CN115825957A - Unmanned aerial vehicle and method applied to power inspection and power inspection system - Google Patents
Unmanned aerial vehicle and method applied to power inspection and power inspection system Download PDFInfo
- Publication number
- CN115825957A CN115825957A CN202211469937.4A CN202211469937A CN115825957A CN 115825957 A CN115825957 A CN 115825957A CN 202211469937 A CN202211469937 A CN 202211469937A CN 115825957 A CN115825957 A CN 115825957A
- Authority
- CN
- China
- Prior art keywords
- unmanned aerial
- aerial vehicle
- image
- module
- power inspection
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000007689 inspection Methods 0.000 title claims abstract description 83
- 238000000034 method Methods 0.000 title claims abstract description 16
- 238000004891 communication Methods 0.000 claims abstract description 35
- 238000012545 processing Methods 0.000 claims abstract description 24
- 238000012937 correction Methods 0.000 claims abstract description 4
- 238000012544 monitoring process Methods 0.000 claims abstract description 4
- 230000003321 amplification Effects 0.000 claims description 9
- 238000003199 nucleic acid amplification method Methods 0.000 claims description 9
- 238000001514 detection method Methods 0.000 claims description 6
- 238000006243 chemical reaction Methods 0.000 claims description 4
- 230000004888 barrier function Effects 0.000 description 12
- 238000007726 management method Methods 0.000 description 8
- 230000008569 process Effects 0.000 description 7
- 230000005540 biological transmission Effects 0.000 description 6
- 239000004020 conductor Substances 0.000 description 6
- 230000035699 permeability Effects 0.000 description 6
- 230000000694 effects Effects 0.000 description 5
- 238000004458 analytical method Methods 0.000 description 4
- 230000008901 benefit Effects 0.000 description 4
- 238000012790 confirmation Methods 0.000 description 4
- 230000008447 perception Effects 0.000 description 4
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 238000010191 image analysis Methods 0.000 description 3
- 230000010354 integration Effects 0.000 description 3
- 238000012360 testing method Methods 0.000 description 3
- 238000012549 training Methods 0.000 description 3
- 238000013459 approach Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 230000004069 differentiation Effects 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000011017 operating method Methods 0.000 description 2
- 230000035484 reaction time Effects 0.000 description 2
- 230000035945 sensitivity Effects 0.000 description 2
- 238000002604 ultrasonography Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000002411 adverse Effects 0.000 description 1
- 238000013528 artificial neural network Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000001010 compromised effect Effects 0.000 description 1
- 238000013135 deep learning Methods 0.000 description 1
- 230000008034 disappearance Effects 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 230000009545 invasion Effects 0.000 description 1
- 238000002955 isolation Methods 0.000 description 1
- 238000010801 machine learning Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 230000001012 protector Effects 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
- 239000000758 substrate Substances 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
- B64D47/08—Arrangements of cameras
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U20/00—Constructional aspects of UAVs
- B64U20/80—Arrangement of on-board electronics, e.g. avionics systems or wiring
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U20/00—Constructional aspects of UAVs
- B64U20/80—Arrangement of on-board electronics, e.g. avionics systems or wiring
- B64U20/87—Mounting of imaging devices, e.g. mounting of gimbals
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/933—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of aircraft or spacecraft
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T5/00—Image enhancement or restoration
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T5/00—Image enhancement or restoration
- G06T5/40—Image enhancement or restoration using histogram techniques
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/60—Analysis of geometric attributes
- G06T7/62—Analysis of geometric attributes of area, perimeter, diameter or volume
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/40—Scenes; Scene-specific elements in video content
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q21/00—Antenna arrays or systems
- H01Q21/06—Arrays of individually energised antenna units similarly polarised and spaced apart
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
- B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Theoretical Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Mechanical Engineering (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Multimedia (AREA)
- Electromagnetism (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Geometry (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
The invention belongs to the technical field of power inspection unmanned aerial vehicles, and provides an unmanned aerial vehicle and a method applied to power inspection and a power inspection system. The unmanned aerial vehicle comprises a power system, a control system and a communication system; the control system is communicated with the remote monitoring terminal through the communication system; the control system comprises an obstacle avoidance module, an image acquisition module, a front-end image processing module and a main control module; the obstacle avoidance module is used for sensing obstacles in front of the unmanned aerial vehicle based on the high-frequency millimeter wave signals and transmitting the obstacles to the main control module, and the main control module forms an obstacle avoidance routing inspection path; the image acquisition module is carried on the unmanned aerial vehicle and used for acquiring the power inspection image in the obstacle avoidance inspection path and transmitting the power inspection image to the front-end image processing module; the front-end image processing module is used for correcting the image according to the pixel-level offset between the target position and the central position of the image in the image frame and automatically adjusting the exposure according to the histogram of the image frame after correction.
Description
Technical Field
The invention belongs to the technical field of power inspection unmanned aerial vehicles, and particularly relates to an unmanned aerial vehicle, a method and a power inspection system applied to power inspection.
Background
The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.
Unmanned aerial vehicle patrols and examines emerging instrument as electric power, is playing important effect day by day on the intelligent road of electric wire netting, compares traditional manual work and patrols and examines, and the advantage that unmanned aerial vehicle patrolled and examined lies in: unmanned aerial vehicle patrols and examines operation environmental suitability strong adaptability, and unmanned aerial vehicle patrols and examines the adverse conditions that can overcome the operation environment, and after some complex environment if meet natural disasters weather such as ice and snow, earthquake, landslide, unmanned aerial vehicle has compensatied the inconvenient disadvantage of inspector traffic, can carry out the operation to the site environment rapidly. Unmanned aerial vehicle patrols and examines and replaces the manual work and patrols and examines, has reduced intensity of labour and operation cost, has compensatied the easy tired of artifical patrolling and examining existence, vision blind area scheduling problem, has improved the degree of accuracy and the speed of patrolling and examining work, and then has improved the efficiency that electric power patrolled and examined work.
