CN111952883B - Power transmission line fault recognition system and method based on three-dimensional laser radar - Google Patents
Power transmission line fault recognition system and method based on three-dimensional laser radar Download PDFInfo
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- CN111952883B CN111952883B CN202010863796.9A CN202010863796A CN111952883B CN 111952883 B CN111952883 B CN 111952883B CN 202010863796 A CN202010863796 A CN 202010863796A CN 111952883 B CN111952883 B CN 111952883B
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
- G01S17/894—Three-dimensional [3D] imaging with simultaneous measurement of time-of-flight at a two-dimensional [2D] array of receiver pixels, e.g. time-of-flight cameras or flash lidar
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- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
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Abstract
本发明公开了一种基于三维激光雷达的输电线路故障识别系统及方法，系统包括：飞行器，所述飞行器上设有双光相机、交换机与微型计算机；所述双光相机包括可见光摄像头与红外光摄像头；所述微型计算机，基于卷积神经网络算法，将所述输电线路的场景画面与红外热像图融合生成巡检图像，并基于深度学习训练算法，匹配所述巡检图像中的特征从而识别所述输电线路的导线，生成线路缺陷数据，同时，所述微型计算机用于生成与存储巡检报告，所述巡检报告包含所述线路缺陷数据。通过本发明使得能够自动对巡检图像中的特征进行识别并自动诊断缺陷，极大地提高工作效率。
The invention discloses a three-dimensional laser radar-based transmission line fault identification system and method. The system includes: an aircraft, on which a dual-light camera, a switch and a microcomputer are arranged; the dual-light camera includes a visible light camera and an infrared light camera; the microcomputer, based on the convolutional neural network algorithm, fuses the scene picture of the transmission line with the infrared thermal image to generate an inspection image, and based on a deep learning training algorithm, matches the features in the inspection image to thereby Identify the wires of the transmission line, and generate line defect data, and at the same time, the microcomputer is used to generate and store an inspection report, and the inspection report includes the line defect data. The present invention enables automatic identification of features in inspection images and automatic diagnosis of defects, thereby greatly improving work efficiency.
Description
Technical Field
The invention relates to the technical field of power line maintenance, in particular to a power transmission line fault identification system and method.
Background
When the power transmission line is affected by natural disasters and external force damage, faults of different degrees can be caused, and if the line faults are not processed in time, accidents such as short circuit, fire, power interruption, communication interruption and the like can be caused. The line inspection can effectively reduce the line fault rate, and can timely find and timely solve the defects of the power transmission line. The autonomous inspection of the power transmission line by adopting the aircraft gradually becomes a research hotspot, the aircraft-mounted camera can collect line pictures or videos for later-stage fault identification processing, but a large number of normal or defective pictures are generated after each autonomous inspection, the defective pictures need to be manually screened, heavier workload is increased for workers, and meanwhile, the working efficiency is low and errors caused by human negligence easily occur.
Meanwhile, in the prior art, the power transmission line is shot through the camera, and a picture is generated, and in the natural environment, a plurality of target objects in the picture are difficult to distinguish the wire of the power transmission line and the wire is identified, so that the problems of large error and low working efficiency are caused.
In addition, in the prior art, the transmission image is in a line transmission mode, which results in low image transmission speed and asynchronous time of arriving at the ground and the aircraft processing module respectively, so that real-time observation of the inspection image and defect identification cannot be synchronous, the working efficiency is low, and loss is brought to inspection and maintenance of the power transmission line.
Disclosure of Invention
The invention provides a three-dimensional laser radar-based power transmission line fault identification system and method, which are used for solving the technical problems of heavy workload, low working efficiency and high fault rate of workers by fusing a shot power transmission line picture and a corresponding thermal image through an algorithm technology, identifying a lead in a line and judging the defect of the lead.
