CN113869770B - Automatic evaluation method for completion degree of unmanned aerial vehicle power line inspection operation - Google Patents
Automatic evaluation method for completion degree of unmanned aerial vehicle power line inspection operation Download PDFInfo
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Abstract
The invention relates to an automatic evaluation method for the completion of unmanned aerial vehicle power line inspection operation, which comprises the following steps: acquiring inspection data, wherein the inspection data comprises inspection videos and images; calculating the track conditions according to the inspection data, wherein the track conditions comprise track overlap ratio and obstacle avoidance execution conditions; calculating the job task conditions according to the inspection data, wherein the job task conditions comprise job completion degree and job completion time; calculating shooting effect levels according to the inspection data, wherein the shooting effect levels comprise definition of visible light images and shooting coverage of single tower parts, definition of visible light videos and shooting coverage of single tower parts, definition of infrared images and shooting coverage of single tower parts, resolution capability of a laser radar and shooting coverage of single tower parts; and calculating the job completion degree according to the track condition, the job task condition and the shooting effect level.
Description
Technical Field
The application relates to the technical field of power operation completion evaluation, in particular to an automatic evaluation method for the completion of unmanned aerial vehicle power line inspection operation.
Background
The current unmanned aerial vehicle is conventionally applied in the power industry, a large amount of inspection data such as inspection images, videos and the like and operation record data are generated during each inspection, but inspection personnel cannot effectively determine the inspection operation completion condition in the first time after operation, and inspection quality is not guaranteed well.
At present, it is often necessary for a patrol personnel to confirm in person whether each tower has missed shots or to determine the job completion according to the patrol job record.
At present, the industry mainly carries out evaluation and judgment on the completion degree of unmanned aerial vehicle inspection operation based on a manual mode, and has some problems:
1) The mode is low in efficiency, and a great amount of time is often required to be spent for evaluation and judgment after inspection;
2) The dimension considered by the manual mode is less, and the evaluation and judgment of the completion degree are mainly carried out according to the coverage of the inspection shooting tower;
3) Several dimensions are usually scored by means of a duty cycle, lacking a certain scientificity.
Disclosure of Invention
The application provides an automatic evaluation method for the completion degree of unmanned aerial vehicle power line inspection operation, which aims at solving the problems of low manual evaluation efficiency, few considered dimensions and lack of scientificity after inspection.
The technical scheme adopted by the application is as follows:
the invention relates to an automatic evaluation method for the completion of unmanned aerial vehicle power line inspection operation, which comprises the following steps:
acquiring inspection data, wherein the inspection data comprises inspection videos and images;
calculating the track conditions according to the inspection data, wherein the track conditions comprise track overlap ratio and obstacle avoidance execution conditions;
calculating the job task conditions according to the inspection data, wherein the job task conditions comprise job completion degree and job completion time;
calculating shooting effect levels according to the inspection data, wherein the shooting effect levels comprise definition of visible light images and shooting coverage of single tower parts, definition of visible light videos and shooting coverage of single tower parts, definition of infrared images and shooting coverage of single tower parts, resolution capability of a laser radar and shooting coverage of single tower parts;
and calculating the job completion degree according to the track condition, the job task condition and the shooting effect level.
Further, the track condition calculation formula is:
the track overlap ratio calculation formula is as follows:
wherein T is 1 For track coincidence>The weight value of the track overlap ratio is 0.7;
the calculation formula of the obstacle avoidance execution condition is as follows:
wherein T is 2 For avoiding the execution situation of obstacle, the person is->The weight value of the obstacle avoidance execution condition is 0.3.
Further, the job task condition calculation formula is:
the operation completion degree calculation formula is as follows:
wherein M is 1 For the job completion degree, ++>A weight value of 0.8 for the completion of the operation;
the calculation formula of the job completion time is as follows:
wherein M is 2 For the job completion degree, ++>The weight value for the job completion is 0.2.
Further, the shooting effect level calculation formula is:
wherein P is 1 P for definition of visible light image and coverage of single tower part shooting 2 P for definition of visible light video and shooting coverage of single tower part 3 For definition of infrared image and coverage of shooting of single tower part, P 4 Shooting coverage for the resolving power and single tower parts of the laser radar;
the definition of the visible light image and the shooting coverage of the single tower part are calculated according to the following formula:
wherein P is 1 For visible light image +.>The weight value of the visible light image is 0.4;
the definition of the visible light video and the shooting coverage of the single tower part are calculated according to the following formula:
wherein P is 1 Is visible light video, < >>The weight value of the visible light image is 0.2;
the definition of the infrared image and the shooting coverage of the single tower part are calculated as follows:
wherein P is 3 Is visible light video, < >>The weight value of the visible light image is 0.2;
the resolving power of the laser radar and the single tower part shooting coverage calculation formula are as follows:
wherein P is 4 Is visible light video, < >>The weight value of the visible light image is 0.2.