The inventor finds that the unmanned aerial vehicle used for power inspection at present has the following defects:
(1) Although an unmanned aerial vehicle for power inspection has conventional obstacle avoidance means such as ultrasound and vision, the sensing capability for small objects is limited, and when objects such as wires and shorter branches are encountered, ultrasound and vision are often difficult to perceive, so that the unmanned aerial vehicle breaks through the safe distance with the wires, causes the consequences such as wire collision and the like, and the personal safety and the equipment safety are damaged.
(2) The shooting point location when unmanned aerial vehicle independently patrols and examines depends on the route planning of earlier stage completely, and there is the deviation in the point location that electric power unit was shot to the part, leads to the electric power unit that will shoot incomplete in the image, or is located the image edge, because it is indefinite to patrol and examine time, environmental weather is indefinite, and the image of shooting probably has the overexposure or underexposure condition, and this will produce direct influence to later stage image analysis effect.
Disclosure of Invention
In order to solve the technical problems in the background art, the invention provides the unmanned aerial vehicle, the method and the power inspection system applied to the power inspection, which can improve the sensing capability of the unmanned aerial vehicle on small obstacles, obviously improve the image quality and lay a good foundation for subsequent image analysis.
In order to achieve the purpose, the invention adopts the following technical scheme:
the invention provides an unmanned aerial vehicle applied to power inspection.
An unmanned aerial vehicle applied to power inspection comprises a power system, a control system and a communication system; the control system is communicated with the remote monitoring terminal through a communication system; the control system comprises an obstacle avoidance module, an image acquisition module, a front-end image processing module and a main control module;
the obstacle avoidance module is used for sensing obstacles in front of the unmanned aerial vehicle based on the high-frequency millimeter wave signals and transmitting the obstacles to the main control module, and the main control module forms an obstacle avoidance routing inspection path;
the image acquisition module is carried on the unmanned aerial vehicle and used for acquiring the power inspection image in the obstacle avoidance inspection path and transmitting the power inspection image to the front-end image processing module;
the front-end image processing module is used for correcting image deviation according to the pixel-level offset between the target position in the image frame and the central position of the image, and automatically adjusting the exposure according to the histogram of the image frame after deviation correction.
As an embodiment, the obstacle avoidance module includes:
the millimeter wave radar antenna is positioned at the front end of the unmanned aerial vehicle;
the radio frequency transmitter is used for modulating a signal transmitted by the radar signal source into an intermediate frequency signal, forming a high-frequency millimeter wave signal through up-conversion, and radiating the high-frequency millimeter wave signal through the millimeter wave radar antenna after amplification;
the receiver is used for receiving the echo through the millimeter wave radar antenna, performing frequency mixing with the electromagnetic wave generated by the local oscillator after amplification, and obtaining an intermediate frequency signal after amplitude amplification; one path of the intermediate frequency signal is subjected to envelope detection to judge whether an obstacle exists on the current side, and the other path of the intermediate frequency signal is subjected to obstacle sensing and automatically generates alarm information.
In one embodiment, the millimeter wave radar antenna is in the form of a patch antenna array.
In one embodiment, the amplitude and phase of the feed to each patch antenna determines the steering of the beam.
In one embodiment, the millimeter wave radar antenna is further connected to a switch for transmitting and receiving electromagnetic waves, and the switch is used for controlling the millimeter wave radar antenna to transmit or receive electromagnetic waves.
As an implementation mode, the millimeter wave radar antenna comprises a feed antenna and an artificial metamaterial planar lens, wherein the feed antenna adopts an antenna working at a 77GHz frequency band, and the artificial metamaterial planar lens is used for converging and diverging electromagnetic waves.
As an embodiment, the front-end image processing module includes:
the target identification submodule is used for judging the type of the electric power component to be shot according to the component name of the shooting point of the unmanned aerial vehicle, calling a pre-trained target identification model and carrying out target identification on the image frame in the video stream;
the target determination submodule is used for extracting all recognition results of the types of the power components to be shot, calculating the area of each target, taking the target with the largest area as a final target and confirming coordinate information of the final target;
the image deviation rectifying submodule is used for calculating the pixel-level offset of the position of the final target from the central position of the image so as to control the tripod head to adjust the angle and enable the target to be positioned at the central position of the lens to realize image deviation rectification;
and the exposure adjusting submodule is used for judging the exposure state of the current image frame according to the histogram of the current rectified image frame and further adjusting the exposure amount of the camera so as to enable the brightness of the image frame to be within a normal range.
As an implementation manner, in the image rectification submodule, based on a pixel-level offset of the position of the final target from the image center position, an adjustment parameter of the pan/tilt head is obtained according to a relationship between an image coordinate system, a camera coordinate system, and a world coordinate system.
In one embodiment, the exposure adjustment submodule includes a normal exposure module, an overexposure module, and an underexposure module.
In one embodiment, in the exposure adjustment sub-module, if a part of the histogram of the current rectified image frame, which exceeds 60%, is distributed on the left side, the exposure state of the current image frame is underexposed.
In one embodiment, in the exposure adjustment sub-module, if a part of the histogram of the current deskewed image frame that exceeds 60% is distributed on the right side, the exposure state of the current image frame is overexposed.
As an embodiment, in the exposure adjustment sub-module, if the histogram distribution of the current rectified image frame is balanced, the exposure state of the current image frame is normal exposure.
As one embodiment, the communication system comprises a 4G/5G module.
As an implementation mode, the communication system is further internally provided with a first security chip, and the first security chip establishes trusted connection communication with the unmanned aerial vehicle management and control platform through a secure access gateway.
As an implementation mode, the unmanned aerial vehicle management and control platform further establishes trusted connection communication with an unmanned aerial vehicle ground control station and a remote control terminal respectively, and a second safety chip and a third safety chip are arranged in the unmanned aerial vehicle ground station and the remote control terminal respectively.
