CN113781450B - Unmanned aerial vehicle image acquisition automatic intelligent defect analysis system based on power transmission and distribution lines - Google Patents
Unmanned aerial vehicle image acquisition automatic intelligent defect analysis system based on power transmission and distribution lines Download PDFInfo
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Abstract
The invention discloses an unmanned aerial vehicle image acquisition automatic intelligent defect analysis system based on an electric transmission and distribution line, which comprises a database, a server, an unmanned aerial vehicle manager module, an unmanned aerial vehicle operation module, a real-time image quick-splicing magic cube module, an unmanned aerial vehicle, a defect hidden danger analysis module, a tree barrier analysis module and a patrol data management module; the invention discloses an automatic intelligent defect analysis system based on image acquisition of an unmanned aerial vehicle of a power transmission and distribution line, which has the advantages of establishing a geographical map and a three-dimensional management and control area map of a channel of the power transmission line, automatically judging the positions of hidden danger defects, primarily grading hidden danger defects according to a defect library, manually intervening, carrying out grading and color separation imaging display on hidden danger defects, dynamically issuing reminding information according to the whole hidden danger management process until the processing is finished and the hidden danger management and control requirements are combined, carrying out defect management imaging, combining the geographical map and the management and control map, comprehensively diagnosing and generating corresponding management and control cards, combining hidden danger conditions, carrying out key management and control area division, and reasonably formulating a patrol period.
Description
Technical Field
The invention relates to the field of power grid inspection, in particular to an automatic intelligent defect analysis system based on image acquisition of an unmanned aerial vehicle of a power transmission and distribution line.
Background
With the continuous development and progress of technology, detection equipment such as a high-resolution visible light camera (a video camera), a high-precision thermal infrared imager, three-dimensional laser radar scanning equipment and the like enriches the operation and detection means of a power transmission line, and particularly in recent years, policies in the navigation field of China are gradually released, unmanned aerial vehicle technology is rapidly improved, an unmanned aerial vehicle carrying special sensor load inspection power transmission line is rapidly developed, and the line is promoted to be converted from a traditional manual inspection mode to an inspection mode. Compared with the traditional manual inspection, the unmanned aerial vehicle inspection has the characteristics of high efficiency, high quality, no influence of terrain conditions and the like, and is an important means for the development of the management of the power transmission line in a safer, efficient, fine and economic direction;
Most of power line equipment is remote in place and severe in environment, is often damaged by artificial or natural disasters (storm, ice coating, pollution flashover and the like), and serious even occurrence of tower toppling and disconnection accidents brings serious economic loss and extremely bad social influence to countries and power enterprises, therefore, in order to ensure safe and reliable operation of transmission and distribution networks, power enterprises need to invest a large amount of manpower, material resources and financial resources for supporting and guaranteeing each year, and the old and round, no matter windy, rainy, hot and cold days need to be regularly and irregularly patrolled on site, the traditional power transmission line management mode is that patrolling staff fills out patrol records manually after line patrol, the accurate diagnosis of hidden danger management is limited by the cognitive ability of the patrolling staff on hidden danger defects, hidden danger management cannot be dynamically displayed, hidden danger is not considered in combination with surrounding environment, development situation cannot be accurately judged, and reasonable patrol period is not facilitated; therefore, an automatic intelligent defect analysis system based on image acquisition of the unmanned aerial vehicle of the power transmission and distribution line is needed.
Disclosure of Invention
The invention aims to provide an automatic intelligent defect analysis system based on image acquisition of an unmanned aerial vehicle of a power transmission and distribution line, which has the advantages of establishing a geographical map and a three-dimensional management and control area map of a channel of the power transmission line, automatically judging the positions of hidden danger defects, primarily grading hidden danger defects according to a defect library, performing manual intervention and hierarchical color separation imaging display of hidden danger defects, dynamically issuing reminding information according to the whole hidden danger management process until the processing is finished and hidden danger management and control requirements are combined, performing defect management imaging, combining the geographical map and the management and control map, comprehensively diagnosing and generating corresponding management and control cards, combining hidden danger conditions, dividing key management and control areas, and reasonably making a patrol period.
In order to achieve the above purpose, the present invention provides the following technical solutions: an automatic intelligent defect analysis system based on power transmission and distribution line unmanned aerial vehicle image acquisition comprises a database, a server, an unmanned aerial vehicle management module, an unmanned aerial vehicle operation module, a real-time image quick-assembly magic cube module, an unmanned aerial vehicle, a defect hidden danger analysis module, a tree obstacle analysis module and a patrol data management module;
The server adopts a non-x 86 server to analyze data, and adopts an Intel server CPU and a Windows/NetWare network operating system;
the database is used for cloud storage of information storage, intelligent searching of corresponding data information is carried out according to collected information, and all information is backed up;
The unmanned aerial vehicle manager module performs comprehensive information collection and authority management on the unmanned aerial vehicle by adopting a network and a radio;
the unmanned aerial vehicle operation module adopts a network and a radio to perform operation control and setting and operation adjustment of partial functions on the unmanned aerial vehicle;
The real-time image quick spelling magic cube module quickly spells image data and monitors the data processing progress through a network;
The unmanned aerial vehicle is an unmanned aerial vehicle which is operated by using a radio remote control device and a self-contained program control device;
The defect hidden danger analysis module adopts a network, a radio and a camera to collect the defects of the information, and adopts space cohesion and image analysis to conveniently and rapidly pre-process, classify and assist in identifying the artificial defects and generating a patrol report;
The tree obstacle analysis module supports various unmanned aerial vehicles or visible light data sources of the unmanned aerial vehicle or the man-machine through a network and a radio, and carries photos taken by a professional measuring camera; after the light image is subjected to space three encryption processing, the whole engineering file is imported into a tree barrier analysis module, a power line track is fitted according to a suspension line formula through a small number of homonymous points of a wire under a semi-automatic uniform measurement line, and then the accurate distance between the power line and the ground surface is accurately calculated; finally, automatically carrying out hazard analysis and outputting a real-time working condition tree obstacle hazard point analysis report;
the inspection data management module performs high-efficiency integrated management on the inspection data, the visible light photo, the visible light video, the infrared video, other photos, video and recorded information and document data on the power grid, and satisfies integrated management, high-efficiency calling and two-dimensional display analysis of TB-level multi-source heterogeneous data.
Preferably, the unmanned aerial vehicle manager module comprises an inventory management module, a device management module, an unmanned aerial vehicle management module, a battery management module, a basic data management module, a statistical report module and an information display module; the inventory management module is divided into four sub-modules of reservation management, warehouse entry management and inventory inquiry; reservation management: team personnel make equipment reservations so that unmanned aerial vehicle administrators prepare equipment early; and (3) warehouse-out management: team personnel make equipment reservations so that unmanned aerial vehicle administrators prepare equipment early; and (3) warehouse entry management: the return registration of the unmanned aerial vehicle and the battery is completed by scanning the bar code or inputting the equipment number; inventory query: inquiring information such as the total number of unmanned aerial vehicles, the number of faults, the number of borrowed products, the number of warehouse storage products and the like according to the model of the unmanned aerial vehicle; the equipment management module is divided into sub-modules such as unmanned aerial vehicle management, battery management, unmanned aerial vehicle fault management and the like; unmanned aerial vehicle management module: managing the unmanned aerial vehicle in stock, and referring to basic data such as unmanned aerial vehicle model, purchasing time, accessories, and the like according to model and number; and (3) battery management: managing the unmanned aerial vehicle in stock, consulting basic data such as unmanned aerial vehicle model, purchasing time, accessories and the like according to model and number, reminding and counting the charge and discharge times of the battery, and ensuring the safe use of the battery; unmanned aerial vehicle fault management: registering and confirming unmanned aerial vehicle fault information, and recording maintenance information; the basic data management module is used for managing the information of the line tower, the line team and the patrol personnel; the statistics report module is used for counting faults of the unmanned aerial vehicle and conditions of scrapped batteries according to time, counting usage damage rules of important equipment such as the unmanned aerial vehicle and the batteries through a big data analysis technology, and simultaneously counting patrol conditions of power transmission stations/groups in a certain time according to parameters such as a frame number, a patrol line length, a patrol tower base number and the like, so that accurate and reliable equipment statistics analysis data and decision support are provided for maintenance and patrol path arrangement in the future; the information display module realizes the rolling play of the real-time inventory condition of the unmanned aerial vehicle/battery on the control end large screen display through the network.
