WO2024109161A1 - Unmanned aerial vehicle applied to power grid inspection, method, and power grid inspection system - Google Patents

Abstract

An unmanned aerial vehicle applied to power grid inspection, a method, and a power grid inspection system. The unmanned aerial vehicle comprises a power system, a control system, and a communication system; the control system communicates with a remote monitoring terminal by means of 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 an obstacle in front of the unmanned aerial vehicle on the basis of a high-frequency millimeter-wave signal and transmitting to the main control module, and the main control module forms an obstacle avoidance inspection path; and the image acquisition module is mounted on the unmanned aerial vehicle and is used for acquiring a power grid inspection image in the obstacle avoidance inspection path and transmitting to the front-end image processing module; and the front-end image processing module is used for performing image correction according to the pixel-level offset between a target position in the image frame and the central position of the image, and automatically adjusting the exposure amount according to a histogram of the corrected image frame.

Description

一种应用于电力巡检的无人机、方法及电力巡检***A UAV, method and power inspection system for power inspection

本申请要求在2022年11月23日提交中国专利局、申请号为202211469937.4的中国专利申请的优先权，该申请的全部内容通过引用结合在本申请中。This application claims priority to the Chinese patent application filed with the China Patent Office on November 23, 2022, with application number 202211469937.4, the entire contents of which are incorporated by reference into this application.

技术领域Technical Field

本申请属于电力巡检无人机技术领域，例如涉及一种应用于电力巡检的无人机、方法及电力巡检***。The present application belongs to the technical field of electric power inspection drones, and for example relates to a drone, method and electric power inspection system applied to electric power inspection.

背景技术Background technique

无人机作为电力巡检新兴工具，正在电网智能化道路上发挥日益重要的作用，相比较传统人工巡检，无人机巡检的优势在于：无人机巡检作业环境适应性强，无人机巡检可以克服作业环境的恶劣条件，在一些复杂环境如遭遇冰雪、地震、滑坡等自然灾害天气后，无人机弥补了巡检人员交通不便的劣势，可以迅速对现场环境进行作业。无人机巡检代替人工巡检，降低了劳动强度和运营成本，弥补了人工巡检存在的易疲劳、视觉盲区等问题，提高了巡检工作的准确度和速度，进而提高了电力巡检工作的效率。As an emerging tool for power inspection, drones are playing an increasingly important role in the intelligentization of power grids. Compared with traditional manual inspections, drone inspections have the following advantages: drone inspections have strong adaptability to the working environment and can overcome the harsh conditions of the working environment. In some complex environments, such as natural disasters such as ice and snow, earthquakes, and landslides, drones make up for the inconvenience of transportation for inspection personnel and can quickly operate on the site. Drone inspections replace manual inspections, reduce labor intensity and operating costs, make up for the problems of fatigue and visual blind spots in manual inspections, improve the accuracy and speed of inspections, and thus improve the efficiency of power inspections.

但目前用于电力巡检的无人机存在以下缺陷：However, the drones currently used for power inspections have the following defects:

(1)用于电力巡检的无人机虽具备超声、视觉等常规避障手段，但对于细小物体的感知能力有限，当遇到导线、较短的树枝等物体时超声与视觉常常难以察觉，导致无人机突破与导线的安全距离，引发撞线等后果，造成人身、设备安全受损。(1) Although drones used for power inspections are equipped with conventional obstacle avoidance methods such as ultrasound and vision, their ability to perceive small objects is limited. When encountering objects such as wires and short branches, ultrasound and vision are often difficult to detect, causing drones to exceed the safe distance from the wires, resulting in consequences such as collisions with the wires, causing damage to personal and equipment safety.

(2)无人机自主巡检时的拍摄点位完全依赖于前期的航线规划，部分拍摄电力部件的点位存在偏差，导致要拍摄的电力部件在图像中不完整，或位于图像边缘处，由于巡检时间不定、环境天气不定，拍摄的图像可能存在过曝或欠曝情况，这将对后期图像分析效果产生直接影响。(2) The shooting points during autonomous inspections by drones are completely dependent on the previous route planning. There are deviations in the shooting points of some power components, resulting in the power components to be photographed being incomplete in the image or being located at the edge of the image. Due to the uncertain inspection time and environmental weather, the captured images may be overexposed or underexposed, which will have a direct impact on the subsequent image analysis results.

发明内容Summary of the invention

本申请提供一种应用于电力巡检的无人机、方法及电力巡检***，其能够提高无人机对细小障碍物的感知能力以及显著提升图像质量，为后续的图像分析奠定良好的基础。The present application provides a drone, method and power inspection system for power inspection, which can improve the drone's perception of small obstacles and significantly improve image quality, laying a good foundation for subsequent image analysis.

本申请的第一个方面提供了一种应用于电力巡检的无人机。 A first aspect of the present application provides a drone for power inspection.

一种应用于电力巡检的无人机，包括动力***、控制***和通信***；所述控制***通过通信***与远程监控终端相互通信；所述控制***包括避障模块、图像采集模块、前端图像处理模块和主控制模块；A drone used for power inspection, comprising a power system, a control system and a communication system; the control system communicates with a 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;

所述避障模块，设置为基于高频毫米波信号感知无人机前方的障碍物并传送至主控制模块，由主控制模块形成避障巡检路径；The obstacle avoidance module is configured to sense obstacles in front of the drone based on high-frequency millimeter wave signals and transmit them to the main control module, which forms an obstacle avoidance inspection path;

所述图像采集模块，搭载在无人机上，设置为采集避障巡检路径中的电力巡检图像并传送至前端图像处理模块；The image acquisition module is mounted on the drone and is configured to acquire power inspection images in the obstacle avoidance inspection path and transmit them to the front-end image processing module;

所述前端图像处理模块，用于设置为根据图像帧中的目标位置与图像中心位置的像素级偏移量进行图像纠偏，及根据纠偏后的图像帧的直方图进行曝光量的自动调整。The front-end image processing module is configured to perform image correction according to the pixel-level offset between the target position in the image frame and the image center position, and automatically adjust the exposure according to the histogram of the image frame after correction.

本申请的第二个方面提供了一种应用于电力巡检的无人机的工作方法。A second aspect of the present application provides a method for operating a drone used for power inspection.

一种如上述所述的应用于电力巡检的无人机的工作方法，其包括：A working method of a drone applied to power inspection as described above comprises:

利用避障模块的高频毫米波信号感知无人机前方的障碍物并传送至主控制模块，由主控制模块形成避障巡检路径；The high-frequency millimeter wave signal of the obstacle avoidance module is used to sense obstacles in front of the drone and transmit them to the main control module, which then forms an obstacle avoidance inspection path.

无人机根据避障巡检路径后进行电力巡检，利用图像采集模块采集电力巡检图像并传送至前端图像处理模块；The drone conducts power inspection according to the obstacle avoidance inspection path, uses the image acquisition module to collect power inspection images and transmits them to the front-end image processing module;

利用前端图像处理模块根据图像帧中的目标位置与图像中心位置的像素级偏移量进行图像纠偏及根据纠偏后的图像帧的直方图进行曝光量的自动调整。The front-end image processing module is used to perform image correction according to the pixel-level offset between the target position in the image frame and the image center position, and the exposure is automatically adjusted according to the histogram of the image frame after correction.

本申请的第三个方面提供了一种电力巡检***。A third aspect of the present application provides a power inspection system.

一种电力巡检***，其包括如上述所述的应用于电力巡检的无人机。A power inspection system includes the drone used for power inspection as described above.