As an implementation mode, the unmanned aerial vehicle applied to power inspection also establishes credible connection communication with an unmanned aerial vehicle ground control station and a remote control terminal respectively, and a second safety chip and a third safety chip are arranged in the unmanned aerial vehicle ground station and the remote control terminal respectively.
The invention provides a working method of an unmanned aerial vehicle applied to power inspection.
An operating method of the unmanned aerial vehicle applied to power inspection as described above includes:
sensing an obstacle in front of the unmanned aerial vehicle by using a high-frequency millimeter wave signal of the obstacle avoidance module, transmitting the obstacle to the main control module, and forming an obstacle avoidance routing inspection path by the main control module;
the unmanned aerial vehicle performs power inspection according to the obstacle avoidance inspection path, and acquires power inspection images by using the image acquisition module and transmits the power inspection images to the front-end image processing module;
and the front-end image processing module is used for correcting the image according to the pixel-level offset between the target position and the central position of the image in the image frame and automatically adjusting the exposure according to the histogram of the image frame after correction.
A third aspect of the invention provides a power patrol system.
A power inspection system includes an unmanned aerial vehicle applied to power inspection as described above.
Compared with the prior art, the invention has the beneficial effects that:
(1) The barrier technique is kept away to the millimeter wave radar, an unmanned aerial vehicle for electric power inspection is developed, the echo signal that it utilized the millimeter wave radar to gather transmits for the receiver and changes the intermediate frequency signal, the intermediate frequency signal after handling the receiver is divided into two the tunnel, perception barrier classification all the way, another way confirms the approximate position of barrier, the problem that traditional electric power inspection unmanned aerial vehicle is limited to tiny object's perception ability has been solved, provide more reaction time for operating personnel, the accurate perception of tiny barrier has been realized, unmanned aerial vehicle's security has been improved.
(2) The unmanned aerial vehicle front-end image rectification and automatic exposure technology is innovatively provided, the problems of incomplete shooting, overexposure and underexposure of an inspection image component are solved, and the image rectification is realized by controlling the angle of a tripod head to be adjusted according to the pixel-level offset of the position of a final target from the central position of an image to enable the target to be positioned at the central position of a lens; according to the histogram of the current image frame after deviation rectification, the exposure state of the current image frame is judged, and then the exposure amount of the camera is adjusted, so that the brightness of the image frame is in a normal range, the quality of the unmanned aerial vehicle autonomous inspection image is improved, and a foundation is laid for subsequent image analysis and defect identification.
(3) The safety credible encryption communication technology for the power inspection unmanned aerial vehicle is innovatively provided, a safety credible encryption communication system for the power inspection unmanned aerial vehicle is developed, the problems that no safety encryption measures exist between the unmanned aerial vehicle and an additional safety module and the unmanned aerial vehicle management and control system cannot be independently completed are solved, the power inspection unmanned aerial vehicle is based on the safety access gateway of the safety chip and the background server end which are respectively arranged in the ground control terminal and the remote control terminal, the power inspection unmanned aerial vehicle is built, the credible connection between the ground control terminal and the remote control terminal and between the remote control terminal and the unmanned aerial vehicle management and control platform is established, the credible access and information transmission encryption of the terminals and the encryption of the unmanned aerial vehicle management and control platform for centralized management of access rules are realized, and the data safety of the unmanned aerial vehicle is improved.
Advantages of additional aspects of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
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 included to illustrate an exemplary embodiment of the invention and not to limit the invention.
Fig. 1 is a schematic structural diagram of an unmanned aerial vehicle applied to power inspection according to an embodiment of the present invention;
FIG. 2 (a) is a front view of a millimeter wave radar module according to an embodiment of the present invention;
FIG. 2 (b) is a cross-sectional view of a millimeter wave radar module of an embodiment of the present invention;
FIG. 3 (a) is a front view of a feed antenna of an embodiment of the present invention;
FIG. 3 (b) is a rear view of a feed antenna of an embodiment of the present invention;
FIG. 4 (a) is a top view of a planar lens of an embodiment of the present invention;
FIG. 4 (b) is a side view of a planar lens of an embodiment of the present invention;
fig. 5 is a structural diagram of a millimeter wave radar module of the embodiment 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.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the invention. As used herein, the singular forms "a", "an", and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
Referring to fig. 1, the present embodiment provides an unmanned aerial vehicle for power inspection, which includes a power system, a control system and a communication system; the control system is communicated with the remote monitoring terminal through a communication system; the control system comprises an obstacle avoidance module, an image acquisition module, a front-end image processing module and a main control module.
Besides, it should be noted that the control system includes an Inertial Measurement Unit (IMU), a pan-tilt control module, various attitude and position sensor modules, and the like, in addition to the above modules.
In the specific implementation process, keep away barrier module and be used for keeping away the barrier in unmanned aerial vehicle the place ahead and convey to main control module based on high frequency millimeter wave signal perception, form by main control module and keep away the barrier and patrol and examine the route.
Specifically, as shown in fig. 5, the obstacle avoidance module of this embodiment includes:
the millimeter wave radar antenna is positioned at the front end of the unmanned aerial vehicle;
the radio frequency transmitter is used for modulating a signal transmitted by the radar signal source into an intermediate frequency signal, forming a high-frequency millimeter wave signal through up-conversion, and radiating the high-frequency millimeter wave signal through the millimeter wave radar antenna after amplification;
the receiver is used for receiving the echo through the millimeter wave radar antenna, performing frequency mixing with the electromagnetic wave generated by the local oscillator after amplification, and obtaining an intermediate frequency signal after amplitude amplification; one path of the intermediate frequency signal is subjected to envelope detection to judge whether a barrier exists at the current party, and the other path of the intermediate frequency signal is subjected to barrier sensing and automatically generates alarm information.
In a specific implementation process, the millimeter wave radar antenna is in the form of a patch antenna array, and the feed amplitude and phase of each patch antenna determine the steering of a beam.
