CN113743330A - Transformer substation intelligent unmanned aerial vehicle inspection method based on visual navigation - Google Patents
Transformer substation intelligent unmanned aerial vehicle inspection method based on visual navigation Download PDFInfo
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Abstract
The invention relates to a transformer substation intelligent unmanned aerial vehicle inspection method based on visual navigation. A transformer substation intelligent unmanned aerial vehicle inspection method based on visual navigation comprises the following steps: (1) acquiring an image of a manual inspection channel of the transformer substation, and segmenting the image of the transformer substation acquired by the unmanned aerial vehicle camera; (2) traversing and segmenting the image columns according to the segmentation result to obtain segmentation points; (3) fitting the division points to form a transformer substation manual inspection channel; (4) and establishing an autonomous safe flight track space of the unmanned aerial vehicle by converting the image coordinate system into a ground three-dimensional coordinate system. The transformer substation intelligent unmanned aerial vehicle inspection method based on visual navigation is beneficial to improving the intelligent level and efficiency of the transformer substation inspected by the unmanned aerial vehicle and promoting the application of artificial intelligence in intelligent inspection of power transmission and transformation equipment.
Description
Technical Field
The invention particularly relates to a transformer substation intelligent unmanned aerial vehicle inspection method based on visual navigation.
Background
In recent years, the scale of a power grid is continuously enlarged, substations and equipment are rapidly increased, the situation of insufficient inspection personnel is increasingly severe, and the bearing capacity faces a great challenge. At present, the conventional substation inspection generally adopts an inspection mode of manual walking, and has the following four outstanding problems: (1) the manual station-by-station and equipment-by-equipment walking inspection consumes long time, consumes large manpower and has low efficiency; (2) the condition that the defects are not identified and the judgment is not in place easily occurs in a manual routing inspection mode of 'observing with naked eyes and judging by experience', the overall routing inspection quality is low, and more misjudgments are missed; (3) the inspection cycle is long, the defects are easy to develop and limited by manpower, the defects can be developed in the blank period of inspection and hidden dangers exist after the inspection is performed for one month at regular intervals; (4) the data processing mode of 'field acquisition and return entry' is easy to reduce the reliability of system data.
In view of the above, the invention provides a transformer substation intelligent unmanned aerial vehicle inspection method based on visual navigation.
Disclosure of Invention
The invention aims to provide a transformer substation intelligent unmanned aerial vehicle inspection method based on visual navigation, which is based on the characteristic that the color of a manual inspection channel is greatly different from the surrounding background (the transformer substation is provided with the manual inspection channel on the ground, and the transformer substation is generally provided with a yellow frame), can directly utilize the color information of an HSI color space to divide the inspection channel, and can plan the safe track space of automatic flight inspection of an unmanned aerial vehicle by converting an image coordinate system into a ground three-dimensional coordinate system.
In order to realize the purpose, the adopted technical scheme is as follows:
a transformer substation intelligent unmanned aerial vehicle inspection method based on visual navigation comprises the following steps:
(1) acquiring an image of a manual inspection channel of the transformer substation, and segmenting the image of the transformer substation acquired by the unmanned aerial vehicle camera;
(2) traversing the segmentation image rows to obtain segmentation points with obvious pixel differences for the segmentation result obtained in the step (1);
(3) fitting the division points to form a transformer substation manual inspection channel;
(4) and establishing an autonomous safe flight track space of the unmanned aerial vehicle through conversion from the image coordinate system to the ground three-dimensional coordinate system, thereby realizing intelligent routing inspection.
Further, in the step (1), the transformer substation manual patrol channel image is collected, an RCE neural network classification algorithm based on an HSI color space is constructed, and the transformer substation manual patrol channel is segmented, so that the transformer substation image collected by the unmanned aerial vehicle camera is segmented.
Further, in the step (3), the transformer substation manual patrol passage is fitted through a least square method.
Compared with the prior art, the invention has the beneficial effects that:
the invention provides a transformer substation intelligent unmanned aerial vehicle inspection method based on visual navigation, which utilizes the existing condition that the colors of all manual inspection channels (generally yellow frames) on the ground of a transformer substation are greatly different from the surrounding background to construct an RCE neural network classification algorithm based on an HSI color space, divides the manual inspection channels of the transformer substation, and further plans a safe track space for automatic flight inspection of an unmanned aerial vehicle, so that a coordinate sensor is prevented from being configured on the transformer substation or laser navigation is arranged for the unmanned aerial vehicle, and the implementation cost is effectively reduced. Thereby be favorable to promoting unmanned aerial vehicle to patrol and examine the intelligent level and the efficiency of transformer substation on the one hand, on the other hand helps promoting artificial intelligence again and patrols and examines the application in power transmission and transformation equipment intelligence.