Preferably, the unmanned aerial vehicle operation module comprises a patrol business registration module, a fine patrol module, a channel patrol module, a rapid drawing module, a panorama acquisition module, a task management module and a map application module; the inspection service registration module comprises a personnel training registration module, an equipment fault registration module and a flight history recording module, wherein the inspection service registration module comprises a personnel training registration module, an equipment fault registration module and a flight history recording module: according to the requirements of the patrol task, inputting basic information of the patrol task before each patrol task; personnel training registration module: inputting basic information of personnel training; an equipment fault registration module: after the unmanned aerial vehicle or the battery equipment fails, performing fault registration in the field, filling in fault types, and briefly describing the failure occurrence reason and suggested maintenance description; a flight history recording module: when an accident occurs to the unmanned aerial vehicle, the unmanned aerial vehicle is used for an administrator to check and restore the on-site flight condition; the fine inspection module is finely divided into a learning mode and an inspection mode, wherein the learning mode records the flight track and the shooting position, the recorded information is used as the flight basis in the inspection mode, and the inspection mode carries out automatic flight according to the information recorded in the learning mode; the channel inspection module is used for data acquisition of hidden channel hazards such as construction black spots, mountain fires, landslide, tree barriers and the like, and has three modes of video shooting, timing shooting and tree barrier acquisition; in a video shooting mode, the unmanned aerial vehicle automatically shoots videos along a selected corridor channel, and in a timing shooting mode, the unmanned aerial vehicle automatically shoots at fixed time along the selected corridor channel; in the two modes, the flying speed of the unmanned aerial vehicle and the cradle head angle of the camera are set automatically; the tree barrier acquisition mode enables the unmanned aerial vehicle to automatically shoot the channel along a specific flight route, and is used for analyzing the vertical distance between the tree and the electric wire within the range of the channel, so as to determine whether the tree needs to be cut off or not; the rapid drawing module has two modes of orthographic and oblique, wherein orthographic means that an unmanned aerial vehicle automatically completes shooting an orthographic picture in a planning area and is spliced into an orthographic image; tilting means that the unmanned aerial vehicle automatically completes shooting 5 frames of photos in a planning area, and the photos are processed together to form a three-dimensional model; the pictures shot in the normal shooting mode are processed by a real-time image fast-splicing magic cube module in the wild to directly splice a normal shooting image, so that the environmental conditions around a tower or a channel corridor are rapidly acquired; the panoramic acquisition module is provided with a tower automatic panorama and a multi-point planning panorama, and the tower panoramic acquisition is to automatically rotate the unmanned aerial vehicle 360 degrees above the tower and take pictures, and splice and synthesize 360 panoramic pictures, so that the environmental conditions around the tower are recorded; the multi-point planning panorama enables the unmanned aerial vehicle to continuously shoot 360 panoramic pictures of a plurality of freely planned position points, each position point is spliced into a 360 panoramic picture, and therefore environment information of the position points is obtained; the task management module records the names, flight dates, heights, overlapping degrees, route planning and completion states of all flight tasks; the map application module loads an offline map, and the images spliced by the real-time image quick-splicing magic cube module are overlapped on the map, so that the patrol area is compared and analyzed.
Preferably, the defect hidden danger analysis module comprises a data preprocessing module, a data automatic classification module, a photo exhibition and image comparison module, a channel hidden danger identification module, a tower hidden danger identification module, an automatic generation report module and a hidden danger defect standard library management module; the data preprocessing module can automatically classify and name photos according to the spatial relationship between the positions of the photos and the coordinates of the towers based on a space-time cohesion algorithm, and automatically delete the image files which are shot superfluously or repeatedly, so that the management of the patrol data is more standardized; the module can also be compatible with original photos with pos information shot by a man-machine or a fixed wing; the automatic data classifying module is used for preprocessing the tour data, the tour tower corresponds to a plurality of photos, and the tour photos need to be classified according to tower type differences and different shooting positions; the photo showing and image comparing module can show photos or videos of the unmanned aerial vehicle channel inspection on the map based on the two three-dimensional background map, can load the DOM image data after splicing, quickly find hidden trouble problems in the channel through inspecting the photos or the DOM after splicing, and mark the hidden trouble problems on the map; the channel hidden danger identification module provides a rapid acquisition tool of a point, line and surface characteristic map, integrates an encoded channel hidden danger standard library, and can rapidly identify and identify the channel hidden danger based on pictures and spliced images; the hidden trouble identification module of the tower pole is internally provided with a defect library, and an intelligent association mode is combined with an auxiliary drawing technology to retrieve defect codes so as to quickly and accurately identify the defects; the automatic generation report module integrates various hidden danger defect report templates, and can realize one-key defect guiding-out and hidden danger report; the hidden danger defect standard library management module classifies and gathers the hidden dangers forming the report by finding, identifying and confirming the hidden dangers of the report, associates the defect types, the images and the defect photos in a unit of part, and searches the common defect images and the common defect photos of each part by a user, and in the hidden danger defect identification process, the historical hidden danger photos are called at any time.
Preferably, the tree obstacle analysis module comprises a data importing module, a line measuring module, a point cloud classification module and a danger analysis module; the data importing module creates an engineering catalog according to contents such as line information, routing inspection information and the like, and automatically generates contents of engineering information in a final result report according to input engineering parameters; the line measurement module is used for realizing modeling of conductor sag of a transmission line channel based on image dense point cloud matching and a stereo mapping technology; the module realizes the functions of batch addition, import, modification and deletion of the electric power iron towers and the like, and automatically generates a gear according to the determined iron towers; the point cloud classification module classifies the original point cloud into ground points, power line points and tower points, and other points which are uncomfortable in the categories are classified into default points or unclassified points for standby; the hazard analysis module performs a safe distance to ground analysis on the wire based on the fitted wire and the classified point cloud that have been generated.