As shown in fig. 2 (a) and 2 (b), the millimeter wave radar antenna includes a feed antenna 1 and an artificial metamaterial planar lens 2, the feed antenna 1 is an antenna operating in a 77GHz frequency band, and the artificial metamaterial planar lens 2 is used for converging and diverging electromagnetic waves.
The feed antenna 1 adopts an antenna array 4 (such as 3*3 patch) working at 77GHz band, as shown in fig. 3 (a) and fig. 3 (b). In fig. 3 (b), 5 is a feeding point.
The patch antenna array has the advantages that the patch antenna array has the characteristics of controllable wave beams and easiness in integration, and based on an antenna array comprehensive theory, the wave beams can be steered by adjusting the feed amplitude and the phase of each patch antenna, so that the phased scanning effect is achieved, and the mechanical rotating holder used by the traditional radar is provided.
The feed antenna can theoretically adopt any 77GHz frequency band antenna, for example, a horn antenna is usually adopted as the feed antenna by a common lens antenna, because the horn antenna has the characteristics of strong directivity, high gain and simple structure and easy design, but the horn antenna is a three-dimensional structure, is not easy to integrate, needs to be aligned to the center of a lens, and has too high requirement on a mechanical fixing structure for an unmanned aerial vehicle platform which is easy to generate vibration, so that the horn antenna is not adopted. The patch array antenna adopted by the embodiment is of a two-dimensional plane structure, the thickness is thin and can be ignored, the width of a main lobe beam of a directional diagram is large, the influence of vibration is small, and the fault tolerance is large. The planar lens has a certain requirement on the incident angle of the feed antenna, if the offset of the incident angle of the feed antenna is too large, the refraction effect of the lens is deteriorated, but if the feed antenna has no deviation of the incident angle, the mechanical rotating structure is required to assist the antenna to scan, the structure is heavy and the effect is not good, so that a 3*3 array is adopted to form a small phased array, the scanning angle of the feed antenna can be slightly shifted by changing the amplitude phase of the array elements (the scanning angle can be increased under the condition that the gain is not reduced as the number of the array elements is increased), and the scanning angle can be limited within the acceptable range of the incident angle offset of the planar lens, and the 3*3 array provided by the embodiment can generate a scanning angle of 60 degrees, so that the incident angle requirement of the planar lens is met, and a certain margin is kept.
In the present embodiment, as shown in fig. 4 (a) and 4 (b), the artificial metamaterial planar lens 2 has advantages of small volume, light weight, etc. compared to the conventional luneberg lens and gradient index lens, which make it easier to integrate into the application scene with narrow space. The propagation speed of the electromagnetic wave in the medium can be obtained according to Maxwell equation
In which epsilon and mu are the effective permittivity and effective permeability of the medium, epsilon 0 And mu 0 Is the vacuum dielectric constant and the vacuum permeability,. Epsilon r And mu r Relative permittivity and relative permeability. Can see theThe propagation speed is only related to the relative dielectric constant and the relative permeability of the material, if the two properties can be changed, the control on the propagation direction of the electromagnetic wave can be realized, the artificial electromagnetic metamaterial is composed of a 'medium + conductor' structure, and the relative dielectric constant and the relative permeability of the metamaterial structure are adjusted by changing the shape of the conductor. And is defined by the refractive index of electromagnetic waves
Wherein c is the speed of light in vacuum, and it can be seen that the relative dielectric constant and the relative magnetic permeability can further influence the refractive index, thereby realizing convergence and divergence of the electromagnetic wave.
In the specific implementation process, the feed antenna 1 of the millimeter wave radar adopts a 3*3 patch antenna array, the size of an array element of the patch antenna is 2.1mm × 1.8mm, the spacing of the array elements is 0.6mm, the size of the whole feed antenna is 13mm × 10mm, the focal length of a planar lens is 30mm, the lens is composed of 2mm × 2mm metamaterial units with equal thickness, the size of the whole lens is 50mm × 50mm, and the total number of 25 × 25 structural units of 'medium + conductor'. Each structural unit of the 'dielectric + conductor' adopts a 3-layer dielectric + conductor structure, so that a sufficient refractive index is achieved.
The number of layers of the unit is related to the transmission coefficient and the refraction angle range of the lens. The more layers, the lower the transmission coefficient of the lens, the less energy the electromagnetic wave can pass through the lens, the lower the efficiency, but the larger the range of refraction angles. Therefore, the design needs to be compromised, and the three layers of "medium + conductor" in the embodiment satisfy the refractive index requirement, so that a three-layer structure is adopted.
The radio frequency transmitter, the receiver and the receiving and transmitting switch control the millimeter wave radar antenna to transmit or receive electromagnetic waves. The radio frequency transmitter can modulate signals transmitted by the radar signal source into intermediate frequency signals, forms high-frequency millimeter wave signals through up-conversion, and radiates the signals through an antenna after the signals are amplified by the radio frequency power amplifier; the receiving and transmitting change-over switch adopts a millimeter wave duplexer with a substrate integrated waveguide structure, and the structure has lower insertion loss, high receiving and transmitting isolation and easy integration; the receiver receives the echo through the radar antenna, the echo sequentially passes through the receiver protector and the low-noise amplifier and is mixed with the electromagnetic wave generated by the local oscillator, and the intermediate frequency signal with amplified amplitude is obtained after the echo passes through the intermediate frequency amplifier.
The transmitted radar signal is a frequency modulated continuous wave, which can be written as:
where A is the signal amplitude, T is the transmission time width, f 0 The fundamental frequency is 77GHz, the frequency sweep bandwidth of the transmitted signal is marked as B,
in order to be a frequency-modulated slope,
is the initial phase.
