay processing module and a high positioning precision processing module.
Description
Technical Field
The invention relates to the technical field of intelligent power grid inspection, in particular to a 5G intelligent inspection system capable of automatically eliminating laser defects.
Background
The phenomenon that foreign matters are carried on a wire or an iron tower often occurs on electric power basic equipment, for example, plastic bags, fishing lines and kite lines are hung on the wire, bird nests and the like are built on a tower, the factors can bring great potential safety hazards to the daily operation of an electric power circuit, and if the phenomenon is not timely processed, short-circuit faults of the circuit can be possibly caused to cause power failure.
The traditional defect eliminating mode mainly comprises manual operation, live working treatment or power failure treatment, and mainly comprises the following steps of ① live working treatment by using an insulating operating rod, wherein the operating distance is very limited, the operation is required to climb a tower, time and labor are wasted, and the operation is dangerous to a certain extent, ② insulating rope is wound, pulled and cleared, a clearing device is required to be thrown onto an overhead transmission line, the operation on foreign matters on the line which is higher in ground and far away from the tower is difficult, ③ equipotential working treatment by using a hanging basket and a rope ladder is required to climb the tower, the operation is difficult and dangerous to a certain extent, ④ treatment by using an insulating bucket arm vehicle can treat the defect that large-range movement is required, and the defect is greatly limited by geographical conditions and height.
At present, the unmanned aerial vehicle is mainly used for carrying high-temperature electric furnace wires or a flame thrower to remove foreign matters in the defect elimination of the overhead power line. The high-temperature electric furnace wire for mounting the unmanned aerial vehicle is used for directly contacting the electric furnace wire with foreign matters to separate and remove the foreign matters, but the method needs the unmanned aerial vehicle to be very close to a wire, has high operation difficulty and high risk, and can damage the wire carelessly; the unmanned aerial vehicle carries the flame thrower and sprays petrol etc. to the foreign matter and ignite, and the controllability of this type of device is relatively poor, and the produced impurity of burning probably arouses alternate short circuit trip, and impurity drops ground still can ignite other material and cause the conflagration, and the use scene is restricted simultaneously, only is applicable to the transmission line that adopts the bare conductor, and the transmission line that adopts the insulated conductor is not suitable for with this type of flame thrower.
In addition, the existing intelligent power grid inspection defect eliminating technology also has the problems of short communication distance and incapability of well supporting communication outside the sight distance, and the problems of unmanned aerial vehicle control failure, real-time image interruption or blurring and state feedback lag frequently occur.
Disclosure of Invention
Aiming at the limitation of the prior art, the invention provides a 5G intelligent patrol system capable of automatically eliminating laser defects, which adopts the technical scheme that:
the utility model provides an automatic 5G intelligence system of patrolling and examining of laser disappearance, includes: the system comprises an unmanned aerial vehicle end, a 5G base station end and a ground service end; the ground service terminal transmits information with the unmanned aerial vehicle terminal through the 5G base station terminal, and the unmanned aerial vehicle terminal patrols the power line and executes laser defect elimination operation according to the instruction of the ground service terminal; the unmanned aerial vehicle end comprises a power supply module, a driving module, an acquisition module, a 5G communication module and a laser defect elimination integrated control circuit; the laser defect eliminating integrated control circuit comprises a microcontroller, an attitude sensor and an automatic defect eliminating laser device; the 5G base station end comprises a multi-channel multi-dimensional antenna module, a low time delay processing module and a high positioning precision processing module.
Compared with the prior art, the scheme realizes the path cruising and automatic return voyage of the unmanned aerial vehicle in the intelligent patrol power line process through the 5G communication technology, and removes defects by using a laser defect eliminating mode. The safety performance of the scheme is high, is limited by the operation environment to a small extent, can emit laser with specific power and wave bands, and realizes cutting and fusing of foreign matters through emitted high-temperature laser beams. In the process of cleaning foreign matters, the emitted laser only acts on the non-metal materials, hidden dangers are eliminated quickly on the premise that wires and equipment are not damaged, normal operation of power transmission equipment cannot be affected, working efficiency is improved, and operation safety risks are reduced.