Preferably, the patrol data management module comprises a basic operation module, a power grid resource management module, a route planning management module, a patrol task management module, patrol data and result management module, a defect information management module and two three-dimensional visualization and space analysis modules; the basic operation module is provided in the two three-dimensional geographic space platform and is used for measuring, analyzing and other operations of basic information such as various spatial relations, positions and the like; comprising the following steps: layer loading management, distance, area and elevation calculation, map marking and oblique photography visual management; the power grid resource management module is used for managing topological relation, spatial relation and basic standing book information of a pole tower, a line and other basic objects of the inspection object, the system is used for carrying out visual display and coordinate position management on the power transmission line based on three-dimensional geographic information, and can be used for inquiring data information such as standing books, photos, videos and panoramic data of the pole tower by taking the pole tower as a unit based on the spatial position; the route planning management module analyzes the operability of the routing inspection route according to the customized safe distance and range of the current area, the current route and the current pole tower based on background data management; the patrol task management module automatically synchronizes patrol records of the intelligent operation system of the unmanned aerial vehicle, records information such as the position, the tower, the operators, the machine type, the operation duration and the like of each machine patrol operation, and manages the records, and displays and inquires three-dimensionally in a visual manner through patrol data management; the inspection data and result management module manages original pictures, videos and result data after defect analysis which are shot by the unmanned aerial vehicle inspection, and automatically associates a tower with the original pictures and space-time cohesion based on geographic positions; the defect information management module is used for importing result data of the defect hidden danger analysis module and the tree obstacle analysis module to perform defect management, and can be combined with power grid resources to conveniently inquire and count defect data, result reports and other information according to conditions such as defect types, parts, elements, appearances, grades and the like; the two three-dimensional visualization and space analysis module completes automatic modeling and three-dimensional visualization of the channel range through a network, and compares and spatially analyzes data before and after aerial survey.
Preferably, the database, the server, the unmanned aerial vehicle management module, the unmanned aerial vehicle operation module, the real-time image quick-assembly magic cube module, the unmanned aerial vehicle, the defect hidden danger analysis module, the tree obstacle analysis module and the inspection data management module are all provided with independent power supplies and are connected with an external control end through a network and a radio.
Compared with the prior art, the invention has the following beneficial effects:
1. The invention discloses an automatic intelligent defect analysis system based on image acquisition of an unmanned aerial vehicle of a power transmission and distribution line; the system is used for carrying out fine inspection and channel inspection on a power grid, the intelligent control of an unmanned aerial vehicle is used for clearly and accurately finding potential hazards and defects of surrounding environment and local area of the power grid, the system is used for comprehensively managing route planning, basic geographic data, inspection process data, technical archival data and the like of a managed area, a convenient guiding tool is developed, various relevant data, norms and the like of inspection, line planning, tracking, management and the like of the power transmission line are arranged and standardized, a comprehensive database of inspection data of the power transmission line is established, a large amount of data formed in the normal management process of inspection service of the system and related mass information are scientifically stored and managed, a large amount of single, scattered and short-of inherent information data are changed into organic and comprehensive information resources based on the management of mass electric power space data, the geographic environment, inspection condition and the like of the power transmission line are truly displayed, and the real-time dynamic, power transmission, positioning, inspection, measurement, planning and the like of the power transmission line are carried out on a large scale, the integrated management of various data of the power transmission line in the network environment is realized.
2. The invention discloses an automatic intelligent defect analysis system based on image acquisition of an unmanned aerial vehicle of a power transmission and distribution line; comprehensively analyzing the geographic environment, the patrol environment and the like of the power transmission line by utilizing the powerful space analysis capability of the GIS through the patrol data management module, and providing route planning scheme comparison, basic geographic information service, machine patrol operation tracking, digital photo integration, video image integration, three-dimensional visual display and the like for machine patrol by combining route planning, geographic information, power grid resources and the like; and further develop professional transmission line inspection thematic tools by utilizing GIS convenient thematic management function, realize functions such as full space three-dimensional visual expression, mass data support management, three-dimensional space analysis, virtual reality management, etc., thereby provide convenient, powerful tool for the machine inspection operation and management of 110kV and above level transmission and transformation line engineering, improve inspection management quality, reduce management cost, alleviate inspection personnel intensity of labour, provide intelligent, high-efficient, accurate auxiliary operation and maintenance support for electric wire netting fortune dimension personnel.
3. The invention discloses an automatic intelligent defect analysis system based on image acquisition of an unmanned aerial vehicle of a power transmission and distribution line; according to the system, three achievements of unmanned aerial vehicle data are combined, a small number of homonymous points of a wire under a line are measured semi-automatically and evenly through high-definition images of the unmanned aerial vehicle, a power line track is fitted by the homonymous points according to a suspension line formula, meanwhile, point cloud data are classified, ground and ground surfaces are distinguished, the accurate distance between the power line and the ground surfaces is accurately calculated and measured, finally, hazard analysis is automatically carried out, the hazard points are highlighted, and a real-time working condition tree obstacle hazard point analysis report is automatically output.
4. The invention discloses an automatic intelligent defect analysis system based on image acquisition of an unmanned aerial vehicle of a power transmission and distribution line; through in the passageway inspection module, unmanned aerial vehicle carries out video shooting and take a picture along the passageway, thereby clearly record the environmental condition in the passageway within range, satisfy the inspection personnel and to the construction black spot in the passageway, landslide, mountain fire and potential danger such as tree barrier are examined, in order to look over the environment around the electric wire netting on a large scale, intelligent operating system automatic planning route makes unmanned aerial vehicle acquire the data of the orthographic image in the planning range, splice fast in the field through real-time image quick-assembly magic cube module, acquire the orthographic image in time, intelligent operating system can also automatic navigation unmanned aerial vehicle obtains 360 panorama data to the selected shaft tower sky in addition, make the inspection personnel have complete understanding to shaft tower surrounding environment.
5. The invention discloses an automatic intelligent defect analysis system based on image acquisition of an unmanned aerial vehicle of a power transmission and distribution line; the magic cube module is a set of portable aviation data processing system, aviation data is subjected to air three-density point cloud matching and image splicing at the first time through the vehicle-mounted power supply, the unmanned aerial vehicle operation module monitors the data processing progress in real time, the aviation data can be used immediately, and the intelligent aviation data processing system is particularly suitable for emergency quick plotting and tree obstacle point cloud preprocessing scenes.
6. The invention discloses an automatic intelligent defect analysis system based on image acquisition of an unmanned aerial vehicle of a power transmission and distribution line; the defect hidden danger analysis module is a tool software system which is developed by analyzing inspection data of the unmanned aerial vehicle, carrying out quick classification, naming, defect hidden danger identification and automatic generation of a defect report on the basis of a calculation image algorithm and drawing technology auxiliary operation, and the system is internally provided with an annual standard defect library for automatically coding defects, so that the efficiency of manufacturing the defect report and the standardization level of results are improved.
7. The invention discloses an automatic intelligent defect analysis system based on image acquisition of an unmanned aerial vehicle of a power transmission and distribution line; the tree barrier analysis statistical evaluation system is developed aiming at the tree barrier hidden danger analysis work, the transformation from manual field on-site measurement to unmanned aerial vehicle auxiliary automatic measurement of tree barrier analysis is realized, the tree barrier analysis efficiency is improved, the tree barrier analysis quality is improved, intelligent technology is used, the safety of a power grid is ensured, and the system is based on image dense point cloud matching and stereo mapping technology, and conducting wire sag modeling, tree barrier safety distance analysis and crossing distance measurement are carried out on a power transmission line channel.
Drawings
Fig. 1 is a schematic diagram of an overall system of an automated intelligent defect analysis system based on image acquisition of a power transmission and distribution line unmanned aerial vehicle;
fig. 2 is a schematic diagram of a unmanned aerial vehicle management module structure based on an unmanned aerial vehicle image acquisition automation intelligent defect analysis system of a power transmission and distribution line;
Fig. 3 is a schematic diagram of an unmanned aerial vehicle operation module structure of the unmanned aerial vehicle image acquisition automatic intelligent defect analysis system based on a power transmission and distribution line;
Fig. 4 is a schematic diagram of a defect hidden danger analysis module based on an image acquisition automatic intelligent defect analysis system of a power transmission and distribution line unmanned aerial vehicle;
fig. 5 is a schematic structural diagram of a tree obstacle analysis module of an automated intelligent defect analysis system based on image acquisition of a power transmission and distribution line unmanned aerial vehicle;
Fig. 6 is a schematic diagram of a patrol data management module structure of the unmanned aerial vehicle image acquisition automatic intelligent defect analysis system based on a power transmission and distribution line.