The phase of the transmitted signal can be recorded as
Assuming that the distance between the target and the radar is R and the propagation speed of the electromagnetic wave is c, the received signal can be recorded as
Where K is the signal attenuation and τ is the received signal delay, the phase of the echo signal can be expressed as
Its phase with the difference frequency signal of the transmitted signal can be expressed as p t (t)-p r (t)＝2πf 0 τ+2πuτt-πuτ 2 Wherein the first term and the third term are constants, the frequency of the intermediate frequency signal can be obtained
The distance can be expressed as
One path of the intermediate frequency signal is input to an envelope detector, envelope change of an echo can be seen through envelope detection, and when an obstacle exists in the front side, peak fluctuation occurs in the envelope of the echo. The direction of an obstacle is determined by the direction of an echo, the traditional radar azimuth scanning usually adopts a mechanical rotating holder to drive an antenna to periodically scan a certain area along a fixed path, the millimeter wave radar feed source antenna adopts a 3*3 patch antenna array, the adjustment of radiation wave beams can be realized by controlling the feeding amplitude and the phase of each patch array element according to the comprehensive principle of the antenna array, the wave beams are irradiated on a planar lens to be further refracted, narrow wave beams with stronger directivity can be obtained, and the narrow wave beams are controlled by the feeding amplitude and the phase of the feed source antenna, so that the electric scanning is realized.
The distance between the obstacle and the unmanned aerial vehicle can be obtained by estimating the frequency of the intermediate frequency signal, and the azimuth information and the envelope information jointly form a path of video signal of the radar. Specifically, the radar obtains echo information in an observable range through electric scanning, if an obstacle exists at a certain point, the echo generates a peak after envelope detection, the corresponding radar beam direction with the peak is also marked (obtained by calculating the amplitude-phase characteristics of an antenna array unit of a feed source) after the peak is captured, the two pieces of information are combined together and displayed on a display screen of an operator, the approximate direction of the obstacle can be displayed obviously, the reaction time is given to the operator, an algorithm module does not need to wait for processing an intermediate frequency signal and then displaying the intermediate frequency signal, and the operator cannot judge the specific shape of the obstacle in the direction at the moment and only knows that the obstacle exists in the direction;
the other path of intermediate frequency signals are input into an algorithm module for analysis, and since sensing objects are often fine objects such as branches and wires, a signal processing mode of filtering echo signals to form radar point clouds by a traditional CFAR algorithm is not preferable, dense data is selected to be reserved, characteristics of the wires and the branches are extracted by a deep learning mode, obstacle characteristics are analyzed by a neural network, and obstacle echo characteristic sample libraries such as the wires and the branches are gradually formed, so that reliable obstacle identification and automatic obstacle avoidance functions are realized.
For millimeter wave radar, a wire can be equivalent to a line composed of countless points, each point on the wire does not exist independently, and if the radar resolution divides a detection area into an infinite number of frames in space, the echo of the wire must be continuous in one direction and discontinuous in the normal direction. (assuming that the wire is horizontal, the wire echo in the horizontal direction is continuous, and the echo in the vertical direction is discontinuous, which is the characteristic of the wire echo), putting the wire echo information into a training set for training, correcting the parameters of a machine learning model, extracting the wire characteristic, and after large-scale sample training, judging whether the input echo information is the wire by the model, and similarly judging whether the input echo information is the wire by the obstacles such as leaves and the like.
When the echo that amplitude surpassed the settlement threshold value appears in certain direction, the algorithm chip is at first extracted this echo characteristic, mark this position, and continue in several frames radar signal afterwards and carry out the analysis to the peripheral position in this position, give up the pursuit to this position when detecting the echo disappearance or skew, when detecting the echo position and being close to when being close to safe distance, the algorithm chip automatic generation warning message reminds operating personnel, when detecting the echo position and being about to break through safe distance, the algorithm chip sends the instruction of keeping away the barrier to unmanned aerial vehicle flight control module, guide unmanned aerial vehicle execution to set up the action of keeping away the barrier, guarantee unmanned aerial vehicle's safe flight from this.
Wherein, safe distance is the parameter that can set up at unmanned aerial vehicle control platform, if get 5m, then detect the distance of echo and unmanned aerial vehicle distance and send when being close 5m and keep away the barrier instruction.
In the specific implementation process, the image acquisition module is carried on the unmanned aerial vehicle and used for acquiring the electric power inspection image in the obstacle avoidance inspection path and transmitting the electric power inspection image to the front-end image processing module.
In particular, the image acquisition module may be implemented by using a camera, such as an infrared camera, a visible light camera, and the like.
In a specific implementation process, the front-end image processing module is used for performing image rectification according to the pixel-level offset between the target position and the image center position in the image frame and automatically adjusting the exposure according to the histogram of the rectified image frame.
Wherein the front-end image processing module comprises:
the target identification submodule is used for judging the type of the electric power component to be shot according to the component name of the shooting point of the unmanned aerial vehicle, calling a pre-trained target identification model and carrying out target identification on the image frame in the video stream;
a target determination submodule for extracting all recognition results of types of power components to be photographed, calculating the area of each target, taking the target with the largest area as a final target and confirming coordinate information thereof;
the image deviation rectifying submodule is used for calculating the pixel-level offset of the position of the final target from the central position of the image so as to control the tripod head to adjust the angle and enable the target to be positioned at the central position of the lens to realize image deviation rectification;
and the exposure adjusting submodule is used for judging the exposure state of the current image frame according to the histogram of the current rectified image frame and further adjusting the exposure amount of the camera so as to enable the brightness of the image frame to be within a normal range.
Specifically, in the image rectification submodule, based on the pixel-level offset of the position of the final target from the image center position, the adjustment parameter of the pan-tilt is obtained according to the relationship among the image coordinate system, the camera coordinate system and the world coordinate system.
In the exposure adjustment submodule, the exposure state includes normal exposure, overexposure, and underexposure.
In the exposure adjustment sub-module, if the part of the histogram of the current rectified image frame, which exceeds 60%, is distributed on the left side, the exposure state of the current image frame is underexposed.
In the exposure adjustment sub-module, if the part of the histogram of the current rectified image frame, which exceeds 60%, is distributed on the right side, the exposure state of the current image frame is overexposure.
In the exposure adjustment submodule, if the histogram distribution of the current rectified image frame is balanced, the exposure state of the current image frame is normal exposure.