Therefore, the invention provides a power transmission line fault recognition system based on a three-dimensional laser radar, which comprises: the aircraft is provided with a double-optical camera, a switch and a microcomputer;
the double-optical camera comprises a visible light camera and an infrared camera, the visible light camera is used for shooting a scene picture of the power transmission line, and the infrared camera is used for acquiring an infrared thermal image of the power transmission line by sensing infrared radiation energy of the power transmission line;
the microcomputer is used for fusing a scene picture of the power transmission line with an infrared thermography to generate a routing inspection image based on a convolutional neural network algorithm, matching features in the routing inspection image based on a deep learning training algorithm to identify a lead of the power transmission line, judging whether the temperature corresponding to the lead exceeds a preset temperature threshold value, generating line defect data when the temperature corresponding to the lead exceeds the preset temperature threshold value, and meanwhile, the microcomputer is used for generating and storing a routing inspection report which comprises the line defect data;
the switch is used for establishing connection between the dual-optical camera and the microcomputer and the aircraft respectively so as to realize synchronous data interaction.
Preferably, the aircraft is provided with an RTK navigation positioning system for acquiring coordinate points of the aircraft and a data management module for storing aircraft patrol data;
the machine patrol data comprises coordinate points of towers in the power transmission line;
and the microcomputer is used for respectively acquiring coordinate points corresponding to the current coordinate point of the aircraft and the nearest two-end tower corresponding to the lead based on the RTK navigation positioning system and the machine patrol data after the temperature corresponding to the lead exceeds a preset temperature threshold value, so as to calculate the coordinate point of the lead.
Preferably, the aircraft is further provided with a three-dimensional laser radar, a radar driving board, an RS232 communication module and a power module;
the radar driving board is connected with the three-dimensional laser radar and used for driving the three-dimensional laser radar to work;
the three-dimensional laser radar is used for detecting and acquiring point cloud data of the power transmission line;
the microcomputer is in communication connection with the radar driving board through the RS232 communication module;
the microcomputer calculates a coordinate point of the power transmission line based on the acquired point cloud data of the power transmission line, and simultaneously calculates a relative distance between the aircraft and the power transmission line by comparing the coordinate point of the power transmission line and the coordinate point of the aircraft based on a PID control algorithm, and controls the relative distance between the aircraft and the power transmission line to be kept within a preset distance range;
and the power supply module is used for supplying power to the three-dimensional laser radar and the microcomputer.
Preferably, the system further comprises a ground monitoring device, wherein the ground monitoring device is in wireless communication connection with the aircraft and is used for controlling the aircraft and acquiring the aircraft data.
Preferably, a transmission antenna is arranged on the aircraft;
the transmission antenna is in wireless communication connection with the ground monitoring device, and links in wireless communication connection comprise a 2.4G wireless communication link for image transmission and a 5.8G wireless communication link for command transmission.
Preferably, the aircraft is provided with a three-axis anti-shake pan-tilt for controlling the three-dimensional rotation of the dual-optical camera.
Preferably, the ground monitoring apparatus comprises a remote controller and a display device;
the double-optical camera is provided with an image stream push flow processor, and the image stream push flow processor is used for superposing and rendering the scene picture of the power transmission line and the infrared thermography to generate a rendered image so as to realize single-line transmission of the image;
the remote controller is used for controlling the working states of the aircraft and the dual-light camera;
the display device is used for receiving and displaying the rendering image.
Preferably, the microcomputer comprises a defect management module, a report set module and a data storage module;
the defect management module is used for screening and classifying the line defect data after the microcomputer generates the line defect data, and adding the line defect data into a report set;
the report set module is used for receiving the report set and generating a patrol report;
the data storage module is used for storing the line defect data, the routing inspection report and the machine routing inspection data.
On the other hand, the invention also provides a power transmission line fault identification method based on the three-dimensional laser radar, which is applied to the power transmission line fault identification system based on the three-dimensional laser radar, and comprises the following steps:
step S101: controlling the aircraft to fly to a power transmission line operation site to be inspected through a ground monitoring device;
step S102: shooting the power transmission line through a double-optical camera to obtain a scene picture and an infrared thermal image containing the power transmission line;
step S103: transmitting the scene picture and the infrared thermal image of the power transmission line to a microcomputer and the aircraft through a local area network;
step S104: fusing the scene picture of the power transmission line and the infrared thermography to generate a patrol image based on a convolutional neural network algorithm through the microcomputer;
step S105: matching features in the inspection image based on a deep learning training algorithm through the microcomputer so as to identify a lead of the power transmission line, judging whether the temperature corresponding to the lead exceeds a preset temperature threshold value, and generating line defect data when the temperature corresponding to the lead exceeds the preset temperature threshold value;
step S106: generating and storing a patrol report by the microcomputer, the patrol report including the line defect data.