Further, the calculation formula for calculating the job completion degree according to the track condition, the job task condition and the shooting effect level is as follows:
E＝T×M×P。
the technical scheme of the application has the following beneficial effects:
the automatic evaluation method for the completion degree of the unmanned aerial vehicle power line inspection operation provided by the invention has very important practical significance for timely and effectively determining the completion condition of the inspection operation and ensuring the inspection quality; meanwhile, the invention improves the scientificity of the comprehensive evaluation result; further, according to the method, different weight values are set from a plurality of dimensions such as the unmanned aerial vehicle track completion condition, the operation task condition, the shooting effect level and the like, and the importance degree of each index is objectively evaluated.
Drawings
In order to more clearly illustrate the technical solutions of the present application, the drawings that are needed in the embodiments will be briefly described below, and it will be obvious to those skilled in the art that other drawings can be obtained from these drawings without inventive effort.
Fig. 1 is a flowchart of an automatic evaluation method for the completion of the unmanned aerial vehicle power line inspection operation.
Detailed Description
Reference will now be made in detail to the embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The embodiments described in the examples below do not represent all embodiments consistent with the present application. Merely as examples of systems and methods consistent with some aspects of the present application as detailed in the claims.
Referring to fig. 1, a flowchart of an automatic evaluation method for the completion of the unmanned aerial vehicle power line inspection operation is provided.
The application provides an unmanned aerial vehicle power line inspection operation completion degree automatic evaluation method which is characterized by comprising the following steps:
s01: acquiring inspection data, wherein the inspection data comprises inspection videos and images;
s02: calculating the track conditions according to the inspection data, wherein the track conditions comprise track overlap ratio and obstacle avoidance execution conditions;
the track condition calculation formula is as follows:
the track overlap ratio calculation formula is as follows:
wherein T is 1 For track coincidence>The weight value of the track overlap ratio is 0.7;
the calculation formula of the obstacle avoidance execution condition is as follows:
wherein T is 2 For avoiding the execution situation of obstacle, the person is->The weight value of the obstacle avoidance execution condition is 0.3.
S03: calculating the job task conditions according to the inspection data, wherein the job task conditions comprise job completion degree and job completion time;
the job task condition calculation formula is as follows:
the operation completion degree calculation formula is as follows:
wherein M is 1 For the job completion degree, ++>A weight value of 0.8 for the completion of the operation;
the calculation formula of the job completion time is as follows:
wherein M is 2 For the job completion degree, ++>The weight value for the job completion is 0.2.
S04: and calculating shooting effect level according to the inspection data, wherein the shooting effect level comprises definition of a visible light image and shooting coverage of a single tower part, definition of a visible light video and shooting coverage of the single tower part, definition of an infrared image and shooting coverage of the single tower part, resolution of a laser radar and shooting coverage of the single tower part.
The shooting effect level calculation formula is as follows:
wherein P is 1 P for definition of visible light image and coverage of single tower part shooting 2 P for definition of visible light video and shooting coverage of single tower part 3 For definition of infrared image and coverage of shooting of single tower part, P 4 Shooting coverage for the resolving power and single tower parts of the laser radar;
the definition of the visible light image and the shooting coverage of the single tower part are calculated according to the following formula:
wherein P is 1 For visible light image +.>The weight value of the visible light image is 0.4;
the definition of the visible light video and the shooting coverage of the single tower part are calculated according to the following formula:
wherein P is 1 Is visible light video, < >>The weight value of the visible light image is 0.2;
the definition of the infrared image and the shooting coverage of the single tower part are calculated as follows:
wherein P is 3 Is visible light video, < >>The weight value of the visible light image is 0.2;
the resolving power of the laser radar and the single tower part shooting coverage calculation formula are as follows:
wherein P is 4 Is visible light video, < >>The weight value of the visible light image is 0.2.
S05: and calculating the job completion degree according to the track condition, the job task condition and the shooting effect level.
The calculation formula for calculating the operation completion degree according to the track condition, the operation task condition and the shooting effect level is as follows:
E＝T×M×P。
the specific index weights and evaluation calculation methods shown in the following table 1:
wherein, the embodiment: the power inspection operation index of a certain unmanned aerial vehicle is as follows:
through the inspection index, the calculation operation completion degree is as follows:
E＝T×M×P＝0.4561*0.9055*1＝0.413。
the invention provides an automatic evaluation method for the completion degree of the unmanned aerial vehicle power line inspection operation for the first time, which has very important practical significance for timely and effectively determining the completion condition of the inspection operation and ensuring the inspection quality; meanwhile, the invention improves the scientificity of the comprehensive evaluation result; further, according to the method, different weight values are set from a plurality of dimensions such as the unmanned aerial vehicle track completion condition, the operation task condition, the shooting effect level and the like, and the importance degree of each index is objectively evaluated.