In some other embodiments, the communication system includes a 4G/5G module.
The 4G/5G module is used for transmitting the key data transmission information of the unmanned aerial vehicle through the 4G/5G link.
For example: the passageway between current unmanned aerial vehicle control end and the unmanned aerial vehicle body is the radio mode, and certain transmitting power can't break through limit distance. When surpassing limit distance and carrying out remote communication, switch over control command to 4G 5G communication network, satisfy the radio communication condition after between control end and the unmanned aerial vehicle, hand over the right of controller back radio mode communication again, the unmanned aerial vehicle flight control distance can be extended by a wide margin to this scheme, breaks through current limit, satisfies remote communication demand under the complex environment such as electric power inspection in-process massif/building shelter from.
The unmanned aerial vehicle judges whether the unmanned aerial vehicle approaches the limit distance of the arrival control instruction through the received control end radio signal strength (control instruction analysis sensitivity threshold) in the flight process, after the unmanned aerial vehicle approaches the limit distance of the arrival, the unmanned aerial vehicle sends a request for switching a data transmission link to the control end, after the control end confirms, a 4G/5G module (the unmanned aerial vehicle is in a dormant state during normal flight) is started, a 5G network (registration process) is registered, and the 5G network signal strength is measured. When the measurement meets the stable access threshold of the unmanned aerial vehicle (whether the intensity of the main service 5G area meets a certain threshold in a certain time period or not) the control end is requested to switch the control command channel to the 5G network again through the radio signal. Once the control end instructs the unmanned aerial vehicle to switch the control instruction path to the 5G network (for the unmanned aerial vehicle control instruction, the 5G ultra-reliable low-delay communication URLLC must be started, corresponding slice data is configured to guarantee the high-reliability low-delay control of the unmanned aerial vehicle), the control end and the unmanned aerial vehicle 5G module are accessed to the operator 5G network and the unmanned aerial vehicle control platform is logged in, the control end and the unmanned aerial vehicle close the radio communication module, and the control instruction path at the later stage is completely transmitted to the unmanned aerial vehicle control platform by the 5G network to be processed and carried.
After the control instruction access is switched to the 5G network, the control end can know the position of the unmanned aerial vehicle in real time through the 5G network, the unmanned aerial vehicle monitors the distance from the control end in real time through the self-positioning module, and once the distance is stably less than a certain threshold (for example, the current stage is directly connected with a control limit of 7 km), the unmanned aerial vehicle reports through the 5G network to start a radio module request to the control end. The control end issues confirmation of allowing the radio module to be started through the 5G network, and autonomously starts the radio signal module of the control end to send a handshake test signal. And the unmanned aerial vehicle automatically starts the radio module and starts scanning the handshake test signal of the control end after receiving the confirmation. If the handshake test signal keeps stable strength and quality (meets the analysis sensitivity of radio signals) within a certain time period, the unmanned aerial vehicle requests the control end to switch back to a direct connection mode (radio communication) through the 5G network. The control end sends the confirmation switch back through the 5G network, and simultaneously receives the unmanned aerial vehicle switch back signal at the radio signal end, and once the unmanned aerial vehicle receives the switch back notification in the radio signal, the control end closes the 5G module (differentiation process). After receiving the radio communication confirmation of switching back on the 5G network, the drone returns the switching back to the notification through the radio module, and closes the 5G module (differentiation process). The control end and the unmanned aerial vehicle enter a radio direct connection control stage again.
In other embodiments, the communication system is further internally provided with a first security chip, and the first security chip establishes trusted connection communication with the unmanned aerial vehicle management and control platform through a secure access gateway.
The unmanned aerial vehicle management and control platform is connected with an unmanned aerial vehicle ground control station and a remote control terminal in a trusted mode, and the unmanned aerial vehicle ground control station and the remote control terminal are internally provided with a second safety chip and a third safety chip respectively.
Be applied to unmanned aerial vehicle that electric power patrolled and examined still establishes credible connection communication respectively with unmanned aerial vehicle ground control station and remote control terminal, be provided with second safety chip and third safety chip in unmanned aerial vehicle ground station and the remote control terminal respectively.
The first secure chip, the second secure chip and the third secure chip of the present embodiment are provided with support for operation of algorithms such as the cryptographic SM1/2/3/4, and securely store secret information such as a secret key and a digital certificate. The first safety chip, the second safety chip and the third safety chip also support high-speed communication interfaces, the processing data delay is low, the throughput is high, and the negative influence on the original electric power unmanned aerial vehicle service flow after the national encryption algorithm is added is reduced. The system has comprehensive protection technology and high safety, can prevent various kinds of invasion and stealing attacks, and guarantees the safety of the whole system on upper-layer services.
In the embodiment, the power system comprises an electronic speed regulator, a propeller, a motor and a power supply, and the specific structure of the power system can be specifically selected by a person skilled in the art according to actual situations, and the detailed description is omitted here.
In one or more embodiments, there is provided an operating method of the unmanned aerial vehicle for power patrol inspection as described above, including:
step 1: sensing an obstacle in front of the unmanned aerial vehicle by using a high-frequency millimeter wave signal of the obstacle avoidance module, transmitting the obstacle to the main control module, and forming an obstacle avoidance routing inspection path by the main control module;
step 2: the unmanned aerial vehicle performs power inspection according to the obstacle avoidance inspection path, and acquires power inspection images by using the image acquisition module and transmits the power inspection images to the front-end image processing module;
and step 3: and the front-end image processing module is used for correcting image deviation according to the pixel-level offset between the target position in the image frame and the central position of the image and automatically adjusting the exposure according to the histogram of the corrected image frame.
In one or more embodiments, there is also provided a power patrol system including a drone for use in power patrol as described above.