Preferably, after the step S101, the step S102 further includes a step S201:
the method comprises the steps of detecting point cloud data of the power transmission line through a three-dimensional laser radar, transmitting the point cloud data of the power transmission line to a microcomputer, calculating a coordinate point of the power transmission line through the microcomputer, and controlling the relative distance between the aircraft and the power transmission line to be kept within a preset distance range based on a PID control algorithm.
According to the technical scheme, the invention has the following advantages:
the embodiment of the invention provides a power transmission line fault recognition system based on a three-dimensional laser radar, which comprises: the aircraft is provided with a double-optical camera, a switch and a microcomputer; the double-optical camera comprises a visible light camera and an infrared camera, the visible light camera is used for shooting a scene picture of the power transmission line, and the infrared camera is used for acquiring an infrared thermal image of the power transmission line by sensing infrared radiation energy of the power transmission line; the microcomputer is used for fusing a scene picture of the power transmission line with an infrared thermography to generate a routing inspection image based on a convolutional neural network algorithm, matching features in the routing inspection image based on a deep learning training algorithm to identify a lead of the power transmission line, judging whether the temperature corresponding to the lead exceeds a preset temperature threshold value, generating line defect data when the temperature corresponding to the lead exceeds the preset temperature threshold value, and meanwhile, the microcomputer is used for generating and storing a routing inspection report which comprises the line defect data; the switch is used for establishing connection between the dual-optical camera and the microcomputer and the aircraft respectively so as to realize synchronous data interaction.
The embodiment of the invention fuses the scene picture of the power transmission line acquired by the double-optical camera and the thermal image based on the convolutional neural network algorithm to generate the inspection image, the method can be matched with the characteristic identification transmission line conducting wire in the inspection image, so that the scene picture and the thermal image of the transmission line do not need to be respectively subjected to characteristic identification and matching, the working efficiency is improved, and whether the temperature obtained by judging the thermal image corresponding to the wire exceeds a preset temperature threshold (namely a preset normal temperature threshold), so that the defects of the wire can be identified in real time in the flying inspection process without subsequent screening and identification, the working efficiency is improved, the workload and the error rate of workers are reduced, meanwhile, the patrol inspection report can be stored in real time through the microcomputer, the ground background storage space is compressed, the working efficiency is improved, and the purposes of saving manpower and time cost are achieved.
Meanwhile, the double-optical camera is respectively connected with the aircraft and the microcomputer through the local area network, and the aircraft is wirelessly connected with the ground monitoring device, so that the inspection image shot by the double-optical camera is transmitted to the aircraft and the microcomputer in a broadcasting mode, the transmission speed is improved, and the inspection process and the defects of the line can be synchronously and conveniently monitored in real time.
The power transmission line fault identification method based on the three-dimensional laser radar provided by the invention has the same beneficial effects as the system, and is not repeated herein.
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, and 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 these drawings without inventive exercise.
Fig. 1 is a schematic structural diagram of a first embodiment of a three-dimensional laser radar-based power transmission line fault identification system and method according to the present invention;
fig. 2 is a flowchart of a third embodiment of the system and method for identifying a power transmission line fault based on a three-dimensional laser radar of the present invention.
Detailed Description
In order to make the objects, features and advantages of the present invention more obvious and understandable, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the embodiments described below are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example one
Referring to fig. 1, the system for identifying a power transmission line fault based on a three-dimensional laser radar in an embodiment of the present invention includes an aircraft 1 and a ground monitoring device;
further, the aircraft 1 is provided with the dual-optical camera 2 and the electric cabinet, wherein the electric cabinet comprises a microcomputer 7, the aircraft 1 adopts a four-rotor aircraft 1, the bottom of the aircraft 1 is provided with a first mounting rack 4, and the top of the aircraft 1 is provided with a second mounting rack 5;
the double-optical camera 2 is fixed on the first mounting frame 4, the double-optical camera 2 comprises a visible light camera and an infrared light camera, and the visible light camera and the infrared light camera of the double-optical camera 2 work simultaneously in a working state so as to directly display a power transmission line picture after visible light and infrared light are overlaid and rendered in the subsequent process;
the infrared camera is used for acquiring an infrared thermal image of the power transmission line by sensing infrared radiation energy of the power transmission line, and the visible light camera is used for shooting a scene picture of the power transmission line;
it should be noted that, the temperature measurement process of the infrared camera is as follows: firstly, a wire radiation power signal in the power transmission line is converted into an electric signal by an infrared camera, and when the electric signal is output, an infrared temperature image is output to imaging equipment.
