阅读说明：本技术 一种基于人工智能的电网巡检车驾驶辅助系统 (A kind of power grid inspection car driving assistance system based on artificial intelligence ) 是由 章彬 汪桢子 汪伟 侯明哲 饶竹一 于 2019-08-22 设计创作，主要内容包括：本发明公开了一种基于人工智能的电网巡检车驾驶辅助系统,设置于电网巡检车中,其包括定位模块、地图导航模块、驱动模块、测距模块、摄像模块、识别模块以及传输模块。实施本发明,可以自动修正电网巡检车的行驶方向,并能够进行避障处理,且能将存在故障的电网的图片和位置传送给远程后台,可以提高电网巡检的效率以及准确度,并能降低人力成本。(The invention discloses a kind of power grid inspection car driving assistance system based on artificial intelligence, is set in power grid inspection car comprising locating module, map navigation module, drive module, range finder module, photographing module, identification module and transmission module.Implement the present invention, the driving direction of power grid inspection car can be corrected automatically, and be able to carry out avoidance processing, and the picture of the power grid of failure can will be present and position sends remote back-office to, the efficiency and accuracy of power grid inspection can be improved, and human cost can be reduced.)

1. a kind of power grid inspection car driving assistance system based on artificial intelligence, is set in power grid inspection car, which is characterized in that The system comprises:

Locating module, for positioning the current location of inspection car in real time；

Map navigation module, for setting the starting point position and final position of inspection car, and by being positioned described in satellite reception The current location that module is positioned；

Drive module controls inspection car for adjusting the driving direction of inspection car according to the current location and final position It is mobile towards final position；

Range finder module feeds back to driving mould for measuring inspection car and the distance between barrier, roadside, and by distance measurement result Block；

Photographing module, the power grid photo of inspection for shooting；

Identification module, photographing module shoots the content in photo for identification, and is compared with presetting malfunction；

Transmission module, for photo captured by distal end background transfer real time position and photographing module.

2. the system as claimed in claim 1, which is characterized in that the map navigation module receives the starting point of user's input With terminal, starting point is the present position of inspection car, and it is anti-by GPS receiver module or Beidou receiving module to receive satellite The current location of the inspection car of feedback.

3. system as claimed in claim 2, which is characterized in that the drive module includes:

Computing module, in real time according to current location, final position and inspection car current line from map navigation module Direction is sailed, steering angle is calculated；

Steering unit, for adjusting the driving direction of inspection car according to the steering angle of the calculated acquisition of the computing module；

Driving unit keeps it mobile towards final position for providing power to the inspection car.

4. system as claimed in claim 3, which is characterized in that the locating module for positioning the real-time position of inspection car in real time It sets, and the real time position of inspection car is sent to satellite, feed back to map navigation module for it.

5. system as claimed in claim 4, which is characterized in that be equipped with distance measuring sensor, the survey in the range finder module It is electrically connected away from sensor by circuit board and drive module.

6. system as claimed in claim 5, which is characterized in that the distance measuring sensor is infrared sensor.

7. system as claimed in claim 6, which is characterized in that the drive module is further used for being connect according to distance measuring sensor Electrical number of receipts adjusts its driving direction.

8. system as claimed in claim 7, which is characterized in that the identification module works as identification for identifying to photo When as a result to have barrier or high-voltage line to be broken on the high-tension bus-bar in photo, the identification module sends the photo To transmission module.

9. system as claimed in claim 8, which is characterized in that the transmission module by wireless communication mode and distal end backstage It is attached, is used in the photo for receiving identification module, obtain current location to map navigation module, and by the photograph Piece and current location are transferred to distal end backstage together, carry out inspection processing for staff.

Technical field

The present invention relates to the technical fields of power supply network inspection more particularly to a kind of power grid inspection car based on artificial intelligence to drive Sail auxiliary system.

Background technique

In the prior art, need to carry out regularly inspection to power supply network, on the high-tension bus-bar to check power supply network whether The situations such as it will appear barrier or occur being broken.But needed in the prior art using manual inspection, human cost is high, and works Low efficiency.

Also occur some power grid inspection cars currently on the market, but only needing manually to participate in drives.Also occur some The power grid inspection car of intelligence, but the power grid inspection car of these intelligence can not be modified running route, and not have obstacle function Energy.

