CN115167504A - Unmanned aerial vehicle-based power line inspection method and system - Google Patents
Unmanned aerial vehicle-based power line inspection method and system Download PDFInfo
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Abstract
The invention provides a power line inspection method and a power line inspection system based on an unmanned aerial vehicle, which comprise the following steps: acquiring a task to be inspected of the power line, and partitioning according to the inspection task, wherein each region is provided with an unmanned aerial vehicle; planning paths according to the partition condition, the routing inspection tasks of the power lines in the partitions and the initial positions of all the unmanned aerial vehicles; each unmanned aerial vehicle flies according to the route planned by the respective path, and images are acquired through an image acquisition device on the unmanned aerial vehicle; and sending the image information acquired by the unmanned aerial vehicle to an unmanned aerial vehicle cooperative control system, and determining a routing inspection result. Through a plurality of unmanned aerial vehicle executions the task of patrolling and examining, the effectual efficiency of patrolling and examining that has improved.
Description
Technical Field
The invention belongs to the technical field of power correlation, and particularly relates to a power line inspection method and system based on an unmanned aerial vehicle.
Background
The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.
In an electric power system, a high-voltage overhead transmission line is an aorta for regional electric power transmission, and related line inspection work is a key part for guaranteeing safe operation of a local transmission and distribution network. Along with the annual acceleration of China's electric power development pace, overhead transmission lines which are large in scale day by day are easy to generate high-frequency abnormal conditions of power transmission equipment in the long-term operation process in the severe environment in the field, the mode of circuit inspection by using an unmanned aerial vehicle is more and more extensive at present, but the current unmanned aerial vehicle circuit inspection generally enables the unmanned aerial vehicle to fly to a certain height through artificial control to acquire images of an electric power line to be detected, on one hand, the unmanned aerial vehicle can fly to the other side for detection after detection of one side is finished, when the electric power line to be inspected has more tasks, the problem that the inspection task cannot be completed in time exists, on the other hand, the unmanned aerial vehicle is used for image acquisition, because the unmanned aerial vehicle carries out image shooting in a given time period, and the shot view field is also related to the flying height and the shooting angle, the problem that the image acquisition of the electric power line to be detected is incomplete exists.
Disclosure of Invention
In order to solve the problems, the invention provides an unmanned aerial vehicle-based power line inspection method and system, by acquiring an inspection task, partitioning according to the inspection task, using the unmanned aerial vehicle to perform inspection, planning a path in each area in the process of using the unmanned aerial vehicle to perform inspection to obtain an optimal path, performing inspection according to the optimal path, enabling a plurality of unmanned aerial vehicles to work together and perform inspection respectively in the optimal path, and improving the inspection efficiency.
In order to achieve the above object, a first aspect of the present invention provides a power line inspection method based on an unmanned aerial vehicle, which adopts the following technical scheme: :
acquiring a task to be inspected of the power line, partitioning according to the inspection task, and configuring an unmanned aerial vehicle in each area;
planning paths according to the partition conditions, the routing inspection tasks of the power lines in the partitions and the initial positions of all the unmanned aerial vehicles;
each unmanned aerial vehicle flies according to the route planned by the respective path, and images are acquired through an image acquisition device on the unmanned aerial vehicle;
and sending the image information acquired by the unmanned aerial vehicle to an unmanned aerial vehicle cooperative control system, and determining a routing inspection result.
Further, the inspection task for obtaining the power line comprises coordinate information of the power line, geographic terrain and coordinate information of a tower.
Further, determining a first tower and a last tower which the unmanned aerial vehicle passes through in the inspection area according to the positions of the towers in the inspection area;
determining the flight height of the unmanned aerial vehicle based on the inspection task of the unmanned aerial vehicle;
acquiring a two-dimensional plane map of the inspection area according to the flying height;
determining the flight area of the unmanned aerial vehicle based on the obtained two-dimensional plane map, and further determining the flight path of the unmanned aerial vehicle;
and analyzing the flight path of the unmanned aerial vehicle based on a search algorithm to determine the optimal flight path of the unmanned aerial vehicle.
Further, after determining the optimal flight path of the unmanned aerial vehicle, the method further comprises: the method comprises the steps of selecting a plurality of image acquisition points on an optimal flight path of the unmanned aerial vehicle, and setting the flight height and shooting parameters of the unmanned aerial vehicle at each image acquisition point according to the image acquisition points so that images acquired by each image acquisition point in an inspection area can cover a power line and a tower to be inspected.