In a preferred scheme, the unmanned aerial vehicle further comprises a processing module, and the processing module is used for determining whether the power line has defects according to the real-time information acquired by the acquisition module, classifying the defect targets, and processing an operation instruction issued by the ground service terminal.
Through processing module, the present case can realize that automatic affirmation power line has the defect to classify the defect target, thereby can be according to the type of defect, adjust wave band and the power of the automatic laser device that disappears transmission of lacking laser, practice thrift the electric energy that consumes when promoting the laser and disappear the effect, promote unmanned aerial vehicle duration.
Further, the processing module comprises a route execution unit, and the route execution unit is used for controlling the driving module to execute a flight path instruction.
In an optional scheme, the processing module detects the defect target from the real-time information acquired by the acquisition module by using a fast-RCNN algorithm trained by a generated confrontation network model.
Further, the process of detecting the defect target by the processing module comprises the following steps: performing convolution feature extraction on the picture in the real-time information; obtaining region suggestions and region scores for the extracted convolution characteristics through a sliding window mechanism in a region suggestion network, and outputting the region suggestions with the first N scores for the region scores by adopting a non-maximum inhibition algorithm; obtaining region suggestion features by inputting the top N scored region suggestions to an ROI pooling layer; and outputting the classification scores and the region positions of the regions after the region suggestion features are input into the full connection layer.
In an optional scheme, the acquisition module comprises a camera and an optical flow sensor. Wherein, light stream sensor mainly used visual positioning through the state that detects ground to monitoring unmanned aerial vehicle's removal can make unmanned aerial vehicle realize accurate location under the environment of no GPS signal and hover and the smooth flight.
In an alternative, the acquisition module comprises an ultrasonic sensor. An ultrasonic sensor is a sensor that converts an ultrasonic signal into another energy signal, typically an electrical signal.
In an alternative, the acquisition module comprises an inertial sensor. The inertial sensor is a sensor, mainly used for detecting and measuring acceleration, inclination, impact, vibration, rotation and multiple degrees of freedom (DoF) motion, and is an important part for solving navigation, orientation and motion carrier control.
In an alternative, the acquisition module includes an air pressure sensor. The barometric pressure sensor is mainly used for measuring the pressure of gas, wherein the barometric pressure sensor with an atmospheric pressure range is usually used for measuring the change of weather and measuring the altitude by utilizing the corresponding relation between the barometric pressure and the altitude. The function of the baroceptor is added on the basis of the original GPS, and the three-dimensional positioning can be more accurate.
In an alternative, the acquisition module comprises an infrared sensor. The infrared sensor is a sensor that senses infrared rays radiated from a target and performs measurement using physical properties of the infrared rays. The infrared sensor is sensitive to temperature, and can effectively detect the heat source change of the airplane or avoid some risks, such as obstacle avoidance and the like.
Drawings
Fig. 1 is a schematic diagram of an automatic laser-ablation 5G intelligent patrol system provided in an embodiment of the present invention;
FIG. 2 is a schematic diagram of a robot end provided in an embodiment of the present invention;
FIG. 3 is a schematic diagram of a laser defect elimination integrated control circuit according to an embodiment of the present invention;
fig. 4 is a schematic diagram of a 5G base station according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of a processing module according to an embodiment of the invention;
fig. 6 is a schematic diagram of an acquisition module according to an embodiment of the present invention.
Description of reference numerals: 1. an unmanned aerial vehicle end; 2. 5G base station end; 3. a ground service end; 11. a power supply module; 12. a drive module; 13. an acquisition module; 14. a 5G communication module; 15. a laser defect elimination integrated control circuit; 16. a processing module; 21. a multi-channel multi-dimensional antenna module; 22. a low-delay processing module; 23. a high positioning precision processing module; 131. a camera; 132. an optical flow sensor; 133. an ultrasonic sensor; 134. an inertial sensor; 135. an air pressure sensor; 136. an infrared sensor; 151. a microcontroller; 152. an attitude sensor; 153. an automatic defect eliminating laser device 153; 161. a route execution unit.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and are used for illustration only, and should not be construed as limiting the patent. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The scheme provides the following scheme aiming at the limitations that the existing intelligent power grid inspection defect eliminating technology is easy to damage a wire and cannot meet the requirements of communication stability, instantaneity and bandwidth.