Further, the aircraft 1 is also provided with a switch for providing a local area network, the dual-optical camera 2 is respectively connected with the microcomputer 7 and the aircraft 1 through the switch to realize synchronous data interaction, so that the dual-optical camera 2 can transmit image data in a broadcasting mode, and the aircraft 1 and the microcomputer 7 can simultaneously receive the image data to improve the data transmission speed and can synchronously monitor the inspection process and process images in real time.
Further, the microcomputer 7 fuses the acquired scene picture of the power transmission line and the infrared thermography to generate a patrol image based on a convolutional neural network algorithm;
it should be noted that, the convolutional neural network algorithm is the prior art, and is not described herein again;
it can be understood that the scene picture of the power transmission line and the infrared thermography are fused to generate the inspection image, so that the matching of the lead and the corresponding temperature is facilitated, meanwhile, the defect is identified only aiming at one inspection image, and the working efficiency is greatly improved.
Further, the microcomputer 7 matches features in the inspection image based on a deep learning training algorithm to identify a lead of the power transmission line, judges whether the temperature corresponding to the lead exceeds a preset temperature threshold, and generates line defect data when the temperature corresponding to the lead exceeds the preset temperature threshold;
it can be understood that, because too many target objects are in the inspection image, the lead of the power transmission line can be better identified by establishing a deep learning training model, and whether the temperature corresponding to the lead exceeds a preset normal temperature threshold value can be judged through the temperature obtained from the infrared thermography, and if the temperature exceeds the preset normal temperature threshold value, the lead is indicated to have defects;
further, the microcomputer 7 has an NVIDIA processing chip built therein, and the NVIDIA processing chip is used for packaging the deep learning training algorithm.
It can be understood that, in the prior art, an algorithm system is adopted to perform a deep learning training algorithm, and the algorithm system needs to be completed on the ground, but in the embodiment, by arranging the NVIDIA processing chip in the microcomputer 7, the inspection image line defects can be directly identified on the aircraft 1 in real time through the deep learning training algorithm, so that the image processing efficiency is improved.
Furthermore, an RTK navigation positioning system for acquiring a coordinate point of the aircraft 1 and a data management module for storing aircraft patrol data are arranged on the aircraft 1;
the machine patrol data comprises coordinate points of towers in the power transmission line, and the towers are used for connecting wires;
further, the microcomputer 7 is used for respectively acquiring coordinate points corresponding to the current coordinate point of the aircraft 1 and the two nearest end towers corresponding to the lead based on the RTK navigation positioning system and the machine patrol data after the temperature corresponding to the lead exceeds the preset temperature threshold, and calculating the coordinate point of the corresponding lead with the temperature exceeding the preset temperature threshold in real time through the coordinate point of the aircraft 1 and the coordinate point of the two nearest end towers corresponding to the lead, so that quick and accurate positioning is performed, and subsequent maintenance is facilitated.
Further, the ground monitoring device is in wireless communication connection with the aircraft 1 and is used for controlling the aircraft 1 and acquiring aircraft data;
furthermore, the aircraft 1 is also provided with a transmission antenna which is in wireless communication connection with the ground monitoring device and is used for realizing data interaction between the ground monitoring device and the aircraft 1; meanwhile, the links of the wireless communication connection include a 2.4G wireless communication link for image transmission and a 5.8G wireless communication link for command transmission.
Further, the ground monitoring apparatus includes a remote controller 10 and a display device;
the double-optical camera 2 is provided with an image stream push processor, and the image stream push processor is used for superposing and rendering the scene picture of the power transmission line and the infrared thermography to generate a rendered image so as to realize single-line transmission of the image, so that the fast transmission is facilitated, and the working efficiency is improved;
the remote controller 10 is used for controlling the working states of the aircraft 1 and the dual-optical camera 2 so as to ensure that the aircraft 1 flies safely and can shoot clear pictures of the power transmission line, and meanwhile, the remote controller 10 also controls the dual-optical camera 2 to execute shooting work;
and the display device is used for receiving and displaying the rendering image.