附图说明BRIEF DESCRIPTION OF THE DRAWINGS

构成本申请的一部分的说明书附图用来提供对本申请的进一步理解，本申请的示意性实施例及其说明用于解释本申请。The accompanying drawings, which constitute a part of the present application, are used to provide a further understanding of the present application. The exemplary embodiments of the present application and their descriptions are used to explain the present application.

图1是本申请实施例的一种应用于电力巡检的无人机结构示意图；FIG1 is a schematic diagram of the structure of a drone used for power inspection according to an embodiment of the present application;

图2(a)是本申请实施例的毫米波雷达模块主视图；FIG2( a ) is a front view of a millimeter wave radar module according to an embodiment of the present application;

图2(b)是本申请实施例的毫米波雷达模块剖视图；FIG2( b ) is a cross-sectional view of a millimeter-wave radar module according to an embodiment of the present application;

图3(a)是本申请实施例的馈源天线主视图； FIG3( a ) is a front view of a feed antenna according to an embodiment of the present application;

图3(b)是本申请实施例的馈源天线后视图；FIG3( b ) is a rear view of the feed antenna according to an embodiment of the present application;

图4(a)是本申请实施例的平面透镜的俯视图；FIG4( a ) is a top view of a planar lens according to an embodiment of the present application;

图4(b)是本申请实施例的平面透镜的侧视图；FIG4( b ) is a side view of a planar lens according to an embodiment of the present application;

图5是本申请实施例的避障模块结构图；FIG5 is a structural diagram of an obstacle avoidance module according to an embodiment of the present application;

图6本申请实施例的一种应用于电力巡检的无人机结构示意图。FIG6 is a schematic diagram of the structure of a drone used for power inspection in an embodiment of the present application.

图中，
1、馈源天线；2、人工超材料平面透镜；3、无人机壳体；4、天线阵列；5、
馈电点；
100、动力***；
200、控制***；210、避障模块；220、图像采集模块；230、前端图像处理
模块；240、主控制模块；
211、毫米波雷达天线；212、射频发射机；213、接收机；214、收发转换开
关；215、算法模块；216、飞控模块；217、显示平台；
231、目标识别子模块；232、目标确定子模块；233、图像纠偏子模块；234、
曝光调整子模块；
300、通信***。In the figure,
1. Feed antenna; 2. Artificial metamaterial flat lens; 3. Drone shell; 4. Antenna array; 5.
Feed point;
100. Power system;
200, control system; 210, obstacle avoidance module; 220, image acquisition module; 230, front-end image processing module; 240, main control module;
211. Millimeter wave radar antenna; 212. RF transmitter; 213. Receiver; 214. Transmitter and receiver switch; 215. Algorithm module; 216. Flight control module; 217. Display platform;
231. Target recognition submodule; 232. Target determination submodule; 233. Image correction submodule; 234.
Exposure adjustment submodule;
300. Communication system.

具体实施方式Detailed ways

下面结合附图与实施例对本申请作说明。The present application is described below with reference to the accompanying drawings and embodiments.

应该指出，以下详细说明都是示例性的，旨在对本申请提供说明。除非另有指明，本文使用的所有技术和科学术语具有与本申请所属技术领域的普通技术人员通常理解的相同含义。It should be noted that the following detailed descriptions are exemplary and intended to provide illustrations for the present application. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present application belongs.

需要注意的是，这里所使用的术语仅是为了描述具体实施方式。如在这里所使用的，除非上下文另外明确指出，否则单数形式也意图包括复数形式，此外，还应当理解的是，当在本说明书中使用术语“包含”和/或“包括”时，其指明存在特征、步骤、操作、器件、组件和/或它们的组合。It should be noted that the terms used herein are only for describing specific embodiments. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and/or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and/or combinations thereof.

参照图1和图6，本实施例提供了一种应用于电力巡检的无人机，其包括动力***100、控制***200和通信***300；所述控制***200通过通信***300与远程监控终端相互通信；所述控制***200包括避障模块210、图像采集模块220、前端图像处理模块230和主控制模块240。1 and 6 , the present embodiment provides a drone for power inspection, which includes a power system 100, a control system 200 and a communication system 300; the control system 200 communicates with a remote monitoring terminal via the communication system 300; the control system 200 includes an obstacle avoidance module 210, an image acquisition module 220, a front-end image processing module 230 and a main control module 240.

此外，需要说明的是，所述控制***200除了上述模块之外，还包括惯性测 量单元(Inertial Measurement Unit，IMU)、云台控制模块、各类姿态、位置传感器模块等。In addition, it should be noted that, in addition to the above modules, the control system 200 also includes an inertial measurement Inertial Measurement Unit (IMU), gimbal control module, various attitude and position sensor modules, etc.

在一实施例中，所述避障模块210用于基于高频毫米波信号感知无人机前方的障碍物并传送至主控制模块240，由主控制模块240形成避障巡检路径。In one embodiment, the obstacle avoidance module 210 is used to sense obstacles in front of the drone based on high-frequency millimeter wave signals and transmit them to the main control module 240, and the main control module 240 forms an obstacle avoidance inspection path.

在一实施例中，如图5所示，本实施例的所述避障模块210，包括：In one embodiment, as shown in FIG5 , the obstacle avoidance module 210 of this embodiment includes:

毫米波雷达天线211，其位于无人机前端；A millimeter wave radar antenna 211, which is located at the front end of the UAV;

射频发射机212，其用于将雷达信号源发射的信号调制成中频信号，并经过上变频形成高频毫米波信号，放大后经毫米波雷达天线211辐射出去；The radio frequency transmitter 212 is used to modulate the signal transmitted by the radar signal source into an intermediate frequency signal, and then up-convert it into a high-frequency millimeter wave signal, which is then amplified and radiated out through the millimeter wave radar antenna 211;

接收机213，其用于通过毫米波雷达天线211接收回波，放大后与本振产生的电磁波进行混频，幅度放大后得到中频信号；中频信号一路经包络检波来判断当前方是否存在障碍物，中频信号另一路进行障碍物感知并自动生成告警信息。The receiver 213 is used to receive the echo through the millimeter wave radar antenna 211, mix it with the electromagnetic wave generated by the local oscillator after amplification, and obtain the intermediate frequency signal after amplitude amplification; one path of the intermediate frequency signal is envelope-detected to determine whether there is an obstacle in the current direction, and the other path of the intermediate frequency signal is used to sense the obstacle and automatically generate warning information.

在一实施例中，所述毫米波雷达天线211为贴片天线阵列形式，每一个贴片天线的馈电幅度与相位决定波束的转向。In one embodiment, the millimeter wave radar antenna 211 is in the form of a patch antenna array, and the feeding amplitude and phase of each patch antenna determine the steering of the beam.

其中，如图2(a)和图2(b)所示，所述毫米波雷达天线211包括馈源天线1与人工超材料平面透镜2，馈源天线1采用工作在77GHz频段的天线，人工超材料平面透镜2用于对电磁波的汇聚与发散。As shown in FIG. 2( a ) and FIG. 2( b ), the millimeter wave radar antenna 211 includes a feed antenna 1 and an artificial metamaterial planar lens 2 . The feed antenna 1 uses an antenna operating in the 77 GHz frequency band, and the artificial metamaterial planar lens 2 is used to converge and diverge electromagnetic waves.

馈源天线1采用工作在77GHz频段的天线阵列4(如3*3贴片)，如图3(a)和图3(b)所示。图3(b)中5为馈电点。The feed antenna 1 uses an antenna array 4 (such as a 3*3 patch) operating in the 77 GHz frequency band, as shown in Figure 3(a) and Figure 3(b). In Figure 3(b), 5 is a feeding point.