The technical solution of the present invention is further described below with reference to the accompanying drawings and examples.
Referring to fig. 1 to 4, a 5G intelligent patrol system for automatic laser ablation includes: the system comprises an unmanned aerial vehicle end 1, a 5G base station end 2 and a ground service end 3; the ground server 3 performs information transmission with the unmanned aerial vehicle end 1 through the 5G base station end 2, and the unmanned aerial vehicle end 1 performs patrol on a power line and executes laser defect elimination operation according to an instruction of the ground server 3; the unmanned aerial vehicle end 1 comprises a power supply module 11, a driving module 12, an acquisition module 13, a 5G communication module 14 and a laser defect elimination integrated control circuit 15; the laser defect eliminating integrated control circuit 15 comprises a microcontroller 151, an attitude sensor 152 and an automatic defect eliminating laser device 153; the 5G base station end 2 comprises a multi-channel multi-dimensional antenna module 21, a low-delay processing module 22 and a high-positioning-precision processing module 23.
Compared with the prior art, the scheme realizes the path cruising and automatic return voyage of the unmanned aerial vehicle in the intelligent patrol power line process through the 5G communication technology, and removes defects by using a laser defect eliminating mode. The safety performance of the scheme is high, is limited by the operation environment to a small extent, can emit laser with specific power and wave bands, and realizes cutting and fusing of foreign matters through emitted high-temperature laser beams. In the process of cleaning foreign matters, the emitted laser only acts on the non-metal materials, hidden dangers are eliminated quickly on the premise that wires and equipment are not damaged, normal operation of power transmission equipment cannot be affected, working efficiency is improved, and operation safety risks are reduced.
Specifically, in this embodiment, the unmanned aerial vehicle that unmanned aerial vehicle end 1 relates to can adopt four-axis rotor unmanned aerial vehicle as the platform, power module, drive module, collection module, 5G communication module and laser disappear and lack the integrated control circuit and locate on this unmanned aerial vehicle platform.
The attitude sensor (E.T-ahrs) is a high-performance three-dimensional motion attitude measurement system based on MEMS technology. The device comprises auxiliary motion sensors such as a three-axis gyroscope, a three-axis accelerometer (namely IMU), a three-axis electronic compass and the like, outputs calibrated angular velocity, acceleration, magnetic data and the like through an embedded low-power-consumption ARM processor, measures motion postures through a sensor data algorithm based on quaternion, and outputs zero-drift three-dimensional posture data expressed by quaternion, Euler angle and the like in real time. The combination of the microcontroller 151, the attitude sensor 152 and the automatic defect eliminating laser device 153 in the laser defect eliminating integrated control circuit 15 can effectively ensure the reliable execution of the laser defect eliminating operation of the unmanned aerial vehicle.
The ground server can be realized by electronic equipment including a computer, a tablet and a mobile phone.
Through the real-time information interaction of 5G basic station and ground service end, especially after 5G basic station progressively covers remote area, when unmanned aerial vehicle flies to 5G basic station coverage, unmanned aerial vehicle can carry out the real-time transmission of data between 5G basic station and the ground service end, but the image information of ground service end real-time supervision unmanned aerial vehicle position. In addition, by the aid of the 5G base station end, the multi-channel multi-dimensional antenna module and the high positioning precision processing module, cruising and automatic return of the unmanned aerial vehicle can be achieved, and the problems that high-definition image transmission, time delay, positioning precision, airspace coverage and the like cannot be met in the prior art are solved.