Summary of the invention

In order to solve problems in the prior art, the present invention provides a kind of power grid inspection car driving auxiliary based on artificial intelligence System can automatically be modified travel route, and have barrier avoiding function, and can by the high-tension line photo to go wrong with Location information rises and is synchronized on the backstage of distal end, so that staff is quickly determined high-tension line problem location, improves power grid inspection Efficiency and accuracy.

In order to solve the above technical problems, an aspect of of the present present invention provides a kind of power grid inspection car based on artificial intelligence and drives Auxiliary system is sailed, is set in power grid inspection car, the system comprises:

Locating module, for positioning the current location of inspection car in real time；

Map navigation module, for setting the starting point position and final position of inspection car, and by described in satellite reception The current location that locating module is positioned；

Drive module, for adjusting the driving direction of inspection car, control is patrolled according to the current location and final position It is mobile towards final position to examine vehicle；

Range finder module feeds back to driving for measuring inspection car and the distance between barrier, roadside, and by distance measurement result Module；

Photographing module, the power grid photo of inspection for shooting；

Identification module, photographing module shoots the content in photo for identification, and is compared with presetting malfunction Compared with；

Transmission module, for photo captured by distal end background transfer real time position and photographing module.

Preferably, the map navigation module receives the starting point and terminal of user's input, and starting point is inspection car Present position, and by GPS receiver module or Beidou receiving module receive satellite feedback inspection car current location.

Preferably, the drive module includes:

Computing module, for being worked as in real time according to current location, final position and inspection car from map navigation module Preceding driving direction calculates steering angle；

Steering unit, for adjusting the traveling side of inspection car according to the steering angle of the calculated acquisition of the computing module To；

Driving unit keeps it mobile towards final position for providing power to the inspection car.

Preferably, the locating module positions the real time position of inspection car in real time, and the real time position of inspection car is sent To satellite, map navigation module is fed back to for it.

Preferably, distance measuring sensor is installed, the distance measuring sensor passes through circuit board and driving in the range finder module Module is electrically connected.

Preferably, the distance measuring sensor is infrared sensor.

Preferably, the drive module further adjusts its driving direction according to distance measuring sensor received electrical number.

Preferably, the identification module is for identifying photo, when recognition result is on the high-tension bus-bar in photo When having barrier or high-voltage line to be broken, the photo is sent to transmission module by the identification module.

Preferably, mode is attached the transmission module from the background with distal end by wireless communication, is used to receive When the photo of identification module, current location is obtained to map navigation module, and the photo is transferred to together with current location Distal end backstage, carries out inspection processing for staff.

Implement the embodiment of the present invention, have it is following the utility model has the advantages that

The present invention can obtain the real-time of inspection car by setting locating module, map navigation module and drive module Current location and final position, and the driving direction of inspection car can be adjusted in real time, control inspection car is mobile towards final position, improves The working efficiency of inspection car；

The present invention is by setting range finder module, and range finder module launches infrared ray, in range finder module and barrier or road tooth When son contact, infrared ray is reflected, and the infrared ray after reflection is received again by range finder module, and is transmitted accordingly according to distance measuring structure Electrical number to circuit board, control drive module is modified working line after board receiver to electric signal, improves inspection The service life of vehicle；

The present invention is by setting locating module, and when inspection car takes problematic high-tension line, inspection car is by photo Place is transmitted to rear end display screen together with photo, and staff can quickly determine problem location, to quickly rush towards place It is repaired.

Detailed description of the invention

In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this Some embodiments of invention, for those of ordinary skill in the art, without any creative labor, according to These attached drawings obtain other attached drawings and still fall within scope of the invention.

Fig. 1 is a kind of structural representation of the power grid inspection car driving assistance system based on artificial intelligence provided by the invention Figure；

Fig. 2 is the structural schematic diagram of drive module in Fig. 1.

Specific embodiment

To make the object, technical solutions and advantages of the present invention clearer, the present invention is made into one below in conjunction with attached drawing Step ground detailed description.

In order to make the foregoing objectives, features and advantages of the present invention clearer and more comprehensible, with reference to the accompanying drawing to the present invention Specific embodiment be described in detail.Many details are explained in the following description in order to fully understand this hair It is bright.But the invention can be embodied in many other ways as described herein, those skilled in the art can be not Similar improvement is done in the case where violating intension of the present invention, therefore the present invention is not limited to the specific embodiments disclosed below.