Drawings
FIG. 1 is a flow chart of the work of the inspection method of the intelligent unmanned aerial vehicle of the transformer substation based on visual navigation;
fig. 2 is a schematic diagram of a transformer substation manual patrol channel segmentation.
Detailed Description
In order to further illustrate the transformer substation intelligent unmanned aerial vehicle inspection method based on visual navigation and achieve the intended purpose of the invention, the following detailed description is given to the specific implementation mode, structure, characteristics and efficacy of the transformer substation intelligent unmanned aerial vehicle inspection method based on visual navigation, which is provided by the invention, in combination with a preferred embodiment. In the following description, different "one embodiment" or "an embodiment" refers to not necessarily the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.
The transformer substation intelligent unmanned aerial vehicle inspection method based on visual navigation is further described in detail with reference to specific embodiments:
firstly, constructing an RCE neural network classification algorithm based on an HSI color space to segment an artificial patrol channel of a transformer substation; secondly, fitting out a transformer substation manual inspection channel by using the obtained division points through a least square method; and finally, establishing an autonomous safe flight track space of the unmanned aerial vehicle through conversion from the image coordinate system to a ground three-dimensional coordinate system, and realizing intelligent inspection.
The technical scheme of the invention is as follows:
a transformer substation intelligent unmanned aerial vehicle inspection method based on visual navigation comprises the following steps:
(1) acquiring an image of a manual inspection channel of the transformer substation, and segmenting the image of the transformer substation acquired by the unmanned aerial vehicle camera;
(2) traversing the segmentation image rows to obtain segmentation points with obvious pixel differences for the segmentation result obtained in the step (1);
(3) fitting the division points to form a transformer substation manual inspection channel;
(4) and establishing an autonomous safe flight track space of the unmanned aerial vehicle through conversion from the image coordinate system to the ground three-dimensional coordinate system, thereby realizing intelligent routing inspection.
Preferably, in the step (1), the transformer substation manual patrol channel image is collected, an RCE neural network classification algorithm based on an HSI color space is constructed, and the transformer substation manual patrol channel is segmented from the RCE neural network classification algorithm, so that the transformer substation image collected by the unmanned aerial vehicle camera is segmented.
Preferably, in the step (3), the manual patrol passage of the substation is fitted by a least square method.
Example 1.
The work flow diagram is shown in fig. 1, and the specific operation steps are as follows:
s1: firstly, acquiring an image of an artificial patrol channel of the transformer substation, constructing an RCE neural network classification algorithm based on an HSI color space, and segmenting the artificial patrol channel of the transformer substation. Thereby cut apart the transformer substation's image of unmanned aerial vehicle camera collection. The transformer substation manual patrol channel division schematic diagram is shown in fig. 2.
S2: after the segmentation result is obtained, traversing the segmentation image column, and obtaining segmentation points with obvious difference between the segmentation pixel value and the surrounding pixels.
S3: and fitting the transformer substation manual patrol channel by using the obtained division points through a least square method.
S4: and finally, establishing an autonomous safe flight track space of the unmanned aerial vehicle through conversion from the image coordinate system to a ground three-dimensional coordinate system, and realizing intelligent inspection.
Firstly, constructing an RCE neural network classification algorithm based on an HSI color space to segment an artificial patrol channel of a transformer substation; secondly, fitting out a transformer substation manual inspection channel by using the obtained division points through a least square method; and finally, establishing an autonomous safe flight track space of the unmanned aerial vehicle through conversion from the image coordinate system to a ground three-dimensional coordinate system, and realizing intelligent inspection.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention in any way, and any simple modification, equivalent change and modification made to the above embodiments according to the technical spirit of the present invention are within the scope of the technical solution of the present invention.
Claims (3)
1. A transformer substation intelligent unmanned aerial vehicle inspection method based on visual navigation is characterized by comprising the following steps:
(1) acquiring an image of a manual inspection channel of the transformer substation, and segmenting the image of the transformer substation acquired by the unmanned aerial vehicle camera;
(2) traversing the segmentation image rows to obtain segmentation points with obvious pixel differences for the segmentation result obtained in the step (1);
(3) fitting the division points to form a transformer substation manual inspection channel;
(4) and establishing an autonomous safe flight track space of the unmanned aerial vehicle through conversion from the image coordinate system to the ground three-dimensional coordinate system, thereby realizing intelligent routing inspection.
2. The substation intelligent unmanned aerial vehicle inspection method according to claim 1,
in the step (1), the transformer substation manual patrol channel images are collected, an RCE neural network classification algorithm based on an HSI color space is constructed, and the transformer substation manual patrol channels are divided from the RCE neural network classification algorithm, so that the transformer substation images collected by the unmanned aerial vehicle camera are divided.
3. The substation intelligent unmanned aerial vehicle inspection method according to claim 1,
and (4) in the step (3), fitting the manual inspection channel of the transformer substation by a least square method.
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