Further, in the process that the unmanned aerial vehicle flies according to the optimal flying path, the real-time position information of the unmanned aerial vehicle is sent to the unmanned aerial vehicle cooperative control system, the unmanned aerial vehicle cooperative control system compares the real-time position information of the unmanned aerial vehicle with the set position information of the image acquisition point, and under the condition that the comparison result is the same, the unmanned aerial vehicle acquires images after adjusting the flying height and shooting parameters.
Furthermore, the position of the image acquisition point, the flying height of the unmanned aerial vehicle at the image acquisition point and shooting parameters are determined according to the position and height information of the power transmission line in the inspection area, the position of the tower and the height information.
Furthermore, the same position is used as an initial position for a plurality of unmanned aerial vehicles, the unmanned aerial vehicle which executes the inspection area where the initial position is located flies according to an optimal path, the position of each tower of the power line in the inspection area where the initial position is located is used as a no-fly area of other unmanned aerial vehicles, meanwhile, the frame vertex of the area to be inspected of each unmanned aerial vehicle is used as a terminal point of the area flying to the inspection area, the route of each unmanned aerial vehicle is planned for each unmanned aerial vehicle according to the initial position, the terminal point of each unmanned aerial vehicle, the no-fly area between the initial position and the terminal point and the obstacle information, and each unmanned aerial vehicle flies to the area to be inspected according to the planned path.
A second aspect of the present invention provides an electric power line inspection system based on an unmanned aerial vehicle, including:
an acquisition module: acquiring a task to be inspected of the power line, partitioning according to the inspection task, and configuring an unmanned aerial vehicle in each area;
a path planning module: planning paths according to the partition condition, the routing inspection tasks of the power lines in the partitions and the initial positions of all the unmanned aerial vehicles;
an image acquisition module: each unmanned aerial vehicle flies according to the route planned by the respective path, and images are acquired through an image acquisition device on the unmanned aerial vehicle;
a sending module: and sending the image information acquired by the unmanned aerial vehicle to an unmanned aerial vehicle cooperative control system, and determining a routing inspection result.
A third aspect of the present invention provides an electronic device comprising a memory and a processor, and computer instructions stored on the memory and executed on the processor, wherein the computer instructions, when executed by the processor, perform the steps of the above method.
A fourth aspect of the invention provides a computer-readable storage medium for storing computer instructions which, when executed by a processor, perform the steps of the above-described method.
The beneficial effects of the invention are:
according to the invention, by acquiring the inspection task, partitioning according to the inspection task, performing inspection by using the unmanned aerial vehicle, planning the path of each area in the process of performing inspection by using the unmanned aerial vehicle to obtain the optimal path, performing inspection according to the optimal path, enabling a plurality of unmanned aerial vehicles to work together and perform inspection respectively in the optimal path, and improving the inspection efficiency.
According to the invention, the image acquisition positions are combined with the flight heights and shooting parameters of the unmanned aerial vehicle, so that the images acquired by the unmanned aerial vehicle at a plurality of image acquisition points can cover the whole task to be inspected, and the image acquisition of the power line and the tower is more comprehensive.
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The accompanying drawings, which are incorporated in and constitute a part of this specification, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the invention and together with the description serve to explain the invention and not to limit the invention.
FIG. 1 is a flow chart of the present invention;
Detailed Description
The invention is further described with reference to the following figures and examples.
It is to be understood that the following detailed description is exemplary and is intended to provide further explanation of the invention as claimed. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.
Example one
As shown in fig. 1, the power line inspection method based on the unmanned aerial vehicle of the invention comprises the following steps:
step 1: acquiring a task to be inspected of the power line, partitioning according to the inspection task, and configuring an unmanned aerial vehicle in each area;
step 2: planning paths according to the partition condition, the routing inspection tasks of the power lines in the partitions and the initial positions of all the unmanned aerial vehicles;
and step 3: each unmanned aerial vehicle flies according to the route planned by the respective path, and images are acquired through an image acquisition device on the unmanned aerial vehicle;
and 4, step 4: and sending the image information acquired by the unmanned aerial vehicle to an unmanned aerial vehicle cooperative control system, and determining a routing inspection result.
In the step 1, the inspection task of the power line is acquired and includes coordinate information of the power line, geographic terrain and coordinate information of a tower.