Detailed Description
The technical solutions of 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 apparent that the described embodiments are only some embodiments of the present invention, but not all embodiments, and all other embodiments obtained by those skilled in the art without making creative efforts based on the embodiments of the present invention are included in the protection scope of the present invention.
Example 1
Referring to fig. 1, 2 and 3, an automated intelligent defect analysis system based on image acquisition of an unmanned aerial vehicle of a power transmission and distribution line comprises a database, a server, an unmanned aerial vehicle manager module, an unmanned aerial vehicle operation module, a real-time image quick-splicing magic cube module, an unmanned aerial vehicle, a defect hidden danger analysis module, a tree obstacle analysis module and a patrol data management module;
The server adopts a non-x 86 server to analyze data, and adopts an Intel server CPU and a Windows/netWare network operating system;
the database is used for cloud storage of information storage, intelligent searching of corresponding data information is carried out according to collected information, and all information is backed up;
the unmanned aerial vehicle manager module performs comprehensive information collection and authority management on the unmanned aerial vehicle by adopting a network and a radio;
The unmanned aerial vehicle operation module adopts a network and a radio to carry out operation control and setting and operation adjustment of partial functions on the unmanned aerial vehicle;
the real-time image quick spelling magic cube module is used for quickly spelling the image data and monitoring the data processing progress through a network;
The unmanned aerial vehicle is an unmanned aerial vehicle which is controlled by using a radio remote control device and a self-contained program control device;
The unmanned aerial vehicle manager module comprises an inventory management module, a device management module, an unmanned aerial vehicle management module, a battery management module, a basic data management module, a statistics report module and an information display module; the inventory management module is divided into four sub-modules of reservation management, warehouse entry management and inventory inquiry; reservation management: team personnel make equipment reservations so that unmanned aerial vehicle administrators prepare equipment early; and (3) warehouse-out management: team personnel make equipment reservations so that unmanned aerial vehicle administrators prepare equipment early; and (3) warehouse entry management: the return registration of the unmanned aerial vehicle and the battery is completed by scanning the bar code or inputting the equipment number; inventory query: inquiring information such as the total number of unmanned aerial vehicles, the number of faults, the number of borrowed products, the number of warehouse storage products and the like according to the model of the unmanned aerial vehicle; the equipment management module is divided into sub-modules such as unmanned aerial vehicle management, battery management, unmanned aerial vehicle fault management and the like; unmanned aerial vehicle management module: managing the unmanned aerial vehicle in stock, and referring to basic data such as unmanned aerial vehicle model, purchasing time, accessories, and the like according to model and number; and (3) battery management: managing the unmanned aerial vehicle in stock, consulting basic data such as unmanned aerial vehicle model, purchasing time, accessories and the like according to model and number, reminding and counting the charge and discharge times of the battery, and ensuring the safe use of the battery; unmanned aerial vehicle fault management: registering and confirming unmanned aerial vehicle fault information, and recording maintenance information; the basic data management module is used for managing the information of the line tower, the line team and the patrol personnel; the statistics report module is used for counting faults of the unmanned aerial vehicle and conditions of scrapped batteries according to time, counting usage damage rules of important equipment such as the unmanned aerial vehicle and the batteries through a big data analysis technology, and simultaneously counting patrol conditions of power transmission stations/groups in a certain time according to parameters such as a frame number, a patrol line length, a patrol tower base number and the like, so that accurate equipment statistics analysis data and decision support are provided for maintenance and patrol path arrangement in the future; the information display module realizes the rolling play of the real-time inventory condition of the unmanned aerial vehicle/battery on the control end large screen display through the network;
The unmanned aerial vehicle operation module comprises a patrol business registration module, a fine patrol module, a channel patrol module, a rapid drawing module, a panorama acquisition module, a task management module and a map application module; the inspection service registration module comprises a personnel training registration module, an equipment fault registration module and a flight history recording module, wherein the inspection service registration module comprises a personnel training registration module, an equipment fault registration module and a flight history recording module: according to the requirements of the patrol task, inputting basic information of the patrol task before each patrol task; personnel training registration module: inputting basic information of personnel training; an equipment fault registration module: after the unmanned aerial vehicle or the battery equipment fails, performing fault registration in the field, filling in fault types, and briefly describing the failure occurrence reason and suggested maintenance description; a flight history recording module: when an accident occurs to the unmanned aerial vehicle, the unmanned aerial vehicle is used for an administrator to check and restore the on-site flight condition; the fine inspection module is finely divided into a learning mode and an inspection mode, wherein the learning mode records the flight track and the shooting position, the recorded information is used as the flight basis in the inspection mode, and the inspection mode carries out automatic flight according to the information recorded in the learning mode; the channel inspection module is used for data acquisition of hidden channel hazards such as construction black spots, mountain fires, landslide, tree barriers and the like, and has three modes of video shooting, timing shooting and tree barrier acquisition; in a video shooting mode, the unmanned aerial vehicle automatically shoots videos along a selected corridor channel, and in a timing shooting mode, the unmanned aerial vehicle automatically shoots at fixed time along the selected corridor channel; in the two modes, the flying speed of the unmanned aerial vehicle and the cradle head angle of the camera are set automatically; the tree barrier acquisition mode enables the unmanned aerial vehicle to automatically shoot the channel along a specific flight route, and is used for analyzing the vertical distance between the tree and the electric wire within the range of the channel, so as to determine whether the tree needs to be cut off or not; the rapid drawing module has two modes of orthographic and oblique, wherein orthographic means that an unmanned aerial vehicle automatically completes shooting an orthographic picture in a planning area and is spliced into an orthographic image; tilting means that the unmanned aerial vehicle automatically completes shooting 5 frames of photos in a planning area, and the photos are processed together to form a three-dimensional model; the pictures shot in the normal shooting mode are processed by a real-time image fast-splicing magic cube module in the wild to directly splice a normal shooting image, so that the environmental conditions around a tower or a channel corridor are rapidly acquired; the panoramic acquisition module is provided with a tower automatic panorama and a multi-point planning panorama, and the tower panoramic acquisition is to automatically rotate the unmanned aerial vehicle 360 degrees above the tower and take pictures, and splice and synthesize 360 panoramic pictures, so that the environmental conditions around the tower are recorded; the multi-point planning panorama enables the unmanned aerial vehicle to continuously shoot 360 panoramic pictures of a plurality of freely planned position points, each position point is spliced into a 360 panoramic picture, and therefore environment information of the position points is obtained; the task management module records the names, flight dates, heights, overlapping degrees, route planning and completion states of all flight tasks; the map application module loads an offline map, and the images spliced by the real-time image quick-splicing magic cube module are overlapped on the map, so that the patrol area is compared and analyzed;
Specific: the system is integrally formed through the convenience of the server, information in the system is conveniently stored and backed up through the database, data loss is prevented, information of the unmanned aerial vehicle is conveniently recorded and collected through the unmanned aerial vehicle management module, modification of function operation box parameters is conveniently carried out on the unmanned aerial vehicle through the unmanned aerial vehicle operation module, and the magic cube module is conveniently and rapidly spliced through real-time images.