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 (18)
1. An unmanned aerial vehicle applied to power inspection comprises a power system, a control system and a communication system; the control system is communicated with the remote monitoring terminal through a communication system; the system is characterized in that the control system comprises an obstacle avoidance module, an image acquisition module, a front-end image processing module and a main control module;
the obstacle avoidance module is used for sensing obstacles in front of the unmanned aerial vehicle based on the high-frequency millimeter wave signals and transmitting the obstacles to the main control module, and the main control module forms an obstacle avoidance routing inspection path;
the image acquisition module is carried on the unmanned aerial vehicle and used for acquiring the power inspection image in the obstacle avoidance inspection path and transmitting the power inspection image to the front-end image processing module;
the front-end image processing module is used for correcting the image according to the pixel-level offset between the target position and the central position of the image in the image frame and automatically adjusting the exposure according to the histogram of the image frame after correction.
2. An unmanned aerial vehicle for power inspection according to claim 1, wherein the obstacle avoidance module includes:
the millimeter wave radar antenna is positioned at the front end of the unmanned aerial vehicle;
the radio frequency transmitter is used for modulating a signal transmitted by the radar signal source into an intermediate frequency signal, forming a high-frequency millimeter wave signal through up-conversion, and radiating the high-frequency millimeter wave signal through the millimeter wave radar antenna after amplification;
the receiver is used for receiving the echo through the millimeter wave radar antenna, performing frequency mixing with the electromagnetic wave generated by the local oscillator after amplification, and obtaining an intermediate frequency signal after amplitude amplification; one path of the intermediate frequency signal is subjected to envelope detection to judge whether an obstacle exists on the current side, and the other path of the intermediate frequency signal is subjected to obstacle sensing and automatically generates alarm information.
3. An unmanned aerial vehicle for power inspection according to claim 2, wherein the millimeter wave radar antenna is in the form of a patch antenna array.
4. A drone for power routing inspection according to claim 3, characterised in that the amplitude and phase of the feed of each patch antenna determine the steering of the beam.
5. An unmanned aerial vehicle for power inspection according to claim 2, wherein the millimeter wave radar antenna is further connected to a transmit-receive switch for controlling the millimeter wave radar antenna to transmit or receive electromagnetic waves.
6. An unmanned aerial vehicle for power inspection according to claim 2, wherein the millimeter wave radar antenna includes a feed antenna and an artificial metamaterial planar lens, the feed antenna is an antenna operating in 77GHz band, and the artificial metamaterial planar lens is used for converging and diverging electromagnetic waves.
7. The unmanned aerial vehicle for power inspection according to claim 1, wherein the front-end image processing module includes:
the target identification submodule is used for judging the type of the electric power component to be shot according to the component name of the shooting point of the unmanned aerial vehicle, calling a pre-trained target identification model and carrying out target identification on the image frame in the video stream;
the target determination submodule is used for extracting all recognition results of the types of the power components to be shot, calculating the area of each target, taking the target with the largest area as a final target and confirming coordinate information of the final target;
the image deviation rectifying submodule is used for calculating the pixel-level offset of the position of the final target from the central position of the image so as to control the tripod head to adjust the angle and enable the target to be positioned at the central position of the lens to realize image deviation rectification;
and the exposure adjusting sub-module is used for judging the exposure state of the current image frame according to the histogram of the current rectified image frame and further adjusting the exposure of the camera so as to enable the brightness of the image frame to be within a normal range.
8. An unmanned aerial vehicle for power inspection according to claim 7, wherein in the image rectification submodule, an adjustment parameter of the pan/tilt head is obtained based on a pixel-level offset of the position of the final target from the center position of the image, according to a relationship of an image coordinate system, a camera coordinate system, and a world coordinate system.
9. A drone for power routing inspection according to claim 7, wherein in the exposure adjustment submodule, the exposure status includes normal exposure, overexposure and underexposure.
10. An unmanned aerial vehicle for power inspection according to claim 7, wherein in the exposure adjustment sub-module, if more than 60% of the histogram of the current rectified image frame is distributed on the left side, the exposure status of the current image frame is underexposed.
11. An unmanned aerial vehicle for power inspection according to claim 7, wherein in the exposure adjustment sub-module, if more than 60% of the histogram of the current rectified image frame is distributed on the right side, the exposure status of the current image frame is overexposed.
12. An unmanned aerial vehicle for power inspection according to claim 7, wherein in the exposure adjustment sub-module, if histogram distribution of the current rectified image frame is balanced, the exposure state of the current image frame is normal exposure.
13. A drone applied to power routing inspection according to claim 1, characterised in that the communication system comprises 4G/5G modules.
14. The unmanned aerial vehicle applied to power inspection according to claim 1, wherein a first security chip is further arranged in the communication system, and the first security chip establishes trusted connection communication with the unmanned aerial vehicle management and control platform through a secure access gateway.
15. An unmanned aerial vehicle applied to power inspection according to claim 14, wherein the unmanned aerial vehicle management and control platform further establishes trusted connection communication with an unmanned aerial vehicle ground control station and a remote control terminal, and a second security chip and a third security chip are respectively arranged in the unmanned aerial vehicle ground station and the remote control terminal.
16. The unmanned aerial vehicle applied to power inspection according to claim 14, wherein the unmanned aerial vehicle applied to power inspection further establishes trusted connection communication with an unmanned aerial vehicle ground control station and a remote control terminal, and a second security chip and a third security chip are respectively arranged in the unmanned aerial vehicle ground control station and the remote control terminal.
17. A method of operating a drone for power inspection according to any one of claims 1 to 16, characterized in that it comprises:
sensing an obstacle in front of the unmanned aerial vehicle by using a high-frequency millimeter wave signal of the obstacle avoidance module, transmitting the obstacle to the main control module, and forming an obstacle avoidance routing inspection path by the main control module;
the unmanned aerial vehicle performs power inspection according to the obstacle avoidance inspection path, and acquires power inspection images by using the image acquisition module and transmits the power inspection images to the front-end image processing module;
and the front-end image processing module is used for correcting image deviation according to the pixel-level offset between the target position in the image frame and the central position of the image and automatically adjusting the exposure according to the histogram of the corrected image frame.