Furthermore, the aircraft 1 is provided with a three-axis anti-shake pan-tilt for controlling the three-dimensional rotation of the dual-optical camera 2, and meanwhile, the dual-optical camera 2 can be prevented from shaking in the rotation process, and the three-axis anti-shake pan-tilt comprises an X axis, a Y axis and a Z axis;
the X axis is used for controlling the transverse angle rotation of the dual-optical camera 2, the Y axis is used for controlling the longitudinal angle rotation of the dual-optical camera 2, and the Z axis is used for controlling the deflection angle rotation of the dual-optical camera 2;
the three-axis anti-shake holder comprises holder motors which are respectively arranged on an X axis, a Y axis and a Z axis and are used for providing power for rotation at corresponding angles;
it can be understood that, when the aircraft 1 flies, the three-axis anti-shake pan-tilt can be adjusted so that the two-optical camera 2 shoots the picture of the power transmission line.
Further, the electric cabinet is arranged on the second mounting frame 5 and comprises a radar driving plate 6, a three-dimensional laser radar 3, an RS232 communication module 8 and a power module 9;
the radar driving board 6 is connected with the three-dimensional laser radar 3 and is used for driving the three-dimensional laser radar 3 to work;
the three-dimensional laser radar 3 is used for detecting and acquiring point cloud data of the power transmission line and transmitting the point cloud data of the power transmission line to the microcomputer 7;
the microcomputer 7 calculates a coordinate point of the power transmission line based on the acquired point cloud data of the power transmission line, and simultaneously calculates a relative distance between the aircraft 1 and the power transmission line by comparing the coordinate point of the power transmission line with the coordinate point of the aircraft 1 based on a PID control algorithm, and controls the relative distance between the aircraft 1 and the power transmission line to be kept within a preset distance range, so that the aircraft 1 can keep a safe distance in a cruising process and the double optical cameras 2 can shoot inspection images with good quality.
It should be noted that, in this embodiment, the preset distance range is 4-5 meters.
Further, the three-dimensional laser radar 3 is provided with a plurality of laser emission ports, in this embodiment, the number of the laser emission ports is 16, and 16 laser beams can be emitted simultaneously, so that the distance between the aircraft 1 and the power transmission line can be measured more accurately.
The three-dimensional laser radar 3 is provided with a central shaft for 360-degree laser scanning, and a laser emission port rotates relative to the central shaft.
The power module 9 is electrically connected with the radar drive board 6 and the microcomputer 7 respectively and used for supplying power to the three-dimensional laser radar 3 and the microcomputer 7.
Example two
In the second embodiment, on the basis of the first embodiment, the microcomputer 7 further includes a defect management module, a report set module and a data storage module;
the system comprises a fault management module, a report set and a fault diagnosis module, wherein the fault management module is used for screening and classifying line fault data after the microcomputer generates the line fault data, and adding the line fault data into the report set;
specifically, the defect management module stores and records position information of the identified line defect data in the inspection image, and can classify and screen the line defect data according to the defect conditions of strand breakage, strand scattering, ablation and the like;
and further, the report set module is used for receiving the report set, checking defects in the report set and generating the inspection report.
Further, the data management module is used for calculating the sag value of the power transmission line in the patrol image and the relative distance between the power transmission line and an obstacle below the power transmission line, and modeling the working environment in the scanning range of the three-dimensional laser radar 3;
specifically, the RTK positioning system is used for determining the coordinate and the elevation data of the wire of the power transmission line, acquiring a drooping curvature image of the power transmission wire between towers in the power transmission line by combining the double optical cameras 2, and transmitting the coordinate, the elevation data and the curvature image of the wire to the data management module for fitting and calculating a sag value so as to judge whether a defect exists;
in this embodiment, the three-dimensional laser radar 3 may also scan surrounding obstacles, so as to obtain a clearance distance between the power transmission line and the obstacles, and the obstacles (such as trees) below the power transmission line have a relatively large threat to the power transmission line, and the clearance distance measurement may be implemented by the three-dimensional laser radar 3, and transmitted to the data management module to determine whether the clearance distance is within a reasonable range;
in addition, the three-dimensional laser radar 3 transmits point cloud data, IMU inertial navigation data and RTK data obtained by scanning surrounding obstacles to the data management module, and can perform calculation modeling, so that whether the surrounding environment threatens the power transmission line is judged.