In an alternative embodiment, the specific operation process of the automatic laser defect-eliminating 5G intelligent patrol system for performing intelligent patrol and defect elimination is as follows:
1) the unmanned aerial vehicle end 1 intelligently patrols the power line, and the acquisition module 13 acquires an image of the power line;
2) the 5G communication module 14 sends the image of the power line acquired by the acquisition module 13 to the ground service terminal 3 through the 5G base station terminal 2 in real time, and an inspector checks the image at the ground service terminal 3, confirms and classifies defects and sets corresponding laser wave bands and power;
3) the unmanned aerial vehicle end 1 positions the foreign matter through the acquisition module 13, and starts the automatic defect elimination laser device 153 to eliminate the foreign matter; wherein, but the defect process that disappears of inspection personnel real time monitoring, if meet emergency can switch to manual operation mode.
In a preferred scheme, the unmanned aerial vehicle end 1 further includes a processing module 16, and the processing module 16 is configured to determine whether the power line has a defect according to the real-time information acquired by the acquisition module 13, classify the defect target, and process an operation instruction issued by the ground service end 3.
Through processing module, the present case can realize that automatic affirmation power line has the defect to classify the defect target, thereby can be according to the type of defect, adjust wave band and the power of the automatic laser device that disappears transmission of lacking laser, practice thrift the electric energy that consumes when promoting the laser and disappear the effect, promote unmanned aerial vehicle duration.
In an alternative embodiment, another specific operation process of the automatic laser-ablation 5G intelligent patrol system for performing intelligent patrol and ablation is as follows:
1) the unmanned aerial vehicle end 1 intelligently patrols the power line, and the acquisition module 13 acquires an image of the power line;
2) the processing module 16 confirms the defects of the power line from the image obtained by the acquisition module 13, classifies the defect targets, and sets the corresponding laser wave band and power;
3) the 5G communication module 14 sends the image of the defect target, the defect classification information and the corresponding laser wave band and power to the ground service terminal 3 through the 5G base station terminal 2 in real time;
4) after the inspection personnel confirm and send the execution instruction through the ground service 3, the unmanned aerial vehicle end 1 positions the foreign matter through the acquisition module 13, and starts the automatic defect elimination laser device 153 to eliminate the foreign matter; wherein, but the defect process that disappears of inspection personnel real time monitoring, if meet emergency can switch to manual mode.
Further, referring to fig. 5, the processing module 16 includes a route executing unit 161, and the route executing unit 161 is configured to control the driving module to execute a flight path instruction.
In an optional scheme, the processing module 16 detects the defect target from the real-time information acquired by the acquisition module by using a fast-RCNN algorithm trained by a generated confrontation network model.
Specifically, the training set of the generation countermeasure network model for the fast-RCNN algorithm is a defect image data set composed of power line defect images.
The generated countermeasure network (GAN) model comprises a generating network and a discriminating network, and the goal function of GAN is about a zero sum game of the generating network and the discriminating network, and is also a minimum value and a maximum value. The method comprises the steps of training a generator for generating a realistic sample from random noise or latent variables, training a discriminator to discriminate real data and generated data, and training the two simultaneously until Nash equilibrium is reached, wherein the generated data of the generated network is the same as the real sample, and the discrimination network cannot correctly discriminate the generated data of the generated network from the real data.
Further, the process of the processing module 16 detecting the defect target includes the following steps: performing convolution feature extraction on the picture in the real-time information; obtaining region suggestions and region scores for the extracted convolution characteristics through a sliding window mechanism in a region suggestion network, and outputting the region suggestions with the first N scores for the region scores by adopting a non-maximum inhibition algorithm; obtaining region suggestion features by inputting the top N scored region suggestions to an ROI pooling layer; and outputting the classification scores and the region positions of the regions after the region suggestion features are input into the full connection layer.
Referring to fig. 6, in an alternative scheme, the acquisition module 13 includes a camera 131 and an optical flow sensor 132. Wherein, light stream sensor mainly used visual positioning through the state that detects ground to monitoring unmanned aerial vehicle's removal can make unmanned aerial vehicle realize accurate location under the environment of no GPS signal and hover and the smooth flight.
In an alternative, the acquisition module 13 includes an ultrasonic sensor 133. An ultrasonic sensor is a sensor that converts an ultrasonic signal into another energy signal, typically an electrical signal.
In an alternative, the acquisition module 13 includes an inertial sensor 134. The inertial sensor is a sensor, mainly used for detecting and measuring acceleration, inclination, impact, vibration, rotation and multiple degrees of freedom (DoF) motion, and is an important part for solving navigation, orientation and motion carrier control.