Example 2
Referring to fig. 1, 4,5 and 6, an automated intelligent defect analysis system based on image acquisition of an unmanned aerial vehicle of a power transmission and distribution line comprises a database, a server, an unmanned aerial vehicle manager module, an unmanned aerial vehicle operation module, a real-time image quick-assembly magic cube module, an unmanned aerial vehicle, a defect hidden danger analysis module, a tree obstacle analysis module and a patrol data management module;
the defect hidden danger analysis module adopts a network, a radio and a camera to collect the information defects, and adopts space cohesion and image analysis to conveniently and rapidly pre-process, classify and assist in identifying the artificial defects and generating a patrol report;
The tree obstacle analysis module supports various unmanned aerial vehicles or organic visible light data sources through a network and a radio, and carries photos taken by a professional measuring camera; after the light image is subjected to space three encryption processing, the whole engineering file is imported into a tree barrier analysis module, a power line track is fitted according to a suspension line formula through a small number of homonymous points of a wire under a semi-automatic uniform measurement line, and then the accurate distance between the power line and the ground surface is accurately calculated; finally, automatically carrying out hazard analysis and outputting a real-time working condition tree obstacle hazard point analysis report;
the patrol data management module is used for carrying out high-efficiency integrated management on patrol data, visible light photo, visible light video, infrared video, other photos, video and recorded information and document data on the power grid, so that integrated management, high-efficiency calling and two-dimensional three-dimensional display analysis of TB-level multi-source heterogeneous data are met;
The tree obstacle analysis module comprises a data importing module, a line measuring module, a point cloud classification module and a danger analysis module; the data importing module creates an engineering catalog according to contents such as line information, routing inspection information and the like, and automatically generates contents of engineering information in a final result report according to input engineering parameters; the line measurement module is used for realizing modeling of conductor sag of a transmission line channel based on image dense point cloud matching and a stereo mapping technology; the module realizes the functions of batch addition, import, modification and deletion of the electric power iron towers and the like, and automatically generates a gear according to the determined iron towers; the point cloud classification module classifies the original point cloud into ground points, power line points and tower points, and other points which are uncomfortable in the categories are classified into default points or unclassified points for standby; the danger analysis module analyzes the safety distance to the ground of the lead based on the generated fitting lead and the classified point cloud;
The inspection data management module comprises a basic operation module, a power grid resource management module, a route planning management module, an inspection task management module, inspection data and result management module, a defect information management module and a two-dimensional visualization and space analysis module; the basic operation module is provided in the two three-dimensional geographic space platform and is used for measuring, analyzing and other operations of basic information such as various spatial relations, positions and the like; comprising the following steps: layer loading management, distance, area and elevation calculation, map marking and oblique photography visual management; the power grid resource management module is used for managing topological relation, spatial relation and basic standing book information of a pole tower, a line and other basic objects of the inspection object, the system is used for carrying out visual display and coordinate position management on the power transmission line based on three-dimensional geographic information, and can be used for inquiring data information such as standing books, photos, videos and panoramic data of the pole tower by taking the pole tower as a unit based on the spatial position; the route planning management module analyzes the operability of the routing inspection route according to the customized safe distance and range of the current area, the current route and the current pole tower based on background data management; the patrol task management module automatically synchronizes patrol records of the intelligent operation system of the unmanned aerial vehicle, records information such as the position, the tower, the operators, the machine type, the operation duration and the like of each machine patrol operation, and manages the records, and displays and inquires three-dimensionally in a visual manner through patrol data management; the inspection data and result management module manages original pictures, videos and result data after defect analysis which are shot by the unmanned aerial vehicle inspection, and automatically associates a tower with the original pictures and space-time cohesion based on geographic positions; the defect information management module is used for importing result data of the defect hidden danger analysis module and the tree obstacle analysis module to perform defect management, and can be combined with power grid resources to conveniently inquire and count defect data, result reports and other information according to conditions such as defect types, parts, elements, appearances, grades and the like; the two three-dimensional visualization and space analysis modules complete automatic modeling and three-dimensional visualization of the channel range through a network, and compare and space analyze data before and after aerial survey; the database, the server, the unmanned aerial vehicle management module, the unmanned aerial vehicle operation module, the real-time image quick-splicing magic cube module, the unmanned aerial vehicle, the defect hidden danger analysis module, the tree barrier analysis module and the inspection data management module are all provided with independent power supplies, and is connected with an external control end through a network and a radio;
Specific: through circuit and transmission connection to the inside system, guaranteed the normal operating of system, conveniently carry out defect collection to the information through defect hidden danger analysis module, the tree obstacle analysis module conveniently closes out the power line orbit and then accurately calculates and gets the accurate distance of power line distance ground and earth's surface, carries out danger analysis, and output real-time operating mode tree obstacle dangerous spot analysis report, conveniently patrol data to the electric wire netting through the data management module that patrols.
Working principle: according to the unmanned aerial vehicle image acquisition automatic intelligent defect analysis system based on the power transmission and distribution line, when the unmanned aerial vehicle image acquisition automatic intelligent defect analysis system is initially used, a server sets data, after the data is set, the server collects data through defects of a cloud database, after the data is set, the system is operated, unmanned aerial vehicle management is carried out by an unmanned aerial vehicle manager module, meanwhile, equipment reservation is carried out on team personnel by reservation management in an internal inventory management module, so that the unmanned aerial vehicle manager prepares equipment in advance; the warehouse-out management reserves equipment for team personnel so that the unmanned aerial vehicle manager prepares the equipment early; warehouse entry management finishes the return registration of the unmanned aerial vehicle and the battery by scanning a bar code or inputting a device number; the inventory inquiry can inquire the total number of unmanned aerial vehicles, the number of faults, the number of borrowed products, the number of warehouse storage products and other information according to the model of the unmanned aerial vehicle; the unmanned aerial vehicle management module in the equipment management module manages the unmanned aerial vehicle in stock, and refers to basic data such as unmanned aerial vehicle model, purchasing time, accessories, and the like according to model and number; the battery management manages the unmanned aerial vehicle in stock, refers to basic data such as unmanned aerial vehicle model, purchasing time, accessories and the like according to model and number, and meanwhile has the functions of reminding and counting the charge and discharge times of the battery, so that the safe use of the battery is ensured; the unmanned aerial vehicle fault management registers and confirms unmanned aerial vehicle fault information, and records maintenance information; the basic data management module is used for managing the information of the line tower, the line team and the patrol personnel; the statistics report module is used for counting faults of the unmanned aerial vehicle and conditions of scrapped batteries according to time, counting usage damage rules of important equipment such as the unmanned aerial vehicle and the batteries through a big data analysis technology, and simultaneously counting patrol conditions of power transmission stations/groups in a certain time according to parameters such as a frame number, a patrol line length, a patrol tower base number and the like, so that accurate and reliable equipment statistics analysis data and decision support are provided for maintenance and patrol path arrangement in the future; the information display module realizes the rolling play of the real-time inventory condition of the unmanned aerial vehicle/battery on the control end large screen display through the network, so that a manager can clearly see the inventory condition of the unmanned aerial vehicle;