采用贴片天线阵列的优点在于，贴片天线阵列具有波束可控、易于集成的特点，基于天线阵列综合理论，通过调整每一个贴片天线的馈电幅度与相位，可以实现波束的转向，达到相控扫描的效果，从而提到了传统雷达所使用的机械旋转云台。The advantage of using a patch antenna array is that the patch antenna array has the characteristics of controllable beam and easy integration. Based on the antenna array synthesis theory, by adjusting the feeding amplitude and phase of each patch antenna, the beam can be steered to achieve the effect of phased scanning, thus mentioning the mechanical rotating gimbal used in traditional radars.

馈源天线理论上可以采用任何形式的77GHz频段的天线，举例来说，一般透镜天线常采用喇叭天线作为馈源天线，原因是喇叭天线具有指向性强、增益高、结构简单易于设计的特点，但喇叭天线是一种三维立体结构，不易于集成，且需要其对准透镜中心，对于易产生震动的无人机平台来说对机械固定结构要求过高，因此不采用。本实施例采用的贴片阵列天线为二维平面结构，厚度较薄可忽略不计，方向图主瓣波束宽度较大，受震动影响较小，容错率较大。平面透镜对馈源天线的入射角度有一定的要求，假如馈源天线入射角偏移量太大，则透镜的折射效果会变差，但如果馈源天线无入射角偏差，则需要假如机械转动结构辅助天线进行扫描，结构笨重且效果不好，因此采用了3*3阵列，形成了一个小型相控阵，既可以通过改变阵元的幅度相位对馈源天线扫描角进行微量偏移(阵元数量越多，在增益降低不大的情况下可达到的扫描角越大)，又可以将扫描角限制 在平面透镜可接受的入射角偏移范围内，本实施例提出的3*3阵列可产生60度的扫描角，满足平面透镜入射角要求，且保有一定的余量。Theoretically, the feed antenna can use any form of 77GHz frequency band antenna. For example, the general lens antenna often uses a horn antenna as the feed antenna because the horn antenna has the characteristics of strong directivity, high gain, simple structure and easy design. However, the horn antenna is a three-dimensional structure, which is not easy to integrate and needs to be aligned with the center of the lens. For the UAV platform that is prone to vibration, the mechanical fixing structure requirements are too high, so it is not used. The patch array antenna used in this embodiment is a two-dimensional planar structure with a negligible thin thickness, a large main lobe beam width of the directional pattern, less affected by vibration, and a large fault tolerance. The plane lens has certain requirements for the incident angle of the feed antenna. If the incident angle offset of the feed antenna is too large, the refraction effect of the lens will deteriorate. However, if the feed antenna has no incident angle deviation, it is necessary to use a mechanical rotating structure to assist the antenna in scanning. The structure is bulky and the effect is not good. Therefore, a 3*3 array is used to form a small phased array. The scanning angle of the feed antenna can be slightly offset by changing the amplitude phase of the array element (the more array elements there are, the larger the scanning angle that can be achieved without much gain reduction), and the scanning angle can be limited Within the acceptable incident angle deviation range of the plane lens, the 3*3 array proposed in this embodiment can generate a scanning angle of 60 degrees, which meets the incident angle requirement of the plane lens and retains a certain margin.

在本实施例中，如图4(a)和图4(b)所示，人工超材料平面透镜2相比于传统的龙伯透镜和梯度折射率透镜，平面透镜具有体积小、重量轻等优点，这些优点使其更易于集成在空间狭小的应用场景之中。根据麦克斯韦方程可得电磁波在介质中的传播速度其中ε和μ为介质的有效介电常数和有效磁导率，ε₀和μ₀为真空介电常数和真空磁导率，ε_r和μ_r为相对介电常数和相对磁导率。可以看出传播速度仅与材料的相对介电常数、相对磁导率有关，若能改变这两项性质，则可以实现对电磁波传播方向的控制，人工电磁超材料由“介质+导体”的结构构成，通过改变导体形状调整超材料结构的相对介电常数与相对磁导率。又由电磁波折射率的定义其中c为真空中的光速，可以看出相对介电常数与相对磁导率可以进一步对折射率产生影响，从而实现对电磁波的汇聚与发散。In this embodiment, as shown in FIG4(a) and FIG4(b), the artificial metamaterial plane lens 2 has advantages such as small size and light weight compared to the traditional Luneburg lens and gradient refractive index lens, which makes it easier to integrate into application scenarios with limited space. According to Maxwell's equations, the propagation speed of electromagnetic waves in the medium is Among them, ε and μ are the effective dielectric constant and effective magnetic permeability of the medium, ε ₀ and μ ₀ are the vacuum dielectric constant and vacuum magnetic permeability, ε _r and μ _r are the relative dielectric constant and relative magnetic permeability. It can be seen that the propagation speed is only related to the relative dielectric constant and relative magnetic permeability of the material. If these two properties can be changed, the direction of electromagnetic wave propagation can be controlled. Artificial electromagnetic metamaterials are composed of a "medium + conductor" structure. The relative dielectric constant and relative magnetic permeability of the metamaterial structure are adjusted by changing the shape of the conductor. According to the definition of the refractive index of electromagnetic waves Where c is the speed of light in a vacuum. It can be seen that the relative dielectric constant and relative magnetic permeability can further affect the refractive index, thereby realizing the convergence and divergence of electromagnetic waves.

在一实施例中，所述毫米波雷达的馈源天线1采用3*3的贴片天线阵列，贴片天线阵元尺寸为2.1mm*1.8mm，阵元间距为0.6mm，整个馈源天线的尺寸为13mm*10mm，平面透镜焦距选为30mm，透镜由等厚度的2mm*2mm超材料单元组成，整个透镜的尺寸为50mm*50mm，共有25*25个“介质+导体”的结构单元。每个“介质+导体”的结构单元采用3层介质+导体的结构，以此达到足够的折射率。In one embodiment, the feed antenna 1 of the millimeter wave radar adopts a 3*3 patch antenna array, the patch antenna array element size is 2.1mm*1.8mm, the array element spacing is 0.6mm, the size of the entire feed antenna is 13mm*10mm, the focal length of the plane lens is selected to be 30mm, the lens is composed of 2mm*2mm metamaterial units of equal thickness, the size of the entire lens is 50mm*50mm, and there are 25*25 "medium + conductor" structural units. Each "medium + conductor" structural unit adopts a 3-layer medium + conductor structure to achieve a sufficient refractive index.

其中，单元的层数与透镜的传输系数、折射角范围有关。层数越多，透镜的传输系数越小，电磁波能穿过透镜的能量越少，效率越低，但折射角范围越大。因此在设计时需要折中考虑，本实施例中的三层“介质+导体”满足折射率要求，故采用三层结构。The number of layers of the unit is related to the transmission coefficient and refraction angle range of the lens. The more layers there are, the smaller 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 refraction angle range. Therefore, a compromise needs to be considered during design. The three layers of "medium + conductor" in this embodiment meet the refractive index requirements, so a three-layer structure is adopted.

本实施例的馈线天线1和人工超材料平面透镜2均与无人机本体形成共型结构，其模块集成在无人机壳体3内部的电路板上，其通信串口与飞控模块216预留I/O口连接，支持通过飞控模块216对毫米波雷达的扫描路径、周期等参数进行设置。The feed antenna 1 and the artificial metamaterial planar lens 2 of this embodiment both form a conformal structure with the drone body, and their modules are integrated on a circuit board inside the drone shell 3. Their communication serial port is connected to the reserved I/O port of the flight control module 216, supporting the setting of parameters such as the scanning path and period of the millimeter wave radar through the flight control module 216.