Under the more condition of power line patrol and examine the task, will patrol and examine the region according to the task of patrolling and examining that assigns and patrol and examine the region, patrol and examine at each and patrol and examine a sub-area intra-area configuration unmanned aerial vehicle to the efficiency that effectual improvement was patrolled and examined.
In the step 2, determining a first tower and a last tower which the unmanned aerial vehicle passes through in the inspection area according to the positions of the towers in the inspection area;
determining the flight height of the unmanned aerial vehicle based on the inspection task of the unmanned aerial vehicle;
acquiring a two-dimensional plane map of the inspection area according to the flying height;
determining the flight area of the unmanned aerial vehicle based on the obtained two-dimensional plane map, and further determining the flight path of the unmanned aerial vehicle;
and analyzing the flight path of the unmanned aerial vehicle based on a search algorithm, and determining the optimal flight path of the unmanned aerial vehicle.
The unmanned aerial vehicle flies in a stable flight phase after taking off for a period of time, based on the requirement of the inspection task, the two-dimensional plane graph of the unmanned aerial vehicle at the flight height can be obtained by intercepting the two-dimensional plane graph under the height of the inspection subarea, the flight obstacle information on the two-dimensional plane graph can be marked by images, and the marked information comprises obstacle information size information and height information of the two-dimensional plane of the intercepted height except the position information of the obstacle information on the two-dimensional plane graph. According to the marking of the barrier on the two-dimensional plane, the power line to be patrolled and examined, pole tower information, the first pole tower of the process of the unmanned aerial vehicle in the region of patrolling and examining and the last pole tower of the process obtain many passing routes of the unmanned aerial vehicle, utilize the variable field search algorithm to carry out analysis to a plurality of passing routes, obtain the optimal flight route of the unmanned aerial vehicle in the region of patrolling and examining to guarantee that the unmanned aerial vehicle realizes the detection to the power line of patrolling and examining the region in the shortest route.
In step 3, when each unmanned aerial vehicle's initial flight position was located respective when waiting to patrol and examine the region, when unmanned aerial vehicle flies according to the route planned this moment, it was not influenced each other, but when a plurality of unmanned aerial vehicles regard same position point as the initial position point of taking off, then when unmanned aerial vehicle carried out and patrolled and examined the task and takes off, because a plurality of unmanned aerial vehicles take off and pass through same region and a plurality of unmanned aerial vehicles take off simultaneously, need the route of a plurality of unmanned aerial vehicles to plan this moment and make its each other not influence reach respective region of waiting to patrol and examine.
The method comprises the steps of indicating power lines in each inspection area in the inspection area in a marking mode, taking the power lines in the inspection area without executing flying as a no-fly area of the unmanned aerial vehicle, then taking vertexes of respective inspection area frames of a plurality of unmanned aerial vehicles which do not pass through the inspection area as the unmanned aerial vehicle to fly to the destination of the area to be inspected for path planning, and generating a plurality of lines which are not influenced by each unmanned aerial vehicle according to the initial position and the destination of the unmanned aerial vehicle, barrier information between the initial position and the destination and the no-fly area information through an unmanned aerial vehicle cooperative control system.
For example, the area to be patrolled is 3, namely a first area, a second area and a third area, the power line to be patrolled in the 3 patrolling areas is a plurality of towers, the initial positions of the 3 unmanned aerial vehicles are respectively in the first area, the second area and the third area, and then the unmanned aerial vehicles execute the patrolling task according to the optimal path.
When three unmanned aerial vehicles all are located the first region, then carry out the unmanned aerial vehicle in first region and patrol and examine the task according to the optimal route, mark power line position and shaft tower position in the first region, as the no-fly zone of all the other two unmanned aerial vehicles, regard the summit of the second region frame as the terminal point of the unmanned aerial vehicle of patrolling and examining the second region simultaneously, regard the summit of the third region frame as the terminal point of patrolling and examining the third region unmanned aerial vehicle, then initial position and the terminal point according to the unmanned aerial vehicle of confirming, carry out the planning of route through unmanned aerial vehicle cooperative control system according to barrier information between initial position and the terminal point and no-fly zone again, make three aircraft from taking off to reaching each other and not influencing each other in respective patrolling and examining the zone.
In an embodiment, also can make a plurality of unmanned aerial vehicles reach each other not influencing between the respective region of patrolling and examining through setting up the speed of taking off and the difference of the height that reaches of taking off to a plurality of unmanned aerial vehicles.