As shown in Figure 1, a kind of structure of the power grid inspection car driving assistance system based on artificial intelligence provided for invention Schematic diagram, together as shown in connection with fig. 2.In the present embodiment, the power grid inspection car driving assistance system based on artificial intelligence, It is set in power grid inspection car, the system 1 includes:

Locating module 10, for positioning the current location of inspection car in real time, in the present embodiment, using GPS positioning module, In other some embodiments, Beidou positioning module can also be used, is used to be communicated with satellite to confirm inspection car Current position；Specifically, the real time position of the positioning inspection car in real time of the locating module 10, and by the real time position of inspection car It is sent to satellite, feeds back to map navigation module for it；

Map navigation module 11 carries out route guidance, and lead to for setting the starting point position and final position of inspection car Cross the current location that locating module described in satellite reception is positioned；

Specifically, the map navigation module 11 receives the starting point of user's input and terminal, starting point are inspection car Present position, and by GPS receiver module or Beidou receiving module receive satellite feedback inspection car current location.

Drive module 12 is controlled for adjusting the driving direction of inspection car according to the current location and final position Inspection car is mobile towards final position；

In one example, the drive module 12 includes:

Computing module 120, in real time according to current location, final position and inspection car from map navigation module Current driving direction calculates steering angle；

Steering unit 121, for adjusting the traveling of inspection car according to the steering angle of the calculated acquisition of the computing module Direction；It is understood that carrying out angle adjustment to vehicle is common technical means in the art after obtaining steering angle, Herein without being described in detail；

Driving unit 122 keeps it mobile towards final position for providing power to the inspection car.

Range finder module 13 feeds back to drive for measuring inspection car and the distance between barrier, roadside, and by distance measurement result Dynamic model block；In one example, distance measuring sensor (such as infrared sensor), the ranging are installed in the range finder module 13 Sensor is electrically connected by circuit board and drive module 12；The drive module 12 is further received according to distance measuring sensor Electrical number adjusts its driving direction；

Specifically, in some instances, range finder module 13 launches infrared ray, in range finder module 13 and barrier or road tooth When son contact, infrared ray is reflected, and the infrared ray after reflection is received again by range finder module 13, and transmits phase according to distance measuring structure Electrical number answered is to circuit board, and control drive module 13 is modified working line after board receiver to electric signal, with reality Existing barrier avoiding function, can be improved the service life of inspection car.

Photographing module 14, the power grid photo of inspection for shooting；

Identification module 15, photographing module shoots the content in photo for identification, and carries out with presetting malfunction Compare；Specifically, the identification module is for identifying photo, and (has barrier on such as high-voltage line with preset malfunction Hindering the states such as object or high pressure thread breakage) picture is compared, if similarity is more than certain threshold values, judge that there are this Malfunction；When recognition result is has barrier or high-voltage line to be broken on the high-tension bus-bar in photo, the identification mould The photo is sent to transmission module by block.

Transmission module 16, for photo captured by distal end background transfer real time position and photographing module.

In some instances, the transmission module 16 is by wireless communication behind mode (such as 3G, 4G, 5G mode) and distal end Platform is attached, and is used for when receiving the photo of identification module 15, obtains current location to map navigation module 11, and will The photo and current location are transferred to distal end backstage together, carry out inspection processing for staff.It is understood that remote End backstage is provided with display device, the photo and location information that can be transmitted with transmission module 16 described in real-time display；Work Problem location can quickly be determined by making personnel, be repaired to quickly rush towards place to it.

Implement the embodiment of the present invention, have it is following the utility model has the advantages that

The present invention can obtain the real-time of inspection car by setting locating module, map navigation module and drive module Current location and final position, and the driving direction of inspection car can be adjusted in real time, control inspection car is mobile towards final position, improves The working efficiency of inspection car；

The present invention is by setting range finder module, and range finder module launches infrared ray, in range finder module and barrier or road tooth When son contact, infrared ray is reflected, and the infrared ray after reflection is received again by range finder module, and is transmitted accordingly according to distance measuring structure Electrical number to circuit board, control drive module is modified working line after board receiver to electric signal, improves inspection The service life of vehicle；

The present invention is by setting locating module, and when inspection car takes problematic high-tension line, inspection car is by photo Place is transmitted to rear end display screen together with photo, and staff can quickly determine problem location, to quickly rush towards place It is repaired.

The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto, Anyone skilled in the art in the technical scope disclosed by the present invention, according to the technique and scheme of the present invention and its Inventive concept is subject to equivalent substitution or change, should be covered by the protection scope of the present invention.