In an alternative, the acquisition module 13 includes an air pressure sensor 135. The barometric pressure sensor is mainly used for measuring the pressure of gas, wherein the barometric pressure sensor with an atmospheric pressure range is usually used for measuring the change of weather and measuring the altitude by utilizing the corresponding relation between the barometric pressure and the altitude. The function of the baroceptor is added on the basis of the original GPS, and the three-dimensional positioning can be more accurate.
In an alternative, the acquisition module 13 includes an infrared sensor 136. The infrared sensor is a sensor that senses infrared rays radiated from a target and performs measurement using physical properties of the infrared rays. The infrared sensor is sensitive to temperature, and can effectively detect heat source changes or avoid some risks, such as obstacle avoidance and the like, in the unmanned aerial vehicle.
It should be understood that the above-described embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.
Claims (10)
1. The utility model provides an automatic 5G intelligence system of patrolling of laser disappearance which characterized in that includes: the system comprises an unmanned aerial vehicle end, a 5G base station end and a ground service end; the ground service terminal transmits information with the unmanned aerial vehicle terminal through the 5G base station terminal, and the unmanned aerial vehicle terminal patrols the power line and executes laser defect elimination operation according to the instruction of the ground service terminal; the unmanned aerial vehicle end comprises a power supply module, a driving module, an acquisition module, a 5G communication module and a laser defect elimination integrated control circuit; the laser defect eliminating integrated control circuit comprises a microcontroller, an attitude sensor and an automatic defect eliminating laser device; the 5G base station end comprises a multi-channel multi-dimensional antenna module, a low time delay processing module and a high positioning precision processing module.
2. The automatic laser-ablation 5G intelligent patrol system according to claim 1, wherein the unmanned aerial vehicle further comprises a processing module, and the processing module is used for determining whether the power line has defects according to the real-time information acquired by the acquisition module, classifying the defect targets, and processing an operation instruction issued by the ground service terminal.
3. The automated laser-ablation 5G intelligent patrol system according to claim 2, wherein the processing module comprises a route execution unit, and the route execution unit is configured to control the driving module to execute flight path instructions.
4. The automatic laser-ablation 5G intelligent patrol system according to claim 2, wherein the processing module detects a defect target from the real-time information acquired by the acquisition module by using a fast-RCNN algorithm trained by a generative confrontational network model.
5. The automatic laser-ablation 5G intelligent patrol system according to claim 4, wherein the process of detecting the defect target by the processing module comprises the following steps: performing convolution feature extraction on the picture in the real-time information; obtaining region suggestions and region scores for the extracted convolution characteristics through a sliding window mechanism in a region suggestion network, and outputting the region suggestions with the first N scores for the region scores by adopting a non-maximum inhibition algorithm; obtaining region suggestion features by inputting the top N scored region suggestions to an ROI pooling layer; and outputting the classification scores and the region positions of the regions after the region suggestion features are input into the full connection layer.
6. The automatic laser-ablation 5G intelligent patrol system according to claim 1, wherein the acquisition module comprises a camera and an optical flow sensor.
7. The automated laser-ablation 5G intelligent patrol system according to claim 1, wherein the acquisition module comprises an ultrasonic sensor.
8. The automated laser-ablation 5G intelligent patrol system according to claim 1, wherein the acquisition module comprises an inertial sensor.
9. The automated laser-ablation 5G intelligent patrol system according to claim 1, wherein the acquisition module comprises a barometric pressure sensor.
10. The automated laser-ablation 5G intelligent patrol system according to claim 1, wherein the acquisition module comprises an infrared sensor.
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| CN112362677A (en) * | 2020-11-27 | 2021-02-12 | 上海工程技术大学 | A real-time transmission system of 5G image for unmanned aerial vehicle detects aircraft surface defect |
| CN114047779A (en) * | 2021-10-22 | 2022-02-15 | 贵州电网有限责任公司 | Defect tracking method and system based on unmanned aerial vehicle inspection |
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Application publication date: 20200728 |