Through the inspection business registration module in the unmanned aerial vehicle operation module, the basic information of the inspection task is input before each inspection task according to the inspection task requirement, the personnel training registration module inputs the basic information of personnel training, and the equipment fault registration module: after the unmanned aerial vehicle or the battery equipment breaks down, fault registration is carried out in the field, fault types are filled in, fault occurrence reasons and suggested maintenance descriptions are simplified, when the unmanned aerial vehicle breaks down, a flight history recording module is used for an administrator to check and restore the on-site flight condition, a fine inspection module is finely divided into a learning mode and an inspection mode, the learning mode records the flight track and the shooting position, the recorded information can be used as a flight basis in the inspection mode, the inspection mode automatically flies according to the information recorded by the learning mode, because the operation requirement of the refined inspection of the towers on the inspection personnel is high, in order to ensure that each inspection personnel can safely operate the unmanned aerial vehicle to conduct the refined inspection, the unmanned aerial vehicle can be controlled by the experienced inspection personnel to conduct the inspection under the learning mode, after the inspection is completed, other inspection personnel can automatically inspect according to the track recorded by the learning mode and the photographing position under the inspection mode, in addition, the unmanned aerial vehicle operation module can acquire the coordinates of the towers from the kml file of the towers and display the coordinates on a map, click one-key navigation after the towers are selected, the unmanned aerial vehicle can automatically fly to the upper air of the selected towers, If the tower coordinates displayed by the kml file have errors, the unmanned aerial vehicle can be manually adjusted to the upper part of the tower, and then the modification button is clicked to update, and as the control requirement of fine inspection on the unmanned aerial vehicle is high, the flying height, the flying distance, the vertical speed and the horizontal speed of the unmanned aerial vehicle at the moment can appear at the lower left part of the fine inspection interface, so that the inspection personnel can conveniently regulate and control the flying state of the unmanned aerial vehicle; The channel inspection module is used for data acquisition of hidden channel hazards such as construction black spots, mountain fires, landslide, tree barriers and the like, and has three modes of video shooting, timing shooting and tree barrier acquisition; in a video shooting mode, the unmanned aerial vehicle automatically shoots videos along a selected corridor channel, and in a timing shooting mode, the unmanned aerial vehicle automatically shoots at fixed time along the selected corridor channel; in the two modes, the flying speed of the unmanned aerial vehicle and the cradle head angle of the camera are set automatically; the tree barrier acquisition mode enables the unmanned aerial vehicle to automatically shoot the channel along a specific flight route, and is used for analyzing the vertical distance between the tree and the electric wire within the range of the channel, so as to determine whether the tree needs to be cut off or not; the rapid drawing module is provided with an orthographic mode and an oblique mode, and the orthographic mode enables the unmanned aerial vehicle to automatically complete shooting an orthographic picture in a planning area, and an orthographic image is spliced; Tilting means that the unmanned aerial vehicle automatically completes shooting 5 frames of photos in a planning area, and the photos are processed together to form a three-dimensional model; the pictures shot in the normal shooting mode are processed by a real-time image fast-splicing magic cube module in the wild to directly splice a normal shooting image, so that the environmental conditions around a tower or a channel corridor are rapidly acquired; the panoramic acquisition module is provided with a tower automatic panorama and a multi-point planning panorama, and the tower panoramic acquisition is to automatically rotate the unmanned aerial vehicle 360 degrees above the tower and take pictures, and splice and synthesize 360 panoramic pictures, so that the environmental conditions around the tower are recorded; the multi-point planning panorama enables the unmanned aerial vehicle to continuously shoot 360 panoramic pictures of a plurality of freely planned position points, each position point is spliced into a 360 panoramic picture, and therefore environment information of the position points is obtained; The task management module records the names, flight dates, heights, overlapping degrees, route planning and completion states of all flight tasks; the map application module loads an offline map, and superimposes the images spliced by the real-time image quick-splicing magic cube module on the map, so that the distance and the area are directly measured on the map, the track of the patrol is recorded and checked, the route to the tower is displayed, the channel investigation can be carried out, drawing marks are carried out on the found positions such as violations, construction, mountain fire, landslide and the like and the marks are stored on the map, or the shot photos and the shot positions are recorded on the map by shooting and evidence obtaining, and the searching and the analysis are convenient;
The real-time image quick-splicing magic cube module is used for radiating heat and having wifi hot spot function, automatically completing space three encryption, three-dimensional point cloud intensive matching and image data quick-splicing of unmanned aerial vehicle flight data, automatically pushing corridor to quickly splice image data to a mobile terminal using and controlling end, providing WebService, downloading data processing engineering files in web mode, inserting memory card in usb mode, controlling data processing and real-time monitoring data processing progress, the data preprocessing module in the defect hidden danger analysis module can automatically classify and name pictures according to the spatial relationship between the positions of the pictures and the coordinates of the towers by using the inspection data of a plurality of frames or a plurality of planes based on a space-time cohesive algorithm, and automatically delete the image files which are shot in an unnecessary mode or repeatedly shot so that the inspection data management is more standardized, and the module can also be compatible with the original pictures with pos information which are shot by using a man-machine or fixed wings; the automatic data classifying module is used for classifying the original data of the refined and channel inspection according to the tower type and inspection rules, the classified photos can be associated with the parts of each base tower, and the defect identification is convenient for operators; the photo showing and image comparing module can show photos or videos of the unmanned aerial vehicle channel inspection on the map based on the two three-dimensional background map, can load the DOM image data after splicing, quickly find hidden trouble problems in the channel through inspecting the photos or the DOM after splicing, and mark the hidden trouble problems on the map; the channel hidden danger identification module provides a rapid acquisition tool of a point, line and surface characteristic map, integrates an encoded channel hidden danger standard library, and can rapidly identify and identify the channel hidden danger based on pictures and spliced images; the hidden trouble identification module of the tower pole is internally provided with a defect library, and combines an auxiliary drawing technology, an intelligent association mode is used for retrieving defect codes, so that the defects are rapidly and accurately identified, and the defects found by each base tower are automatically summarized and classified by adopting an automatic association algorithm of frequency in defect description and stored in a background database; the automatic generation report module integrates various hidden danger defect report templates, and can realize one-key defect guiding-out and hidden danger report; the hidden danger defect standard library management module classifies and gathers the hidden dangers forming the report by finding, identifying and confirming the hidden dangers of the report, associates the defect types, the images and the defect photos in a unit of part, and searches the common defect images and the common defect photos of each part by a user, and in the hidden danger defect identification process, the historical hidden danger photos are called at any time;
Creating an engineering catalog by a data importing module in the tree barrier analysis module according to contents such as line information, routing inspection information and the like, automatically generating the contents of engineering information in a final result report according to input engineering parameters, importing the pix4d engineering catalog into a system as a whole after finishing engineering parameter input, automatically reading engineering parameters in the pix4d by the system, and directly designating the project to a target file when the project is imported if the engineering parameters are required to be modified; the line measurement module is used for realizing modeling of conductor sag of a transmission line channel based on image dense point cloud matching and a stereo mapping technology; the module realizes the functions of batch addition, import, modification and deletion of the electric power iron towers, automatically generates a file according to the determined iron towers, measures the same-name points on the point cloud or the image in the file, fits the electric power line track according to a suspension line formula by the same-name points, compares the measured same-name points according to the fitted electric power line track same-point cloud data, edits the measured same-name points to ensure that the fitted electric power line track same-point cloud data achieve optimal coincidence, and finally generates an electric power line; the point cloud classification module classifies the original point cloud into ground points, power line points and electric tower points, other points which are uncomfortable to the categories are classified into default points or unclassified points for standby, the distance between the power line and the ground surface is accurately measured through the point cloud classification, and four classifications of point brush painting point cloud classification, point classification on the line or under the line by scribing, frame selection area point cloud classification and polygon area point cloud classification are realized through the system so as to meet different engineering requirements; the danger analysis module analyzes the safety distance of the conducting wire to the ground based on the generated fitting conducting wire and classified point cloud, the module bites the picking point cloud point and the closest point on the fitted power line in the section window, continuously measures for many times, highlights the dangerous point meeting the threshold requirement, can drive to change the file in overlooking and section window, pops up the optimal original image associated with the changed point to check and mark the dangerous point position, and finally outputs a real-time working condition tree obstacle dangerous point analysis report;