如图5所示，毫米波雷达天线211与射频发射机212、接收机213以及收发转换开关214相连，收发转换开关214控制毫米波雷达天线211发射或接收电磁波。其中射频发射机212可以将雷达信号源发射的信号调制成中频信号，并经过上变频形成高频毫米波信号，经射频功率放大器放大后通过天线辐射出去；收发转换开关214采用基片集成波导结构的毫米波双工器，该结构具有较低的***损耗，收发隔离度高且易于集成；接收机213通过雷达天线接收回波，依次经过接收机保护器、低噪声放大器、并与本振产生的电磁波进行混频，经过中频 放大器后得到幅度放大的中频信号。As shown in Figure 5, the millimeter wave radar antenna 211 is connected to the radio frequency transmitter 212, the receiver 213 and the transceiver conversion switch 214. The transceiver conversion switch 214 controls the millimeter wave radar antenna 211 to transmit or receive electromagnetic waves. The radio frequency transmitter 212 can modulate the signal emitted by the radar signal source into an intermediate frequency signal, and form a high-frequency millimeter wave signal through up-conversion, which is amplified by the radio frequency power amplifier and radiated through the antenna; the transceiver conversion switch 214 adopts a millimeter wave duplexer with a substrate integrated waveguide structure, which has low insertion loss, high transceiver isolation and is easy to integrate; the receiver 213 receives the echo through the radar antenna, passes through the receiver protector, the low noise amplifier, and is mixed with the electromagnetic wave generated by the local oscillator, and passes through the intermediate frequency After the amplifier, an intermediate frequency signal with amplitude amplification is obtained.

发射的雷达信号为调频连续波，可以记作：
The transmitted radar signal is a frequency modulated continuous wave, which can be expressed as:

其中A为信号幅度，T为发射时宽，f₀为基频77GHz，发射信号扫频带宽记作B，为调频斜率，为初始相位。Where A is the signal amplitude, T is the transmission time width, _f0 is the base frequency 77GHz, and the transmission signal sweep bandwidth is recorded as B. is the frequency modulation slope, is the initial phase.

则发射信号的相位可以记作 Then the phase of the transmitted signal can be written as

假设目标与雷达距离为R，电磁波传播速度为c，则接收信号可以记作 Assuming the distance between the target and the radar is R and the propagation speed of electromagnetic waves is c, the received signal can be written as

其中K为信号衰减，τ为接收信号时延，则回波信号的相位可以表示为则其与发射信号的差频信号相位可以表示为p_t(t)-p_r(t)＝2πf₀τ+2πuτt-πuτ²，其中第一项和第三项为常数，则可以得到中频信号的频率距离可以表示为 Where K is the signal attenuation and τ is the received signal delay, the phase of the echo signal can be expressed as The phase of the difference frequency signal between the intermediate frequency signal and the transmitted signal can be expressed as p _t (t) _-pr (t)=2πf ₀ τ+2πuτt-πuτ ² , where the first and third terms are constants, and the frequency of the intermediate frequency signal can be obtained as The distance can be expressed as

该中频信号一路被输入到包络检波器，通过包络检波可以看出回波的包络变化，当前方存在障碍物时，回波的包络出现尖峰波动。障碍物的方向由回波方向决定，传统的雷达方位角扫描通常是采用机械旋转云台带动天线沿固定的路径对某区域进行周期性扫描，本申请的毫米波雷达馈源天线采用了3*3贴片天线阵列，根据天线阵列综合原理，通过控制每个贴片阵元的馈电幅度与相位，可以实现对辐射波束的调整，波束照射到平面透镜上进一步折射，可以得到指向性更强的窄波束，该窄波束受馈源天线馈电幅度与相位的控制，因此实现了电扫描。The intermediate frequency signal is input to the envelope detector. The envelope detector can be used to detect the envelope change of the echo. When there is an obstacle in front, the envelope of the echo will fluctuate with a peak. The direction of the obstacle is determined by the direction of the echo. Traditional radar azimuth scanning usually uses a mechanical rotating pan to drive the antenna to periodically scan a certain area along a fixed path. The millimeter wave radar feed antenna of this application uses a 3*3 patch antenna array. According to the antenna array synthesis principle, the radiation beam can be adjusted by controlling the feed amplitude and phase of each patch array element. The beam is irradiated on the plane lens for further refraction, and a narrow beam with stronger directivity can be obtained. The narrow beam is controlled by the feed amplitude and phase of the feed antenna, thus realizing electronic scanning.

障碍物与无人机的距离可由中频信号的频率估计得到，这些方位信息与包络信息共同构成雷达的一路视频信号。在一实施例中，雷达通过电扫描获得其可观察范围内的回波信息，假设在某一点存在障碍物，则其回波在包络检波后出现尖峰，该尖峰被捕获后，出现尖峰的对应雷达波束方向也被标记(通过计算馈源天线阵列单元的幅相特性获得)，这两个信息结合在一起，显示在操作人员的显示屏上(如图5中的显示平台217)，可以较为明显的显示出障碍物的大致方位，给操作人员反应时间，而无需等待算法模块215对中频信号处理后再进行显示，此时操作人员无法判断该方向上障碍物的具体形状，只能知道该方向上存在障碍物；The distance between the obstacle and the drone can be estimated by the frequency of the intermediate frequency signal. These azimuth information and envelope information together constitute a video signal of the radar. In one embodiment, the radar obtains the echo information within its observable range through electronic scanning. Assuming that there is an obstacle at a certain point, its echo will have a peak after envelope detection. After the peak is captured, the corresponding radar beam direction where the peak appears is also marked (obtained by calculating the amplitude and phase characteristics of the feed antenna array unit). These two pieces of information are combined and displayed on the operator's display screen (such as the display platform 217 in Figure 5). The approximate azimuth of the obstacle can be more clearly displayed, giving the operator time to react without waiting for the algorithm module 215 to process the intermediate frequency signal before displaying it. At this time, the operator cannot determine the specific shape of the obstacle in that direction, but can only know that there is an obstacle in that direction.

另一路中频信号被输入算法模块215进行分析，由于感知物体常为树枝、导线等细小物体，传统的恒虚警率(Constant False Alarm Rate，CFAR)算法过滤回波信号形成雷达点云的信号处理方式并不可取，因此选择保留稠密的数据，采用深度学习的方式对导线、树枝特征进行提取，使用神经网络对障碍物特征进行 分析并逐步形成导线、树枝等障碍物回波特征样本库，实现可靠的障碍物识别与自动避障功能。The other intermediate frequency signal is input to the algorithm module 215 for analysis. Since the perceived objects are often small objects such as branches and wires, the traditional constant false alarm rate (CFAR) algorithm to filter the echo signal to form a radar point cloud signal processing method is not desirable. Therefore, it is chosen to retain dense data, use deep learning to extract the wire and branch features, and use a neural network to analyze the obstacle features. Analyze and gradually form a sample library of echo characteristics of obstacles such as wires and tree branches to achieve reliable obstacle recognition and automatic obstacle avoidance functions.

对于毫米波雷达来说，导线可以等效成无数个点组成的线，导线上每一个点都不是独立存在的，假设雷达分辨率将探测区域划分为了空间上的无数个框，则导线的回波一定是在一个方向上连续、而在其法向上间断的。(假设导线是水平的，则水平方向上导线回波连续，竖直方向上回波会间断，这就是导线回波的特征)，将导线回波信息放入训练集中训练，修正机器学习模型参数，提取导线特征，经大规模样本训练后，模型可对输入回波信息进行是否为导线的判断，树叶等障碍物也同理。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. Assuming that the radar resolution divides the detection area into countless boxes in space, the wire echo must be continuous in one direction and discontinuous in its normal direction. (Assuming that the wire is horizontal, the wire echo is continuous in the horizontal direction and discontinuous in the vertical direction. This is the characteristic of the wire echo). The wire echo information is put into the training set for training, the machine learning model parameters are corrected, and the wire features are extracted. After large-scale sample training, the model can judge whether the input echo information is a wire, and the same applies to obstacles such as leaves.