And further, the data storage module is used for storing the inspection data, the line defect data, the normal sample information, the defect sample information and the inspection report.
The embodiment can realize rapid classification, intelligent identification and automatic report generation of the defects of the power transmission line, greatly improve the working efficiency of line operators, greatly reduce the operation cost of a power grid and overcome the difficulty of large redundant data processing and management workload compared with the traditional manual data processing.
EXAMPLE III
In a third embodiment, on the basis of the first embodiment or the second embodiment, a method for identifying a fault of a power transmission line based on a three-dimensional laser radar 3 is provided, with reference to fig. 2, including:
step S101: controlling the aircraft to fly to a power transmission line operation site to be inspected through a ground monitoring device;
step S102: shooting the power transmission line through a double-optical camera to obtain a scene picture and an infrared thermal image containing the power transmission line;
step S103: transmitting the scene picture and the infrared thermal image of the power transmission line to the microcomputer and the aircraft through the local area network;
step S104: fusing a scene picture of the power transmission line and the infrared thermography to generate a patrol image based on a convolutional neural network algorithm through a microcomputer;
step S105: matching features in the inspection image based on a deep learning training algorithm through a microcomputer so as to identify a lead of the power transmission line, judging whether the temperature corresponding to the lead exceeds a preset temperature threshold value, and generating line defect data when the temperature corresponding to the lead exceeds the preset temperature threshold value;
step S106: generating and storing a patrol inspection report through a microcomputer, wherein the patrol inspection report contains line defect data.
Further, after step S101, step S102 is preceded by step S201:
the method comprises the steps of detecting point cloud data of the power transmission line through a three-dimensional laser radar, transmitting the point cloud data of the power transmission line to a microcomputer, calculating a coordinate point of the power transmission line through the microcomputer, and controlling the relative distance between an aircraft and the power transmission line to be kept within a preset distance range based on a PID control algorithm.
It can be understood that, for convenience and brevity of description, it can be clearly understood by those skilled in the art that the specific working processes of the system and the module described above may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other manners. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the modules is merely a logical division, and in actual implementation, there may be other divisions, for example, multiple modules or components may be combined or integrated into another system, or some features may be omitted, or not implemented. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or modules, and may be in an electrical, mechanical or other form.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (9)
1. The utility model provides a transmission line fault identification system based on three-dimensional laser radar which characterized in that includes: the aircraft is provided with a double-optical camera, a switch and a microcomputer;
the double-optical camera comprises a visible light camera and an infrared camera, the visible light camera is used for shooting a scene picture of the power transmission line, and the infrared camera is used for acquiring an infrared thermal image of the power transmission line by sensing infrared radiation energy of the power transmission line;
the microcomputer is used for fusing a scene picture of the power transmission line with an infrared thermography to generate a routing inspection image based on a convolutional neural network algorithm, matching features in the routing inspection image based on a deep learning training algorithm to identify a lead of the power transmission line, judging whether the temperature corresponding to the lead exceeds a preset temperature threshold value, generating line defect data when the temperature corresponding to the lead exceeds the preset temperature threshold value, and meanwhile, the microcomputer is used for generating and storing a routing inspection report which comprises the line defect data;
the microcomputer comprises a defect management module and a report set module;
the defect management module is used for screening and classifying the line defect data after the microcomputer generates the line defect data, and adding the line defect data into a report set;
the report set module is used for receiving the report set and generating a patrol report;
the switch is used for respectively connecting the dual-optical camera with the microcomputer and the aircraft to realize synchronous data interaction;
the aircraft is provided with an RTK navigation positioning system for acquiring a coordinate point of the aircraft and a data management module for storing aircraft patrol data;
the machine patrol data comprises coordinate points of towers in the power transmission line;
and the microcomputer is used for respectively acquiring coordinate points corresponding to the current coordinate point of the aircraft and the nearest two-end tower corresponding to the lead based on the RTK navigation positioning system and the machine patrol data after the temperature corresponding to the lead exceeds a preset temperature threshold value, so as to calculate the coordinate point of the lead.