Basic operation modules in the inspection data management module are provided in the two three-dimensional geographic space platform to measure, analyze and the like basic information of various spatial relations, positions and the like; comprising the following steps: layer loading management, distance, area and elevation calculation, map marking and oblique photography visual management; the power grid resource management module is used for managing topological relation, spatial relation and basic standing book information of a pole tower, a line and other basic objects of the inspection object, the system is used for carrying out visual display and coordinate position management on the power transmission line based on three-dimensional geographic information, and can be used for inquiring data information such as standing books, photos, videos and panoramic data of the pole tower by taking the pole tower as a unit based on the spatial position; the routing management module needs to comprehensively consider the particularity of the passed space and geographic information, such as various aviation routes, aviation stations and other special areas for prohibiting flight specified by law, the system module analyzes the operability of the routing inspection route according to the customized safe distance and range of the current area, the current line and the current pole tower based on background data management; the patrol task management module automatically synchronizes patrol records of the intelligent operation system of the unmanned aerial vehicle, records information such as the position, the tower, the operators, the machine type, the operation duration and the like of each machine patrol operation, and manages the records, and displays and inquires three-dimensionally in a visual manner through patrol data management; the inspection data and result management module manages original pictures, videos and result data after defect analysis of the unmanned aerial vehicle inspection, automatically associates a tower with the original pictures and space-time cohesion based on geographic positions, and realizes standardized and visual management of the machine inspection data; the defect information management module is used for importing result data of the defect hidden danger analysis module and the tree obstacle analysis module to perform defect management, and can be combined with power grid resources to conveniently inquire and count defect data, result reports and other information according to conditions such as defect types, parts, elements, appearances, grades and the like; the two three-dimensional visualization and space analysis module completes automatic modeling and three-dimensional visualization of the channel range through a network, and compares and spatially analyzes data before and after navigation measurement, so that the method has the advantages of establishing a geographical map of a power transmission line and a three-dimensional management and control area map of the channel, automatically judging hidden danger defect positions, primarily grading hidden danger defects according to a defect library, performing manual intervention, grading, color separation and imaging display of hidden danger defects, dynamically issuing reminding information according to the whole hidden danger management process until the processing is finished and hidden danger management and control requirements are combined, performing defect management imaging, combining the geographical map and the management and control map, comprehensively diagnosing and generating corresponding management and control cards, combining hidden danger conditions, dividing key management and control areas, and reasonably making a patrol period.
While the fundamental and principal features of the invention and advantages of the invention have been shown and described, it will be apparent to those skilled in the art that the invention is not limited to the details of the foregoing exemplary embodiments, but may be embodied in other specific forms without departing from the spirit or essential characteristics thereof; the present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.
Furthermore, it should be understood that although the present disclosure describes embodiments, not every embodiment is provided with a separate embodiment, and that this description is provided for clarity only, and that the disclosure is not limited to specific embodiments, and that the embodiments described in the examples can be combined as appropriate to form other embodiments that will be understood by those skilled in the art.
Claims (6)
1. Automatic intelligent defect analysis system based on power transmission and distribution line unmanned aerial vehicle image acquisition, its characterized in that: the system comprises a database, a server, an unmanned aerial vehicle management module, an unmanned aerial vehicle operation module, a real-time image quick-splicing magic cube module, an unmanned aerial vehicle, a defect hidden danger analysis module, a tree barrier analysis module and a patrol data management module;
The server adopts a non-x 86 server to analyze data, and adopts an Intel server CPU and a Windows/NetWare network operating system;
the database is used for cloud storage of information storage, intelligent searching of corresponding data information is carried out according to collected information, and all information is backed up;
The unmanned aerial vehicle manager module performs comprehensive information collection and authority management on the unmanned aerial vehicle by adopting a network and a radio;
the unmanned aerial vehicle operation module adopts a network and a radio to perform operation control and setting and operation adjustment of partial functions on the unmanned aerial vehicle;
The real-time image quick spelling magic cube module quickly spells image data and monitors the data processing progress through a network;
The unmanned aerial vehicle is an unmanned aerial vehicle which is operated by using a radio remote control device and a self-contained program control device;
The defect hidden danger analysis module adopts a network, a radio and a camera to collect the defects of the information, and adopts space cohesion and image analysis to conveniently and rapidly pre-process, classify and assist in identifying the artificial defects and generating a patrol report;
The tree obstacle analysis module can support various unmanned aerial vehicles or visible light data sources of the organic machines through a network and a radio, and is used for carrying photos taken by a professional measuring camera; after the light image is subjected to space three encryption processing, the whole engineering file is imported into a tree barrier analysis module, and a small number of homonymous points of a wire under a line are measured in a semi-automatic uniform manner, namely, a power line track is fitted according to a suspension line formula, so that the accurate distance between the power line and the ground and the accurate distance between the power line and the ground surface are calculated accurately; finally, automatically carrying out hazard analysis and outputting a real-time working condition tree obstacle hazard point analysis report;
the patrol data management module carries out high-efficiency integrated management on patrol data, visible light photo, visible light video, infrared video, other photos, video and recorded information and document data on the power grid, and satisfies integrated management, high-efficiency calling and two-dimensional display analysis of TB-level multi-source heterogeneous data;
The defect hidden danger analysis module comprises a data preprocessing module, a data automatic classification module, a photo display and image comparison module, a channel hidden danger identification module, a tower hidden danger identification module, an automatic generation report module and a hidden danger defect standard library management module; the data preprocessing module can automatically classify and name photos according to the spatial relationship between the positions of the photos and the coordinates of the towers based on a space-time cohesion algorithm, and automatically delete the image files which are shot superfluously or repeatedly, so that the management of the patrol data is more standardized; the module can also be compatible with original photos with pos information shot by a man-machine or a fixed wing; the automatic data classifying module is used for preprocessing the tour data, the tour tower corresponds to a plurality of photos, and the tour photos need to be classified according to tower type differences and different shooting positions; the photo showing and image comparing module can show photos or videos of the unmanned aerial vehicle channel inspection on the map based on the two three-dimensional background map, can load the DOM image data after splicing, quickly find hidden trouble problems in the channel through inspecting the photos or the DOM after splicing, and mark the hidden trouble problems on the map; the channel hidden danger identification module provides a rapid acquisition tool of a point, line and surface characteristic map, integrates an encoded channel hidden danger standard library, and can rapidly identify and identify the channel hidden danger based on pictures and spliced images; the hidden trouble identification module of the tower pole is internally provided with a defect library, and an intelligent association mode is combined with an auxiliary drawing technology to retrieve defect codes so as to quickly and accurately identify the defects; the automatic generation report module integrates various hidden danger defect report templates, and can realize one-key defect guiding-out and hidden danger report; the hidden danger defect standard library management module classifies and gathers the hidden dangers forming the report by finding, identifying and confirming the hidden dangers of the report, associates the defect types, the images and the defect photos in a unit of part, and searches the common defect images and the common defect photos of each part by a user, and in the hidden danger defect identification process, the historical hidden danger photos are called at any time.