当一方向出现幅度超过设定阈值的回波时，算法芯片首先对该回波特征进行提取，对该方位进行标注，并在之后的几帧雷达信号中持续对该方位周边的位点进行分析，当探测到回波消失或偏离时放弃对这一方位的追踪，当探测到回波位置靠近到接近安全距离时，算法芯片自动生成告警信息对操作人员进行提示，当探测到回波位置即将突破安全距离时，算法芯片向无人机飞控模块216发送避障指令，引导无人机执行设置好的避障动作，由此保障无人机的安全飞行。When an echo with an amplitude exceeding a set threshold appears in one direction, the algorithm chip first extracts the echo feature, marks the direction, and continues to analyze the locations around the direction in the next few frames of radar signals. When the echo is detected to disappear or deviate, the tracking of this direction is abandoned. When the echo position is detected to be close to the safe distance, the algorithm chip automatically generates an alarm message to prompt the operator. When the echo position is detected to be about to exceed the safe distance, the algorithm chip sends an obstacle avoidance command to the UAV flight control module 216 to guide the UAV to execute the set obstacle avoidance action, thereby ensuring the safe flight of the UAV.

其中，安全距离是可以在无人机控制平台设置的参数，如取5m，则探测到回波的距离与无人机距离接近5m时发送避障指令。Among them, the safety distance is a parameter that can be set on the drone control platform. For example, if it is 5m, an obstacle avoidance command will be sent when the distance between the detected echo and the drone is close to 5m.

在一实施例中，所述图像采集模块220搭载在无人机上，用于采集避障巡检路径中的电力巡检图像并传送至前端图像处理模块230。In one embodiment, the image acquisition module 220 is mounted on a drone and is used to acquire power inspection images in an obstacle avoidance inspection path and transmit the images to the front-end image processing module 230 .

可选地，图像采集模块220可采用相机来实现，如红外相机、可见光相机等。Optionally, the image acquisition module 220 may be implemented by a camera, such as an infrared camera, a visible light camera, etc.

在一实施例中，所述前端图像处理模块230用于根据图像帧中的目标位置与图像中心位置的像素级偏移量进行图像纠偏，及根据纠偏后的图像帧的直方图进行曝光量的自动调整。示例性的，根据纠偏后的图像帧的直方图进行曝光量的自动调整，可以是根据纠偏后的图像帧的直方图，判断当前图像帧的曝光状态，进而调整图像采集模块220的相机曝光量，以使图像帧亮度在正常范围内。In one embodiment, the front-end image processing module 230 is used to perform image correction according to the pixel-level offset between the target position in the image frame and the image center position, and automatically adjust the exposure according to the histogram of the image frame after correction. Exemplarily, the automatic adjustment of the exposure according to the histogram of the image frame after correction can be to determine the exposure state of the current image frame according to the histogram of the image frame after correction, and then adjust the camera exposure of the image acquisition module 220 so that the brightness of the image frame is within a normal range.

在一实施例中，图像采集模块220可以包括前端图像处理模块230，具体模块划分可以根据实际情况进行调整。In one embodiment, the image acquisition module 220 may include a front-end image processing module 230 , and the specific module division may be adjusted according to actual conditions.

其中，所述前端图像处理模块230包括：Wherein, the front-end image processing module 230 includes:

目标识别子模块231，设置为根据无人机拍摄点位的部件名称来判断要拍摄的电力部件类型，并调用预先训练好的目标识别模型，对视频流中的图像帧进行目标识别以得到至少一个目标；The target recognition submodule 231 is configured to determine the type of the power component to be photographed according to the component name of the point where the drone is photographing, and call a pre-trained target recognition model to perform target recognition on the image frames in the video stream to obtain at least one target;

目标确定子模块232，设置为提取所要拍摄的电力部件类型的识别得到的所 述至少一个目标，计算每个目标的面积大小，取面积最大的目标作为结果目标，并确认其坐标信息；The target determination submodule 232 is configured to extract the identification of the type of power component to be photographed. Describing at least one target, calculating the area of each target, taking the target with the largest area as the result target, and confirming its coordinate information;

图像纠偏子模块233，设置为计算结果目标的位置距图像中心位置的像素级偏移量，以控制云台调整角度使目标位于镜头中央位置来实现图像纠偏；The image correction submodule 233 is configured to calculate the pixel-level offset of the position of the target from the center of the image, so as to control the gimbal to adjust the angle so that the target is located at the center of the lens to achieve image correction;

曝光调整子模块234，设置为根据当前纠偏后的图像帧的直方图，判断当前图像帧的曝光状态，进而调整相机曝光量，以使图像帧亮度在正常范围内。The exposure adjustment submodule 234 is configured to determine the exposure state of the current image frame according to the histogram of the current image frame after deflection correction, and then adjust the camera exposure to make the brightness of the image frame within a normal range.

可选地，在所述图像纠偏子模块233中，基于结果目标的位置距图像中心位置的像素级偏移量，根据图像坐标系、相机坐标系及世界坐标系的关系，得到云台的调整参数。Optionally, in the image correction submodule 233, based on the pixel-level offset of the result target position from the image center position, according to the relationship between the image coordinate system, the camera coordinate system and the world coordinate system, the adjustment parameters of the gimbal are obtained.

在所述曝光调整子模块234中，所述曝光状态包括正常曝光、曝光过度和曝光不足。In the exposure adjustment submodule 234, the exposure status includes normal exposure, overexposure and underexposure.

在所述曝光调整子模块234中，若当前纠偏后的图像帧的直方图超过60％的部分分布在左侧，则当前图像帧的曝光状态为曝光不足。In the exposure adjustment submodule 234 , if more than 60% of the histogram of the current image frame after deflection correction is distributed on the left side, the exposure state of the current image frame is underexposure.

在所述曝光调整子模块234中，若当前纠偏后的图像帧的直方图超过60％的部分分布在右侧，则当前图像帧的曝光状态为曝光过度。In the exposure adjustment submodule 234 , if more than 60% of the histogram of the current image frame after deflection correction is distributed on the right side, the exposure state of the current image frame is overexposure.

在所述曝光调整子模块234中，若当前纠偏后的图像帧的直方图分布均衡，则当前图像帧的曝光状态为正常曝光。In the exposure adjustment submodule 234 , if the histogram distribution of the current image frame after deflection correction is balanced, the exposure state of the current image frame is normal exposure.

在一些其他实施例中，所述通信***300包括4G/5G模块。In some other embodiments, the communication system 300 includes a 4G/5G module.

其中，4G/5G模块用于通过4G/5G链路传输无人机关键数传信息。Among them, the 4G/5G module is used to transmit key data information of the drone through the 4G/5G link.

例如：当前无人机控制端与无人机本体之间的通道为无线电方式，一定的发射功率无法突破极限距离。在超出极限距离进行远距离通信时，将控制指令切换至4G/5G通信网络，当控制端与无人机之间满足无线电通信条件后，再将控制器权移交回无线电方式通讯，此方案可大幅度扩展无人机飞行控制距离，突破现有极限，满足电力巡检过程中山体/建筑物遮挡等复杂环境下远距离通信需求。For example, the current channel between the drone control terminal and the drone body is radio, and a certain transmission power cannot exceed the limit distance. When long-distance communication exceeds the limit distance, the control command is switched to the 4G/5G communication network. When the control terminal and the drone meet the radio communication conditions, the controller authority is transferred back to radio communication. This solution can greatly expand the flight control distance of the drone, break through the existing limit, and meet the long-distance communication needs in complex environments such as mountain/building obstruction during power inspection.

在飞行过程中无人机通过接收到的控制端无线电信号强度(控制指令解析灵敏度门限)判断是否接近到达控制指令极限距离，接近到达极限距离后，无人机向控制端发出切换数据传输链路的请求，控制端确认后，4G/5G模块(无人机正常飞行时处于休眠状态)启动，注册5G网络(registration流程)，并测量5G网络信号强度。当测量满足无人机稳定接入门限(测量主服5G区域强度是否在一定时间段满足某一门限)时，再次通过无线电信号请示控制端是否将控制指令通道切换到5G网络。一旦控制端指示无人机切换控制指令通路至5G网络(针对无人机控制指令，必须启用5G超可靠低延迟通信(Ultra-Reliable Low-Latency  Communications，URLLC)，配置相应的切片数据保证无人机高可靠低时延控制)，控制端及无人机5G模块接入运营商5G网络并完成无人机操控平台登录后，控制端及无人机关闭无线电通信模块，后期控制指令通路完全由5G网络传输到无人机操控平台处理承载。During the flight, the drone determines whether it is close to reaching the control command limit distance through the strength of the received control-end radio signal (control command resolution sensitivity threshold). When it is close to reaching the limit distance, the drone sends a request to the control end to switch the data transmission link. After the control end confirms, the 4G/5G module (which is in sleep mode during normal flight) starts, registers the 5G network (registration process), and measures the 5G network signal strength. When the measurement meets the drone's stable access threshold (measures whether the strength of the main service 5G area meets a certain threshold within a certain period of time), the control end is asked again through a radio signal whether to switch the control command channel to the 5G network. Once the control end instructs the drone to switch the control command path to the 5G network (for drone control commands, 5G ultra-reliable low-latency communication (Ultra-Reliable Low-Latency Communications, URLLC), configure the corresponding slice data to ensure high-reliability and low-latency control of the drone), after the control end and the drone 5G module are connected to the operator's 5G network and complete the login to the drone control platform, the control end and the drone turn off the radio communication module, and the subsequent control command path is completely transmitted by the 5G network to the drone control platform for processing and carrying.

控制指令通路切换到5G网络后，控制端通过5G网络可以实时了解无人机位置，无人机通过自有定位模块实时监控与控制端距离，一旦距离在一定时间段内稳定的小于某一门限(如现阶段直连控制极限7km)，无人机通过5G网络上报开启无线电模块请求至控制端。控制端通过5G网络下发允许开启无线电模块确认，并自主开启控制端无线电信号模块发送握手测试信号。无人机收到确认后自主开启无线电模块并开始扫描控制端握手测试信号。如果握手测试信号在一定时间段内保持稳定强度及质量(满足无线电信号解析灵敏度)，无人机通过5G网络请示控制端是否切换回直连模式(无线电通信)。控制端通过5G网络下发确认切回，并同时在无线电信号端收取无人机切回信号，一旦收到无人机在无线电信号中收到切回notification，控制端关闭5G模块(deregistration流程)。无人机收在5G网络上收到切换回无线电通信确认后，无人机通过无线电模块回传切回notification，并关闭5G模块(deregistration流程)。控制端与无人机再次进入无线电直连控制阶段。After the control command channel is switched to the 5G network, the control end can know the position of the drone in real time through the 5G network. The drone monitors the distance from the control end in real time through its own positioning module. Once the distance is less than a certain threshold (such as the current direct connection control limit of 7km) within a certain period of time, the drone reports a request to turn on the radio module to the control end through the 5G network. The control end sends a confirmation to allow the radio module to be turned on through the 5G network, and autonomously turns on the radio signal module of the control end to send a handshake test signal. After receiving the confirmation, the drone autonomously turns on the radio module and starts scanning the handshake test signal of the control end. If the handshake test signal maintains stable strength and quality within a certain period of time (meeting the radio signal analysis sensitivity), the drone asks the control end whether to switch back to the direct connection mode (radio communication) through the 5G network. The control end sends a confirmation to switch back through the 5G network, and at the same time receives the drone's switch back signal at the radio signal end. Once the drone receives the switch back notification in the radio signal, the control end turns off the 5G module (deregistration process). After the drone receives the switch back to radio communication confirmation on the 5G network, the drone transmits the switch back notification through the radio module and turns off the 5G module (deregistration process). The control end and the drone enter the radio direct control stage again.

在其他实施例中，所述通信***300还内置有第一安全芯片，所述第一安全芯片通过安全接入网关与无人机管控平台构建可信连接通信。In other embodiments, the communication system 300 is further equipped with a first security chip, and the first security chip establishes a trusted connection communication with the drone management and control platform through a secure access gateway.

其中，所述无人机管控平台还与无人机地面控制站及遥控终端分别建立可信连接通信，所述无人机地面站及遥控终端内分别设置有第二安全芯片和第三安全芯片。Among them, the drone management and control platform also establishes trusted connection communications with the drone ground control station and the remote control terminal respectively, and the drone ground station and the remote control terminal are respectively provided with a second security chip and a third security chip.

所述应用于电力巡检的无人机还与无人机地面控制站及遥控终端分别建立可信连接通信，所述无人机地面站及遥控终端内分别设置有第二安全芯片和第三安全芯片。The drone used for power inspection also establishes trusted connection communications with the drone ground control station and the remote control terminal respectively, and the drone ground station and the remote control terminal are respectively provided with a second security chip and a third security chip.

本实施例的第一安全芯片、第二安全芯片和第三安全芯片提供有对国密SM1/2/3/4等算法的运算的支持，安全存储密钥、数字证书等机密信息。第一安全芯片、第二安全芯片和第三安全芯片还均支持高速通信接口，处理数据延迟低、吞吐量高，降低加入国密算法后对于原有电力无人机业务流程的负面影响。具有全面的防护技术，安全性高，可防止各类入侵窃取攻击，保障整个其对上层服务的安全性。The first security chip, the second security chip and the third security chip of this embodiment provide support for the operation of national secret SM1/2/3/4 and other algorithms, and securely store confidential information such as keys and digital certificates. The first security chip, the second security chip and the third security chip also support high-speed communication interfaces, with low data processing latency and high throughput, reducing the negative impact on the original power drone business process after adding the national secret algorithm. It has comprehensive protection technology and high security, which can prevent various types of intrusion and theft attacks and ensure the security of the entire upper-layer service.

在本实施例中，动力***100包括电子调速器、螺旋桨、电机和动力电源，其具体结构本领域技术人员可根据实际情况来选择，此处不再详述。 In this embodiment, the power system 100 includes an electronic speed regulator, a propeller, a motor and a power supply. The specific structure thereof can be selected by those skilled in the art according to actual conditions and will not be described in detail here.

在一个或多个实施例中，提供了一种如上述所述的应用于电力巡检的无人机的工作方法，其包括：In one or more embodiments, a working method of a drone applied to power inspection as described above is provided, which includes:

步骤1：利用避障模块210的高频毫米波信号感知无人机前方的障碍物并传送至主控制模块240，由主控制模块240形成避障巡检路径；Step 1: Use the high-frequency millimeter wave signal of the obstacle avoidance module 210 to sense the obstacle in front of the drone and transmit it to the main control module 240, which forms an obstacle avoidance inspection path;

步骤2：无人机根据避障巡检路径后进行电力巡检，利用图像采集模块220采集电力巡检图像并传送至前端图像处理模块230；Step 2: The drone performs power inspection according to the obstacle avoidance inspection path, and uses the image acquisition module 220 to collect power inspection images and transmit them to the front-end image processing module 230;

步骤3：利用前端图像处理模块230根据图像帧中的目标位置与图像中心位置的像素级偏移量进行图像纠偏及根据纠偏后的图像帧的直方图进行曝光量的自动调整。Step 3: Use the front-end image processing module 230 to perform image correction according to the pixel-level offset between the target position in the image frame and the image center position, and automatically adjust the exposure according to the histogram of the corrected image frame.

在一个或多个实施例中，还提供了一种电力巡检***，其包括如上述所述的应用于电力巡检的无人机。In one or more embodiments, a power inspection system is also provided, which includes the drone used for power inspection as described above.

与相关技术相比，本申请的有益效果是：Compared with the related art, the beneficial effects of this application are:

(1)提出了一种毫米波雷达避障技术，研制了一种应用于电力巡检的无人机，其利用毫米波雷达将采集到的回波信号传输给接收机并转化为中频信号，将接收机处理后的中频信号分为两路，一路感知障碍物类别，另一路确定障碍物的大致方位，解决了传统电力巡检无人对于细小物体的感知能力有限的问题，给操作人员提供更多反应时间，实现了细小障碍物准确感知，提高了无人机的安全性。(1) A millimeter-wave radar obstacle avoidance technology was proposed, and a UAV for power inspection was developed. The UAV uses a millimeter-wave radar to transmit the collected echo signal to the receiver and convert it into an intermediate frequency signal. The intermediate frequency signal processed by the receiver is divided into two paths, one for sensing the obstacle type and the other for determining the approximate location of the obstacle. This solves the problem of the limited perception ability of traditional power inspection drones for small objects, provides operators with more reaction time, realizes accurate perception of small obstacles, and improves the safety of the UAV.

(2)提出了一种无人机前端图像纠偏及自动曝光技术，解决了巡检图像部件拍摄不全、过曝、欠曝问题，其根据结果目标的位置距图像中心位置的像素级偏移量，控制云台调整角度使目标位于镜头中央位置来实现图像纠偏；根据当前纠偏后的图像帧的直方图，判断当前图像帧的曝光状态，进而调整相机曝光量，以使图像帧亮度在正常范围内，提高了无人机自主巡检图像的质量，为后续的图像分析、缺陷识别奠定了基础。(2) A UAV front-end image correction and automatic exposure technology is proposed to solve the problems of incomplete shooting, overexposure and underexposure of inspection image components. The technology controls the gimbal to adjust the angle so that the target is located in the center of the lens to achieve image correction based on the pixel-level offset of the target position from the center of the image. The technology determines the exposure status of the current image frame based on the histogram of the corrected image frame, and then adjusts the camera exposure to make the image frame brightness within the normal range. This improves the quality of autonomous inspection images of UAVs and lays a foundation for subsequent image analysis and defect recognition.

(3)提出了一种电力巡检无人机安全可信加密通信技术，研制了一种电力巡检无人机安全可信加密通信***，解决了无人机到附加安全模块之间数据无安全加密措施及无人机管控***不能独立完成的问题，基于电力巡检无人机、地面控制终端和遥控终端各自内置的安全芯片及后台服务器端的安全接入网关，构建了电力巡检无人机、地面控制终端和遥控终端与无人机管控平台之间的可信连接，以及电力巡检无人机与地面控制终端和遥控终端的可信连接，实现了各终端连接平台和各终端之间互相连接的可信接入和传输信息的加密以及无人机 管控平台对接入规则进行集中管理，提高了无人机数据的安全性。 (3) A secure and trusted encryption communication technology for power inspection UAVs was proposed, and a secure and trusted encryption communication system for power inspection UAVs was developed. This solved the problem of no secure encryption measures for data between the UAV and the additional security module and the problem that the UAV control system could not be completed independently. Based on the built-in security chips of the power inspection UAVs, ground control terminals and remote control terminals and the secure access gateway on the backend server, a trusted connection between the power inspection UAVs, ground control terminals and remote control terminals and the UAV control platform, as well as a trusted connection between the power inspection UAVs and the ground control terminals and remote control terminals were established. This realized the trusted access and encryption of transmission information between the terminal connection platforms and the terminals, as well as the UAV The control platform centrally manages access rules, improving the security of drone data.

Claims (18)

1. 一种应用于电力巡检的无人机，包括动力***、控制***和通信***；所述控制***通过通信***与远程监控终端相互通信；所述控制***包括避障模块、图像采集模块、前端图像处理模块和主控制模块；A drone used for power inspection, comprising a power system, a control system and a communication system; the control system communicates with a 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;

   所述避障模块，设置为基于高频毫米波信号感知无人机前方的障碍物并传送至主控制模块，由主控制模块形成避障巡检路径；The obstacle avoidance module is configured to sense obstacles in front of the drone based on high-frequency millimeter wave signals and transmit them to the main control module, which forms an obstacle avoidance inspection path;

   所述图像采集模块，搭载在无人机上，设置为采集避障巡检路径中的电力巡检图像并传送至前端图像处理模块；The image acquisition module is mounted on the drone and is configured to acquire power inspection images in the obstacle avoidance inspection path and transmit them to the front-end image processing module;

   所述前端图像处理模块，设置为根据图像帧中的目标位置与图像中心位置的像素级偏移量进行图像纠偏，及根据纠偏后的图像帧的直方图进行曝光量的自动调整。The front-end image processing module is configured to perform image correction according to the pixel-level offset between the target position in the image frame and the image center position, and to automatically adjust the exposure according to the histogram of the image frame after correction.
2. 如权利要求1所述的应用于电力巡检的无人机，其中，所述避障模块，包括：The drone used for power inspection according to claim 1, wherein the obstacle avoidance module comprises:

   毫米波雷达天线，位于无人机前端；The millimeter-wave radar antenna is located at the front of the drone;

   射频发射机，设置为将雷达信号源发射的信号调制成中频信号，并经过上变频形成高频毫米波信号，放大后经毫米波雷达天线辐射出去；A radio frequency transmitter is configured to modulate the signal transmitted by the radar signal source into an intermediate frequency signal, and form a high-frequency millimeter wave signal through up-conversion, and radiate it through the millimeter wave radar antenna after amplification;

   接收机，设置为通过毫米波雷达天线接收回波，放大后与本振产生的电磁波进行混频，幅度放大后得到中频信号；中频信号一路经包络检波来判断当前方是否存在障碍物，中频信号另一路进行障碍物感知并自动生成告警信息。The receiver is configured to receive the echo through the millimeter-wave radar antenna, amplify it and mix it with the electromagnetic wave generated by the local oscillator, and obtain the intermediate frequency signal after amplitude amplification; one path of the intermediate frequency signal is subjected to envelope detection to determine whether there is an obstacle in the current direction, and the other path of the intermediate frequency signal is used for obstacle perception and automatically generates warning information.
3. 如权利要求2所述的应用于电力巡检的无人机，其中，所述毫米波雷达天线为贴片天线阵列形式。The drone used for power inspection as claimed in claim 2, wherein the millimeter wave radar antenna is in the form of a patch antenna array.
4. 如权利要求3所述的应用于电力巡检的无人机，其中，每一个贴片天线的馈电幅度与相位决定波束的转向。The UAV for power inspection as claimed in claim 3, wherein the feeding amplitude and phase of each patch antenna determine the steering of the beam.
5. 如权利要求2所述的应用于电力巡检的无人机，其中，所述毫米波雷达天线还与收发转换开关相连，所述收发转换开关设置为控制毫米波雷达天线发射或接收电磁波。The UAV used for power inspection as claimed in claim 2, wherein the millimeter wave radar antenna is also connected to a transceiver conversion switch, and the transceiver conversion switch is configured to control the millimeter wave radar antenna to transmit or receive electromagnetic waves.
6. 如权利要求2所述的应用于电力巡检的无人机，其中，所述毫米波雷达天线包括馈源天线与人工超材料平面透镜，馈源天线采用工作在77GHz频段的天线，人工超材料平面透镜设置为对电磁波的汇聚与发散。The drone used for power inspection as described in claim 2, wherein the millimeter wave radar antenna includes a feed antenna and an artificial metamaterial planar lens, the feed antenna adopts an antenna operating in the 77 GHz frequency band, and the artificial metamaterial planar lens is configured to converge and diverge electromagnetic waves.
7. 如权利要求1所述的应用于电力巡检的无人机，其中，所述前端图像处理模块包括：The drone for power inspection according to claim 1, wherein the front-end image processing module comprises:

   目标识别子模块，设置为根据无人机拍摄点位的部件名称来判断要拍摄的电力部件类型，并调用预先训练好的目标识别模型，对视频流中的图像帧进行目 标识别以得到至少一个目标；The target recognition submodule is configured to determine the type of power component to be photographed based on the component name of the drone shooting point, and call the pre-trained target recognition model to target the image frames in the video stream. Marking to obtain at least one target;

   目标确定子模块，设置为提取所要拍摄的电力部件类型的识别出的所述至少一个目标，计算每个目标的面积大小，取面积最大的目标作为结果目标，并确认所述结果目标的坐标信息；A target determination submodule, configured to extract the at least one identified target of the type of power component to be photographed, calculate the area size of each target, take the target with the largest area as the result target, and confirm the coordinate information of the result target;

   图像纠偏子模块，设置为计算结果目标的位置距图像中心位置的像素级偏移量，以控制云台调整角度使目标位于镜头中央位置来实现图像纠偏；The image correction submodule is set to calculate the pixel-level offset of the position of the target from the center of the image, so as to control the gimbal to adjust the angle so that the target is located at the center of the lens to achieve image correction;

   曝光调整子模块，设置为根据当前纠偏后的图像帧的直方图，判断当前图像帧的曝光状态，进而调整相机曝光量，以使图像帧亮度在正常范围内。The exposure adjustment submodule is configured to determine the exposure state of the current image frame according to the histogram of the current image frame after correction, and then adjust the camera exposure to make the image frame brightness within a normal range.
8. 如权利要求7所述的应用于电力巡检的无人机，其中，在所述图像纠偏子模块中，基于结果目标的位置距图像中心位置的像素级偏移量，根据图像坐标系、相机坐标系及世界坐标系的关系，得到云台的调整参数。The drone used for power inspection as described in claim 7, wherein, in the image correction submodule, based on the pixel-level offset of the position of the result target from the center position of the image, according to the relationship between the image coordinate system, the camera coordinate system and the world coordinate system, the adjustment parameters of the gimbal are obtained.
9. 如权利要求7所述的应用于电力巡检的无人机，其中，在所述曝光调整子模块中，所述曝光状态包括正常曝光、曝光过度和曝光不足。The drone used for power inspection as claimed in claim 7, wherein, in the exposure adjustment submodule, the exposure status includes normal exposure, overexposure and underexposure.
10. 如权利要求7所述的应用于电力巡检的无人机，其中，在所述曝光调整子模块中，响应于当前纠偏后的图像帧的直方图超过60％的部分分布在左侧，当前图像帧的曝光状态为曝光不足。The drone used for power inspection as claimed in claim 7, wherein, in the exposure adjustment submodule, in response to the fact that more than 60% of the histogram of the current image frame after deflection is distributed on the left side, the exposure state of the current image frame is underexposure.
11. 如权利要求7所述的应用于电力巡检的无人机，其中，在所述曝光调整子模块中，响应于当前纠偏后的图像帧的直方图超过60％的部分分布在右侧，当前图像帧的曝光状态为曝光过度。The drone used for power inspection as described in claim 7, wherein, in the exposure adjustment submodule, in response to the fact that more than 60% of the histogram of the current image frame after correction is distributed on the right side, the exposure state of the current image frame is overexposed.
12. 如权利要求7所述的应用于电力巡检的无人机，其中，在所述曝光调整子模块中，响应于当前纠偏后的图像帧的直方图分布均衡，当前图像帧的曝光状态为正常曝光。The drone used for power inspection as claimed in claim 7, wherein, in the exposure adjustment submodule, in response to the balanced distribution of the histogram of the current image frame after correction, the exposure state of the current image frame is normal exposure.
13. 如权利要求1所述的应用于电力巡检的无人机，其中，所述通信***包括4G/5G模块。The drone for power inspection as claimed in claim 1, wherein the communication system includes a 4G/5G module.
14. 如权利要求1所述的应用于电力巡检的无人机，其中，所述通信***还内置有第一安全芯片，所述第一安全芯片通过安全接入网关与无人机管控平台构建可信连接通信。The drone used for power inspection as claimed in claim 1, wherein the communication system also has a first security chip built in, and the first security chip establishes a trusted connection communication with the drone management and control platform through a secure access gateway.
15. 如权利要求14所述的应用于电力巡检的无人机，其中，所述无人机管控平台还与无人机地面控制站及遥控终端分别建立可信连接通信，所述无人机地面站及遥控终端内分别设置有第二安全芯片和第三安全芯片。According to the drone used for power inspection as described in claim 14, the drone management and control platform also establishes trusted connection communications with the drone ground control station and the remote control terminal respectively, and the drone ground station and the remote control terminal are respectively provided with a second security chip and a third security chip.
16. 如权利要求14所述的应用于电力巡检的无人机，其中，所述应用于电力巡检的无人机还与无人机地面控制站及遥控终端分别建立可信连接通信，所 述无人机地面站及遥控终端内分别设置有第二安全芯片和第三安全芯片。The UAV for power inspection as claimed in claim 14, wherein the UAV for power inspection also establishes trusted connection communication with the UAV ground control station and the remote control terminal respectively, The UAV ground station and the remote control terminal are respectively provided with a second security chip and a third security chip.
17. 一种如权利要求1-16中任一项所述的应用于电力巡检的无人机的工作方法，包括：A working method of a drone used for power inspection according to any one of claims 1 to 16, comprising:

    利用避障模块的高频毫米波信号感知无人机前方的障碍物并传送至主控制模块，由主控制模块形成避障巡检路径；The high-frequency millimeter wave signal of the obstacle avoidance module is used to sense obstacles in front of the drone and transmit them to the main control module, which then forms an obstacle avoidance inspection path.

    无人机根据避障巡检路径后进行电力巡检，利用图像采集模块采集电力巡检图像并传送至前端图像处理模块；The drone conducts power inspection according to the obstacle avoidance inspection path, uses the image acquisition module to collect power inspection images and transmits them to the front-end image processing module;

    利用前端图像处理模块根据图像帧中的目标位置与图像中心位置的像素级偏移量进行图像纠偏及根据纠偏后的图像帧的直方图进行曝光量的自动调整。The front-end image processing module is used to perform image correction according to the pixel-level offset between the target position in the image frame and the image center position, and the exposure is automatically adjusted according to the histogram of the image frame after correction.
18. 一种电力巡检***，包括如权利要求1-16中任一项所述的应用于电力巡检的无人机。 A power inspection system, comprising a drone used for power inspection as described in any one of claims 1 to 16.