It is noted that relational terms such as "first" and "second", and the like, are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that an article or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises an element.
The foregoing is merely a specific embodiment of the application to enable one skilled in the art to understand or practice the application. 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 application. Thus, the present application 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.
It will be understood that the present application is not limited to what has been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the application is limited only by the appended claims.
Claims (1)
1. An automatic evaluation method for the completion of unmanned aerial vehicle power line inspection operation is characterized by comprising the following steps:
acquiring inspection data, wherein the inspection data comprises inspection videos and images;
calculating the track conditions according to the inspection data, wherein the track conditions comprise track overlap ratio and obstacle avoidance execution conditions;
calculating the job task conditions according to the inspection data, wherein the job task conditions comprise job completion degree and job completion time;
calculating shooting effect levels according to the inspection data, wherein the shooting effect levels comprise definition of visible light images and shooting coverage of single tower parts, definition of visible light videos and shooting coverage of single tower parts, definition of infrared images and shooting coverage of single tower parts, resolution capability of a laser radar and shooting coverage of single tower parts;
calculating the job completion degree according to the track condition, the job task condition and the shooting effect level;
the track condition calculation formula is as follows:
the track overlap ratio calculation formula is as follows:
wherein T is 1 For track coincidence>The weight value of the track overlap ratio is 0.7;
the calculation formula of the obstacle avoidance execution condition is as follows:
wherein T is 2 For avoiding the execution situation of obstacle, the person is->The weight value of the obstacle avoidance execution condition is 0.3;
the job task condition calculation formula is as follows:
the operation completion degree calculation formula is as follows:
wherein M is 1 For the job completion degree, ++>Weight value for job completion0.8；
The calculation formula of the job completion time is as follows:
wherein M is 2 For the job completion degree, ++>A weight value of 0.2 for the completion of the operation;
the shooting effect level calculation formula is as follows:
wherein P is 1 P for definition of visible light image and coverage of single tower part shooting 2 P for definition of visible light video and shooting coverage of single tower part 3 For definition of infrared image and coverage of shooting of single tower part, P 4 Shooting coverage for the resolving power and single tower parts of the laser radar;
the definition of the visible light image and the shooting coverage of the single tower part are calculated according to the following formula:
wherein P is 1 For visible light image +.>The weight value of the visible light image is 0.4;
the definition of the visible light video and the shooting coverage of the single tower part are calculated according to the following formula:
wherein P is 1 Is visible light video, < >>The weight value of the visible light image is 0.2;
the definition of the infrared image and the shooting coverage of the single tower part are calculated as follows:
wherein P is 3 Is visible light video, < >>The weight value of the visible light image is 0.2;
the resolving power of the laser radar and the single tower part shooting coverage calculation formula are as follows:
wherein P is 4 Is visible light video, < >>The weight value of the visible light image is 0.2;
the calculation formula for calculating the operation completion degree according to the track condition, the operation task condition and the shooting effect level is as follows: e=t×m×p.
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102572394A (en) * | 2011-12-27 | 2012-07-11 | 浙江省电力公司 | System and method for patrolling track of electric power circuit |
| CN103812052A (en) * | 2014-03-07 | 2014-05-21 | 国家电网公司 | Centralized monitoring system for power transmission line routing inspection of unmanned aerial vehicles and monitoring method |
| CN108413964A (en) * | 2018-03-08 | 2018-08-17 | 云南电网有限责任公司电力科学研究院 | A kind of unmanned plane polling transmission line path planning method and system |
| CN111123973A (en) * | 2019-12-05 | 2020-05-08 | 国网山东省电力公司五莲县供电公司 | Unmanned aerial vehicle line tower patrol guiding system and guiding method |
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- 2021-10-12 CN CN202111185757.9A patent/CN113869770B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102572394A (en) * | 2011-12-27 | 2012-07-11 | 浙江省电力公司 | System and method for patrolling track of electric power circuit |
| CN103812052A (en) * | 2014-03-07 | 2014-05-21 | 国家电网公司 | Centralized monitoring system for power transmission line routing inspection of unmanned aerial vehicles and monitoring method |
| CN108413964A (en) * | 2018-03-08 | 2018-08-17 | 云南电网有限责任公司电力科学研究院 | A kind of unmanned plane polling transmission line path planning method and system |
| CN111123973A (en) * | 2019-12-05 | 2020-05-08 | 国网山东省电力公司五莲县供电公司 | Unmanned aerial vehicle line tower patrol guiding system and guiding method |
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