In step 3, after determining the optimal flight path of the unmanned aerial vehicle, the method further comprises: the method comprises the steps of selecting a plurality of image acquisition points on an optimal flight path of the unmanned aerial vehicle, and setting the flight height and shooting parameters of the unmanned aerial vehicle at each image acquisition point according to the image acquisition points so that images acquired by each image acquisition point in an inspection area can cover a power line and a tower to be inspected.
After the optimal flight path of each unmanned aerial vehicle is determined, a plurality of image acquisition points are selected on the optimal flight path, so that the unmanned aerial vehicle acquires images at the image acquisition points.
The position of the image acquisition point, the flying height of the unmanned aerial vehicle at the image acquisition point and shooting parameters are determined according to the position and height information of the power transmission line in the inspection area, the position of the tower and the height information.
The field of vision of the image acquisition at a position of unmanned aerial vehicle is related to the flying height of the unmanned aerial vehicle, the shooting angle, the selected image acquisition point enables the unmanned aerial vehicle to carry out image acquisition at the point, the acquired image and the image acquired by the next image acquisition point have a certain overlapping area, so that the unmanned aerial vehicle can be spliced at the images acquired by all the image acquisition points to cover the inspection area of the whole power line, and the comprehensive detection of the power line and the tower is realized.
At unmanned aerial vehicle flight in-process, real-time with positional information send for unmanned aerial vehicle cooperative control system, unmanned aerial vehicle cooperative control system is through the real-time position of comparison unmanned aerial vehicle and the positional information of image acquisition point, if match, make unmanned aerial vehicle carry out the shooting of image after adjusting according to predetermined shooting parameter, shooting height in image acquisition point position department, if mismatch, then unmanned aerial vehicle continues the flight.
And after the optimal routing inspection path of the unmanned aerial vehicle completes the routing inspection task, returning the unmanned aerial vehicle to an initial position point according to the pre-routing inspection path, and recovering the unmanned aerial vehicle.
Example two
This embodiment provides a power line system of patrolling and examining based on unmanned aerial vehicle, includes:
an acquisition module: acquiring a task to be inspected of the power line, and partitioning according to the inspection task, wherein each region is provided with an unmanned aerial vehicle;
a path planning module: planning paths according to the partition condition, the routing inspection tasks of the power lines in the partitions and the initial positions of all the unmanned aerial vehicles;
an image acquisition module: each unmanned aerial vehicle flies according to the route planned by the respective path, and the image acquisition device on the unmanned aerial vehicle acquires images;
a sending module: and sending the image information acquired by the unmanned aerial vehicle to an unmanned aerial vehicle cooperative control system, and determining a routing inspection result.
EXAMPLE III
The present embodiment provides a computer-readable storage medium, on which a computer program is stored, where the program, when executed by a processor, implements the steps in a method for unmanned aerial vehicle-based power line routing inspection according to the first embodiment.
Example four
The embodiment provides a computer device, which comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor executes the program to realize the steps of the unmanned aerial vehicle-based power line inspection tour.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of a hardware embodiment, a software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. An unmanned aerial vehicle-based power line inspection method is characterized by comprising the following steps:
acquiring a task to be inspected of the power line, partitioning according to the inspection task, and configuring an unmanned aerial vehicle in each area;
planning paths according to the partition condition, the routing inspection tasks of the power lines in the partitions and the initial positions of all the unmanned aerial vehicles;
each unmanned aerial vehicle flies according to the route planned by the respective path, and images are acquired through an image acquisition device on the unmanned aerial vehicle;
and sending the image information acquired by the unmanned aerial vehicle to an unmanned aerial vehicle cooperative control system, and determining a polling result.
2. The unmanned aerial vehicle-based power line inspection method according to claim 1, wherein the task of acquiring the inspection of the power line comprises coordinate information of the power line, geographic terrain and coordinate information of a tower.
3. The unmanned aerial vehicle-based power line inspection method according to claim 2, characterized in that:
determining a first tower and a last tower which the unmanned aerial vehicle passes through in the inspection area according to the positions of the towers in the inspection area;
determining the flight height of the unmanned aerial vehicle based on the inspection task of the unmanned aerial vehicle;
acquiring a two-dimensional plane map of the inspection area according to the flying height;
determining the flight area of the unmanned aerial vehicle based on the obtained two-dimensional plane map, and further determining the flight path of the unmanned aerial vehicle;
and analyzing the flight path of the unmanned aerial vehicle based on a search algorithm to determine the optimal flight path of the unmanned aerial vehicle.