2. The power transmission line fault identification system based on the three-dimensional laser radar as claimed in claim 1, wherein the aircraft is further provided with the three-dimensional laser radar, a radar driving plate, an RS232 communication module and a power supply module;
the radar driving board is connected with the three-dimensional laser radar and used for driving the three-dimensional laser radar to work;
the three-dimensional laser radar is used for detecting and acquiring point cloud data of the power transmission line;
the microcomputer is in communication connection with the radar driving board through the RS232 communication module;
the microcomputer calculates a coordinate point of the power transmission line based on the acquired point cloud data of the power transmission line, and simultaneously calculates a relative distance between the aircraft and the power transmission line by comparing the coordinate point of the power transmission line and the coordinate point of the aircraft based on a PID control algorithm, and controls the relative distance between the aircraft and the power transmission line to be kept within a preset distance range;
and the power supply module is used for supplying power to the three-dimensional laser radar and the microcomputer.
3. The three-dimensional lidar based power transmission line fault identification system of claim 1, further comprising a ground monitoring device in wireless communication with the aircraft for controlling the aircraft and obtaining the aircraft data.
4. The three-dimensional lidar based power transmission line fault identification system of claim 3, wherein a transmission antenna is provided on the aerial vehicle;
the transmission antenna is in wireless communication connection with the ground monitoring device, and links in wireless communication connection comprise a 2.4G wireless communication link for image transmission and a 5.8G wireless communication link for command transmission.
5. The three-dimensional lidar based power transmission line fault identification system of claim 1, wherein the aerial vehicle is provided with a three-axis anti-shake pan-tilt for controlling the three-dimensional rotation of the dual-optical camera.
6. The three-dimensional lidar based power transmission line fault identification system of claim 4, wherein the ground monitoring apparatus comprises a remote controller and a display device;
the double-optical camera is provided with an image stream push flow processor, and the image stream push flow processor is used for superposing and rendering the scene picture of the power transmission line and the infrared thermography to generate a rendered image so as to realize single-line transmission of the image;
the remote controller is used for controlling the working states of the aircraft and the dual-light camera;
the display device is used for receiving and displaying the rendering image.
7. The three-dimensional lidar based power transmission line fault identification system of claim 1, wherein the microcomputer comprises a data storage module;
the data storage module is used for storing the line defect data, the routing inspection report and the machine routing inspection data.
8. A power transmission line fault identification method based on a three-dimensional laser radar is applied to the power transmission line fault identification system based on the three-dimensional laser radar in any one of claims 1 to 7, and is characterized by comprising the following steps:
step S101: controlling the aircraft to fly to a power transmission line operation site to be inspected through a ground monitoring device;
step S102: shooting the power transmission line through a double-optical camera to obtain a scene picture and an infrared thermal image containing the power transmission line;
step S103: transmitting the scene picture and the infrared thermal image of the power transmission line to a microcomputer and the aircraft through a local area network;
step S104: fusing the scene picture of the power transmission line and the infrared thermography to generate a patrol image based on a convolutional neural network algorithm through the microcomputer;
step S105: matching features in the inspection image based on a deep learning training algorithm through the microcomputer so as to identify a lead of the power transmission line, judging whether the temperature corresponding to the lead exceeds a preset temperature threshold value, and generating line defect data when the temperature corresponding to the lead exceeds the preset temperature threshold value;
step S106: generating and storing a patrol report by the microcomputer, the patrol report including the line defect data.
9. The method for identifying the transmission line fault based on the three-dimensional laser radar as claimed in claim 8, wherein after the step S101, before the step S102, the method further comprises the step S201:
the method comprises the steps of detecting point cloud data of the power transmission line through a three-dimensional laser radar, transmitting the point cloud data of the power transmission line to a microcomputer, calculating a coordinate point of the power transmission line through the microcomputer, and controlling the relative distance between the aircraft and the power transmission line to be kept within a preset distance range based on a PID control algorithm.
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| CN113591574B (en) * | 2021-06-29 | 2024-02-27 | 山东信通电子股份有限公司 | A method and device for inspection of transmission lines based on lidar |
| CN113286129B (en) * | 2021-07-23 | 2021-10-22 | 北京图知天下科技有限责任公司 | Inspection method and system for photovoltaic power station |
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| CN115712124A (en) * | 2022-09-27 | 2023-02-24 | 武汉海达数云技术有限公司 | Laser radar-based power facility unmanned aerial vehicle and inspection method |
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