18. A power inspection system including a drone for power inspection according to any one of claims 1 to 16.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211469937.4A CN115825957A (en) | 2022-11-23 | 2022-11-23 | Unmanned aerial vehicle and method applied to power inspection and power inspection system |
| PCT/CN2023/111024 WO2024109161A1 (en) | 2022-11-23 | 2023-08-03 | Unmanned aerial vehicle applied to power grid inspection, method, and power grid inspection system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211469937.4A CN115825957A (en) | 2022-11-23 | 2022-11-23 | Unmanned aerial vehicle and method applied to power inspection and power inspection system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115825957A true CN115825957A (en) | 2023-03-21 |
Family
ID=85530378
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211469937.4A Pending CN115825957A (en) | 2022-11-23 | 2022-11-23 | Unmanned aerial vehicle and method applied to power inspection and power inspection system |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN115825957A (en) |
| WO (1) | WO2024109161A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2024109161A1 (en) * | 2022-11-23 | 2024-05-30 | 国网智能科技股份有限公司 | Unmanned aerial vehicle applied to power grid inspection, method, and power grid inspection system |
Family Cites Families (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107729808B (en) * | 2017-09-08 | 2020-05-01 | 国网山东省电力公司电力科学研究院 | Intelligent image acquisition system and method for unmanned aerial vehicle inspection of power transmission line |
| CN107678030A (en) * | 2017-10-31 | 2018-02-09 | 成都瑞达物联科技有限公司 | A kind of unmanned plane obstacle avoidance system based on millimetre-wave radar |
| CN108255189A (en) * | 2018-01-31 | 2018-07-06 | 佛山市神风航空科技有限公司 | A kind of power patrol unmanned machine system |
| KR102554336B1 (en) * | 2018-07-18 | 2023-07-12 | 한국전력공사 | Apparatus and method for monitoring power facilities |
| CN110703800A (en) * | 2019-10-29 | 2020-01-17 | 国网江苏省电力有限公司泰州供电分公司 | Unmanned aerial vehicle-based intelligent identification method and system for electric power facilities |
| CN111324143A (en) * | 2020-02-28 | 2020-06-23 | 广东电网有限责任公司 | Unmanned aerial vehicle autonomous patrol obstacle avoidance system, method and computer equipment |
| CN213457366U (en) * | 2020-11-12 | 2021-06-15 | 国家电网有限公司 | Autonomous flight auxiliary system based on millimeter wave radar |
| CN112164015B (en) * | 2020-11-30 | 2021-04-23 | 中国电力科学研究院有限公司 | Monocular vision autonomous inspection image acquisition method and device and power inspection unmanned aerial vehicle |
| CN114253300B (en) * | 2021-12-03 | 2023-04-07 | 国网智能科技股份有限公司 | Unmanned aerial vehicle inspection system and method for gridding machine nest |
| CN115578662A (en) * | 2022-11-23 | 2023-01-06 | 国网智能科技股份有限公司 | Unmanned aerial vehicle front-end image processing method, system, storage medium and equipment |
| CN115825957A (en) * | 2022-11-23 | 2023-03-21 | 国网智能科技股份有限公司 | Unmanned aerial vehicle and method applied to power inspection and power inspection system |
-
2022
- 2022-11-23 CN CN202211469937.4A patent/CN115825957A/en active Pending
-
2023
- 2023-08-03 WO PCT/CN2023/111024 patent/WO2024109161A1/en unknown
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2024109161A1 (en) * | 2022-11-23 | 2024-05-30 | 国网智能科技股份有限公司 | Unmanned aerial vehicle applied to power grid inspection, method, and power grid inspection system |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2024109161A1 (en) | 2024-05-30 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US10490079B2 (en) | Method and device for selecting and transmitting sensor data from a first motor vehicle to a second motor vehicle | |
| EP3591412B1 (en) | Airborne system and method for the characterisation and measurement of radiating systems or antennas | |
| EP2022026B1 (en) | Traffic sensor incorporating a video camera and method of operating same | |
| CN110782465B (en) | Ground segmentation method and device based on laser radar and storage medium | |
| US7250853B2 (en) | Surveillance system | |
| JPH07151857A (en) | System for tracking and guiding millimeter wave of three-dimensional image | |
| CN110244314A (en) | One kind " low slow small " target acquisition identifying system and method | |
| WO2024109161A1 (en) | Unmanned aerial vehicle applied to power grid inspection, method, and power grid inspection system | |
| CN107219520A (en) | A kind of anti-unmanned plane distributed networking detection method and its device | |
| CN108225111B (en) | Distributed anti-unmanned aerial vehicle system and method for intercepting unmanned aerial vehicle by interference | |
| US11578952B2 (en) | Directional high-energy radio frequency weapon | |
| US20230269477A1 (en) | Auto-focus tracking for remote flying targets | |
| US20040145511A1 (en) | Method for recognizing and identifying objects | |
| CN115880368A (en) | Method and system for detecting obstacle of power grid inspection unmanned aerial vehicle and storage medium | |
| CN113220010A (en) | Intelligent prevention and control system for unmanned aerial vehicle | |
| CN112804454A (en) | Wide area warning system and warning method thereof | |
| CN109708659B (en) | Distributed intelligent photoelectric low-altitude protection system | |
| CN111399014A (en) | Local stereoscopic vision infrared camera system and method for monitoring wild animals | |
| KR102222165B1 (en) | Drone Detection System with Multiple Cameras | |
| CN116017482A (en) | Ground-to-air base station phased array antenna self-adaptive adjustment method and ground platform | |
| CN108924494A (en) | Aerial monitoring system based on ground | |
| CN212255741U (en) | Intelligent runway scanning system and intelligent runway scanning vehicle | |
| CN112925339A (en) | Intrusion prevention system equipment for unmanned small aircraft | |
| Zhang et al. | Research and verification of sensing information assisted millimeter wave beam tracking algorithm for automated vehicles | |
| RU2742130C1 (en) | Mobile system for detection of aerial objects |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |