阅读说明：本技术 一种无人机巡检方法及系统、输电线路巡检方法及系统 (Unmanned aerial vehicle inspection method and system and power transmission line inspection method and system ) 是由 饶竹一 张云翔 于 2019-11-28 设计创作，主要内容包括：本发明涉及无人机巡检系统、输电线路巡检方法和系统、设备、介质,所述方法包括如下步骤：根据预设巡检策略进行巡检,获取输电线路设备的图像信息及图像信息所对应的EXIF信息；获取所述图像信息的获取时间所对应的无人机巡检系统的位置信息、飞行路径信息及飞行控制信息；按信息存储时间对所述图像信息、EXIF信息、位置信息、飞行路径信息及飞行控制信息进行命名后存储,得到影像数据；将所述影像数据发送至地面监控设备。所述存储介质存储有用于实现所述输电线路巡检方法的计算机程序。所述设备包括处理器和存储有所述计算机程序的存储器,能够实现所述输电线路巡检方法。实施本发明,能够基于机器视觉对输电线路设备进行巡检。(The invention relates to an unmanned aerial vehicle inspection system, an electric transmission line inspection method, a system, equipment and a medium, wherein the method comprises the following steps: carrying out inspection according to a preset inspection strategy to obtain image information of the power transmission line equipment and EXIF information corresponding to the image information; acquiring position information, flight path information and flight control information of the unmanned aerial vehicle inspection system corresponding to the acquisition time of the image information; naming and storing the image information, the EXIF information, the position information, the flight path information and the flight control information according to information storage time to obtain image data; and sending the image data to ground monitoring equipment. The storage medium stores a computer program for implementing the power transmission line inspection method. The equipment comprises a processor and a memory which stores the computer program, and can realize the power transmission line inspection method. By implementing the invention, the power transmission line equipment can be patrolled based on machine vision.)

1. An unmanned aerial vehicle inspection method is characterized by comprising the following steps:

carrying out inspection according to a preset inspection strategy to obtain image information of the power transmission line equipment and EXIF information corresponding to the image information;

acquiring position information, flight path information and flight control information of the unmanned aerial vehicle inspection system corresponding to the acquisition time of the image information;

naming and storing the image information, the EXIF information, the position information, the flight path information and the flight control information according to information storage time to obtain image data;

and sending the image data to ground monitoring equipment.

2. An unmanned aerial vehicle inspection system for implementing the unmanned aerial vehicle inspection method according to claim 1, comprising:

the control unit is used for generating a patrol control instruction according to a preset patrol strategy;

the flight execution unit is used for flying according to the flight path information and the flight control information in the control command of the control unit;

the image acquisition unit is used for acquiring the image information of the target equipment and the EXIF information corresponding to the image information according to the control instruction of the control unit;

the information acquisition unit is used for acquiring the position information, the flight path information and the flight control information of the unmanned aerial vehicle inspection system corresponding to the acquisition time of the image information;

the information processing unit is used for naming and storing the image information, the EXIF information, the position information, the flight path information and the flight control information according to information storage time to obtain image data;

and the data sending unit is used for sending the image data to ground monitoring equipment.

3. The utility model provides a transmission line system of patrolling and examining, characterized in that includes:

one or more unmanned aerial vehicle inspection systems according to claim 2, configured to perform inspection according to a preset inspection policy, acquire image information of a target device and EXIF information corresponding to the image information, acquire position information, flight path information, and flight control information of the unmanned aerial vehicle inspection system corresponding to acquisition time of the image information, name and store the image information, the EXIF information, the position information, the flight path information, and the flight control information according to information storage time, and obtain image data;

the data transmission equipment is used for receiving the image data of the unmanned aerial vehicle inspection system and coding the image data according to a preset mode to obtain coded data;

and the ground monitoring equipment is used for receiving the coded data of the data transmission equipment, decoding the coded data to obtain image data and displaying the image data.

4. An inspection method for the power transmission line inspection system according to claim 3, characterized by comprising the steps of:

the unmanned aerial vehicle inspection system inspects according to a preset inspection strategy, acquires image information of target equipment and EXIF information corresponding to the image information, acquires position information, flight path information and flight control information of the unmanned aerial vehicle inspection system corresponding to the acquisition time of the image information, names the image information, the EXIF information, the position information, the flight path information and the flight control information according to information storage time, and stores the image information, the EXIF information, the position information, the flight path information and the flight control information to obtain image data;

the data transmission equipment receives image data of the unmanned aerial vehicle inspection system and encodes the image data according to a preset mode to obtain encoded data;

and the ground monitoring equipment receives the coded data of the data transmission equipment, decodes the coded data to obtain image data and displays the image data.

5. The inspection method according to claim 4, wherein the performing inspection according to the preset inspection policy includes:

and carrying out transmission line fault inspection, foreign matter inspection of a channel environment below the transmission line and fault inspection of peripheral accessory facilities of the power grid.

6. The inspection method according to claim 4, wherein the inspection of the transmission line faults includes inspection of ground and base planes, towers, grounding devices, pull wires and insulators;

wherein, ground and base level patrol and examine and include: the unmanned aerial vehicle inspection system acquires image information of the ground and a base plane in an inspection process, and the image data of the unmanned aerial vehicle comprises the image information of the ground and the base plane; the ground monitoring equipment displays the image data, and an inspection worker judges whether the ground is sunk due to the backfill loosening condition of the ground after excavation and whether the base surface is swelled due to water flooding or freezing by observing the images of the ground and the base surface in the image data;

wherein, patrolling and examining of shaft tower includes: the unmanned aerial vehicle inspection system lands on a tower and acquires image information of the tower or the periphery of the tower in the inspection process, wherein the image data of the unmanned aerial vehicle comprises the image information of the tower or the periphery of the tower; the ground monitoring equipment displays the image data, and the patrol personnel checks the firmness degree of the foundation of the tower by observing the shaking condition of the image around the tower or the tower in the image data;

wherein, earthing device's patrol and examine and include: the unmanned aerial vehicle inspection system acquires image information of the grounding device in the inspection process, and the image data of the unmanned aerial vehicle comprises the image information of the grounding device; the ground monitoring equipment displays the image data, and the inspection personnel judge whether the grounding device is broken or corroded and whether the grounding device is exposed or lost by observing the image of the grounding device in the image data.

7. The inspection method according to claim 4, wherein the inspection for the foreign objects in the environment of the passage below the power transmission line comprises: the inspection of the lightning protection device, the bird prevention device and the detection device of the power transmission line;

wherein, the patrol and examine of lightning protection device includes: the unmanned aerial vehicle inspection system tests the conduction condition of the metal rod by using an own test pencil in the inspection process, and acquires image information of the test pencil and the metal rod, wherein the image data of the unmanned aerial vehicle comprises the image information of the test pencil and the metal rod; the ground monitoring equipment displays the image data, and the inspection personnel judge whether the electrical conduction of the lightning protection device is abnormal or not and whether the metal rod is corroded, loosened, damaged or connected in series or not by observing the images of the test pencil and the metal rod in the image data;

wherein, the patrolling and examining of anti-bird device includes: the unmanned aerial vehicle inspection system acquires image information of the bird prevention device in the inspection process, and the image data of the unmanned aerial vehicle comprises the image information of the bird prevention device; the ground monitoring equipment displays the image data, and the inspection personnel judge whether the bird thorn in the bird-proof device is rusty, loosened or deformed by observing the image data;

wherein, detection device's patrolling and examining includes: unmanned aerial vehicle system of patrolling and examining utilizes its infrared positioner who takes certainly to detect the detection device's of peripheral attached facility of electric wire netting position information patrolling and examining the in-process, and unmanned aerial vehicle system of patrolling and examining's image data includes detection device's position information, and ground supervisory equipment shows image data, and whether the personnel of patrolling and examining exist the displacement trouble through observing detection device's position information judgement in the image data.

8. The inspection method according to claim 4, wherein the performing of the fault inspection of the peripheral ancillary facilities of the power grid includes inspection including safe distance, work compliance;

wherein, safe distance's patrolling and examining includes: the unmanned aerial vehicle inspection system acquires position information of a building and a power transmission line in an inspection process, image data of the unmanned aerial vehicle inspection system comprises the position information of the building and the power transmission line, ground monitoring equipment displays the image data, and inspection personnel judge whether the power transmission line is in a specified interval of a safe distance by observing the position information of the building and the power transmission line in the image data;

wherein, the patrol and examine of operation compliance condition includes: the unmanned aerial vehicle inspection system flies to a certain height in the inspection process, and image information of construction operation is acquired from a high visual angle; the image data of the unmanned aerial vehicle inspection system comprises image information for acquiring construction operation from a high visual angle, the ground monitoring equipment displays the image data, and inspection personnel judge whether the situation of unqualified construction operation exists or not by observing the image of the construction operation in the image data.

9. A computer device, comprising: the unmanned aerial vehicle inspection system according to claim 2; or, a memory and a processor, the memory having stored therein computer readable instructions, which, when executed by the processor, cause the processor to perform the steps of the power transmission line inspection method according to claim 1.

10. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the power transmission line inspection method according to claim 1.

Technical Field

The invention relates to the technical field of power transmission lines, in particular to an unmanned aerial vehicle inspection method and system and a power transmission line inspection method and system.

Background

In order to ensure the stability of power supply of a power grid, inspection and maintenance of a power transmission line need to be carried out regularly. The position of the wireless video online monitoring device adopted in the earlier stage is fixed, and the monitoring dead angle which cannot be detected exists in the monitoring process, so that real-time guard and monitoring of images are difficult to achieve, and in addition, the wireless monitoring device has no automatic fault early warning mechanism, so that the problem of preventing external force damage of a power transmission line can still be effectively solved.

Disclosure of Invention

The invention aims to provide an unmanned aerial vehicle inspection method and system, a power transmission line inspection method and system, computer equipment and a computer readable storage medium, so that inspection of the power transmission line equipment based on machine vision is realized, and the operation efficiency and quality of the power transmission line are improved.

In a first aspect, an embodiment of the present invention provides an unmanned aerial vehicle inspection method, including the following steps:

carrying out inspection according to a preset inspection strategy to obtain image information of the power transmission line equipment and EXIF information corresponding to the image information;

acquiring position information, flight path information and flight control information of the unmanned aerial vehicle inspection system corresponding to the acquisition time of the image information;

naming and storing the image information, the EXIF information, the position information, the flight path information and the flight control information according to information storage time to obtain image data;

and sending the image data to ground monitoring equipment.

In a second aspect, an embodiment of the present invention provides an unmanned aerial vehicle inspection system, which is used for implementing the unmanned aerial vehicle inspection method according to the first aspect, and includes:

the control unit is used for generating a patrol control instruction according to a preset patrol strategy;

the flight execution unit is used for flying according to the flight path information and the flight control information in the control command of the control unit;

the image acquisition unit is used for acquiring the image information of the target equipment and the EXIF information corresponding to the image information according to the control instruction of the control unit;

the information acquisition unit is used for acquiring the position information, the flight path information and the flight control information of the unmanned aerial vehicle inspection system corresponding to the acquisition time of the image information;

the information processing unit is used for naming and storing the image information, the EXIF information, the position information, the flight path information and the flight control information according to information storage time to obtain image data;

and the data sending unit is used for sending the image data to ground monitoring equipment.

In a third aspect, an embodiment of the present invention provides a power transmission line inspection system, including:

one or more unmanned aerial vehicle inspection systems according to embodiments of the second aspect are configured to perform inspection according to a preset inspection policy, acquire image information of a target device and EXIF information corresponding to the image information, acquire position information, flight path information, and flight control information of the unmanned aerial vehicle inspection system corresponding to acquisition time of the image information, name and store the image information, the EXIF information, the position information, the flight path information, and the flight control information according to information storage time, and obtain image data;

the data transmission equipment is used for receiving the image data of the unmanned aerial vehicle inspection system and coding the image data according to a preset mode to obtain coded data;

and the ground monitoring equipment is used for receiving the coded data of the data transmission equipment, decoding the coded data to obtain image data and displaying the image data.

In a fourth aspect, an embodiment of the present invention provides a method for polling a power transmission line polling system according to the third aspect, including the following steps:

the unmanned aerial vehicle inspection system inspects according to a preset inspection strategy, acquires image information of target equipment and EXIF information corresponding to the image information, acquires position information, flight path information and flight control information of the unmanned aerial vehicle inspection system corresponding to the acquisition time of the image information, names the image information, the EXIF information, the position information, the flight path information and the flight control information according to information storage time, and stores the image information, the EXIF information, the position information, the flight path information and the flight control information to obtain image data;

the data transmission equipment receives image data of the unmanned aerial vehicle inspection system and encodes the image data according to a preset mode to obtain encoded data;

and the ground monitoring equipment receives the coded data of the data transmission equipment, decodes the coded data to obtain image data and displays the image data.

In a fifth aspect, an embodiment of the present invention provides a computer device, including: the unmanned aerial vehicle inspection system according to the second aspect embodiment; or a memory and a processor, wherein the memory stores computer readable instructions, and the computer readable instructions, when executed by the processor, cause the processor to perform the steps of the unmanned aerial vehicle inspection method according to the first aspect.

In a sixth aspect, an embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the steps of the unmanned aerial vehicle inspection method according to the first aspect.

The embodiment of the invention provides an unmanned aerial vehicle inspection method and system, a power transmission line inspection method and system, computer equipment and a computer readable storage medium. The unmanned aerial vehicle inspection system performs inspection by using a preset inspection strategy in the inspection process, wherein the inspection strategy comprises an inspection path and an information acquisition task executed by a set position point in the path; a large amount of polling data are obtained in the polling process, the polling data are named and stored according to the information generation time, all the stored data are sent to a ground monitoring center to be displayed, and polling personnel can judge the state of each power transmission line device by observing the image data returned by the unmanned aerial vehicle polling system in the ground monitoring center. Therefore, the inspection of the power transmission line based on machine vision is realized, and the operating efficiency and quality of the power transmission line are improved. It should be noted that, in this embodiment, the inspection data is named and stored according to the information generation time, which is convenient for sorting and displaying the data, and improves the work efficiency of the inspection personnel when analyzing the fault according to the image data.

Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by the practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings. Of course, not all of the advantages described above need to be achieved at the same time in the practice of any one product or method of the invention.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

Fig. 1 is a flowchart of an unmanned aerial vehicle inspection method according to an embodiment.

Fig. 2 is a schematic diagram of EXIF information in the first embodiment.

Fig. 3 is a schematic diagram of an image data storage structure according to an embodiment.

Fig. 4 is a frame diagram of an inspection system of an unmanned aerial vehicle according to a second embodiment.

Fig. 5 is a frame diagram of the power transmission line inspection system according to the third embodiment.

Fig. 6 is a flowchart of a power transmission line inspection method according to the fourth embodiment.

Detailed Description

Various exemplary embodiments, features and aspects of the present disclosure will be described in detail below with reference to the accompanying drawings. In the drawings, like reference numbers can indicate functionally identical or similar elements. While the various aspects of the embodiments are presented in drawings, the drawings are not necessarily drawn to scale unless specifically indicated.

In addition, in the following detailed description, numerous specific details are set forth in order to provide a better understanding of the present invention. It will be understood by those skilled in the art that the present invention may be practiced without some of these specific details. In some instances, well known means have not been described in detail so as not to obscure the present invention.