4. The electric power line patrol inspection method based on the unmanned aerial vehicle as claimed in claim 3, wherein after determining the optimal flight path of the unmanned aerial vehicle, the method further comprises: the method comprises the steps of selecting a plurality of image acquisition points on the optimal flight path of the unmanned aerial vehicle, and setting the flight height and shooting parameters of the unmanned aerial vehicle at each image acquisition point according to the image acquisition points so that images acquired at each image acquisition point in an inspection area can cover a power line and a tower to be inspected.
5. The electric power line patrol inspection method based on the unmanned aerial vehicle as claimed in claim 4, wherein in the process that the unmanned aerial vehicle flies according to the optimal flight path, the position information of the unmanned aerial vehicle is sent to the unmanned aerial vehicle cooperative control system in real time, the unmanned aerial vehicle cooperative control system compares the real-time position information of the unmanned aerial vehicle with the set position information of the image acquisition point, and under the condition that the comparison results are the same, the unmanned aerial vehicle acquires the image after adjusting the flight height and shooting parameters.
6. The electric power line patrol inspection method based on the unmanned aerial vehicle as claimed in claim 4, wherein the position of the image acquisition point and the flying height and shooting parameters of the unmanned aerial vehicle at the image acquisition point are determined according to the position and height information of the electric power transmission line in the patrol inspection area, the position and height information of the tower.
7. The electric power line patrol inspection method based on the unmanned aerial vehicle as claimed in claim 3,
the method comprises the steps that the same position serves as an initial position for a plurality of unmanned aerial vehicles, the unmanned aerial vehicles which execute an inspection area where the initial position is located fly according to an optimal path, the positions of power line towers in the inspection area where the initial position is located serve as no-fly areas of other unmanned aerial vehicles, meanwhile, frame vertexes of the areas where the unmanned aerial vehicles are to be inspected serve as end points flying to the inspection area, planning of routes is conducted on the unmanned aerial vehicles according to the initial position, the end points of the unmanned aerial vehicles, the no-fly areas between the initial position and the end points and obstacle information, and the unmanned aerial vehicles fly to the areas to be inspected according to the planned paths.
8. The utility model provides a power line system of patrolling and examining based on unmanned aerial vehicle, characterized by includes:
an acquisition module: acquiring a task to be inspected of the power line, and partitioning according to the inspection task, wherein each region is provided with an unmanned aerial vehicle;
a path planning module: planning paths according to the partition condition, the routing inspection tasks of the power lines in the partitions and the initial positions of all the unmanned aerial vehicles;
an image acquisition module: each unmanned aerial vehicle flies according to the route planned by the respective path, and images are acquired through an image acquisition device on the unmanned aerial vehicle;
a sending module: and sending the image information acquired by the unmanned aerial vehicle to an unmanned aerial vehicle cooperative control system, and determining a polling result.
9. A computer-readable storage medium, on which a computer program is stored, which program, when being executed by a processor, carries out the steps of a method for drone-based power line routing according to any one of claims 1 to 7.
10. A processing apparatus comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor when executing the program performs the steps of any one of claims 1 to 7 in a drone based power line inspection tour.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116909320A (en) * | 2023-09-15 | 2023-10-20 | 众芯汉创(江苏)科技有限公司 | Electric power collaborative inspection strategy analysis method based on ant colony algorithm |
| CN117389293A (en) * | 2023-10-31 | 2024-01-12 | 广州天海翔航空科技有限公司 | Flight control management method and system for inspection unmanned aerial vehicle |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116909320A (en) * | 2023-09-15 | 2023-10-20 | 众芯汉创(江苏)科技有限公司 | Electric power collaborative inspection strategy analysis method based on ant colony algorithm |
| CN116909320B (en) * | 2023-09-15 | 2023-12-01 | 众芯汉创(江苏)科技有限公司 | Electric power collaborative inspection strategy analysis method based on ant colony algorithm |
| CN117389293A (en) * | 2023-10-31 | 2024-01-12 | 广州天海翔航空科技有限公司 | Flight control management method and system for inspection unmanned aerial vehicle |
| CN117389293B (en) * | 2023-10-31 | 2024-05-24 | 广州天海翔航空科技有限公司 | Flight control management method and system for inspection unmanned aerial vehicle |
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