2. The intelligent defect analysis system based on unmanned aerial vehicle image acquisition automation of power transmission and distribution line according to claim 1, wherein: the unmanned aerial vehicle manager module comprises an inventory management module, a device management module, an unmanned aerial vehicle management module, a battery management module, a basic data management module, a statistics report module and an information display module; the inventory management module is divided into four sub-modules of reservation management, warehouse entry management and inventory inquiry; reservation management: team personnel make equipment reservations so that unmanned aerial vehicle administrators prepare equipment early; and (3) warehouse-out management: team personnel make equipment reservations so that unmanned aerial vehicle administrators prepare equipment early; and (3) warehouse entry management: the return registration of the unmanned aerial vehicle and the battery is completed by scanning the bar code or inputting the equipment number; inventory query: inquiring the total number of unmanned aerial vehicles and the number of faults according to the model of the unmanned aerial vehicle, and borrowing the information of the number of the unmanned aerial vehicles and the number of the warehouse storage; the device management module comprises an unmanned aerial vehicle management sub-module, a battery management sub-module and an unmanned aerial vehicle fault management sub-module; unmanned aerial vehicle management module: managing the unmanned aerial vehicle in stock, and referring to the model, purchasing time and basic data of accessories of the unmanned aerial vehicle according to the model and the number; and a battery management module: managing the unmanned aerial vehicle in stock, consulting the unmanned aerial vehicle model, purchasing time and accessory basic data according to the model and the number, reminding and counting the charge and discharge times of the battery, and ensuring the safe use of the battery; unmanned aerial vehicle fault management: registering and confirming unmanned aerial vehicle fault information, and recording maintenance information; the basic data management module is used for managing the information of the line tower, the line team and the patrol personnel; the statistics report module is used for counting faults of the unmanned aerial vehicle and conditions of scrapped batteries according to time, counting usage damage rules of important equipment of the unmanned aerial vehicle and the batteries through a big data analysis technology, and simultaneously counting patrol conditions of power transmission stations/groups in a certain time according to parameters of a frame number, a patrol line length and a patrol tower base number, so that accurate equipment statistics analysis data and decision support are provided for maintenance and patrol path arrangement in the future; the information display module realizes the rolling play of the real-time inventory condition of the unmanned aerial vehicle/battery on the control end large screen display through the network.
3. The intelligent defect analysis system based on unmanned aerial vehicle image acquisition automation of power transmission and distribution line according to claim 1, wherein: the unmanned aerial vehicle operation module comprises a patrol service registration module, a fine patrol module, a channel patrol module, a rapid drawing module, a panorama acquisition module, a task management module and a map application module; the inspection service registration module comprises a personnel training registration module, an equipment fault registration module and a flight history recording module, wherein the inspection service registration module comprises a personnel training registration module, an equipment fault registration module and a flight history recording module: according to the requirements of the patrol task, inputting basic information of the patrol task before each patrol task; personnel training registration module: inputting basic information of personnel training; an equipment fault registration module: after the unmanned aerial vehicle or the battery equipment fails, performing fault registration in the field, filling in fault types, and briefly describing the failure occurrence reason and suggested maintenance description; a flight history recording module: when an accident occurs to the unmanned aerial vehicle, the unmanned aerial vehicle is used for an administrator to check and restore the on-site flight condition; the fine inspection module is finely divided into a learning mode and an inspection mode, wherein the learning mode records the flight track and the shooting position, the recorded information is used as the flight basis in the inspection mode, and the inspection mode carries out automatic flight according to the information recorded in the learning mode; the channel inspection module is used for data acquisition of hidden channel hazards of construction black spots, mountain fires, landslide and tree barriers, and has three modes of video shooting, timing shooting and tree barrier acquisition; in a video shooting mode, the unmanned aerial vehicle automatically shoots videos along a selected corridor channel, and in a timing shooting mode, the unmanned aerial vehicle automatically shoots at fixed time along the selected corridor channel; in the two modes, the flying speed of the unmanned aerial vehicle and the cradle head angle of the camera are set automatically; the tree barrier acquisition mode enables the unmanned aerial vehicle to automatically shoot the channel along a specific flight route, and is used for analyzing the vertical distance between the tree and the electric wire within the range of the channel, so as to determine whether the tree needs to be cut off or not; the rapid drawing module has two modes of orthographic and oblique, wherein orthographic means that an unmanned aerial vehicle automatically completes shooting an orthographic picture in a planning area and is spliced into an orthographic image; tilting means that the unmanned aerial vehicle automatically completes shooting 5 frames of photos in a planning area, and the photos are processed together to form a three-dimensional model; the pictures shot in the normal shooting mode are processed by a real-time image fast-splicing magic cube module in the wild to directly splice a normal shooting image, so that the environmental conditions around a tower or a channel corridor are rapidly acquired; the panoramic acquisition module is provided with a tower automatic panorama and a multi-point planning panorama, and the tower panoramic acquisition is to automatically rotate the unmanned aerial vehicle 360 degrees above the tower and take pictures, and splice and synthesize 360 panoramic pictures, so that the environmental conditions around the tower are recorded; the multi-point planning panorama enables the unmanned aerial vehicle to continuously shoot 360 panoramic pictures of a plurality of freely planned position points, each position point is spliced into a 360 panoramic picture, and therefore environment information of the position points is obtained; the task management module records the names, flight dates, heights, overlapping degrees, route planning and completion states of all flight tasks; the map application module loads an offline map, and the images spliced by the real-time image quick-splicing magic cube module are overlapped on the map, so that the patrol area is compared and analyzed.
4. The intelligent defect analysis system based on unmanned aerial vehicle image acquisition automation of power transmission and distribution line according to claim 1, wherein: the tree obstacle analysis module comprises a data importing module, a line measuring module, a point cloud classification module and a danger analysis module; the data importing module creates an engineering catalog according to the contents of the line information and the inspection information, and automatically generates the contents of the engineering information in the final result report according to the input engineering parameters; the line measurement module is used for realizing modeling of conductor sag of a transmission line channel based on image dense point cloud matching and a stereo mapping technology; the module realizes the functions of batch addition, import and modification deletion of the electric power iron towers, and automatically generates a gear according to the determined iron towers; the point cloud classification module classifies the original point cloud into ground points, power line points and tower points, and other points which are uncomfortable in the categories are classified into default points or unclassified points for standby; the hazard analysis module performs a safe distance to ground analysis on the wire based on the fitted wire and the classified point cloud that have been generated.
5. The intelligent defect analysis system based on unmanned aerial vehicle image acquisition automation of power transmission and distribution line according to claim 1, wherein: the inspection data management module comprises a basic operation module, a power grid resource management module, a route planning management module, an inspection task management module, inspection data and result management module, a defect information management module and two three-dimensional visualization and space analysis modules; the basic operation module is provided in the two three-dimensional geographic space platform and is used for measuring basic information of various spatial relations and positions and analyzing operation; comprising the following steps: layer loading management, distance, area and elevation calculation, map marking and oblique photography visual management; the power grid resource management module is used for managing topological relation, spatial relation and basic ledger information of a pole tower and a line of a patrol object, the system is used for carrying out visual display and coordinate position management on the power transmission line based on three-dimensional geographic information, and can be used for inquiring the ledger, photo, video and panoramic data information of the pole tower based on the spatial position by taking the pole tower as a unit; the route planning management module analyzes the operability of the routing inspection route according to the customized safe distance and range of the current area, the current route and the current pole tower based on background data management; the patrol task management module automatically synchronizes patrol records of the intelligent operation system of the unmanned aerial vehicle, records information of positions, towers, operators, machine types and operation duration of each machine patrol operation, and manages the records, and displays and inquires three-dimensionally in a visual manner through patrol data management; the inspection data and result management module manages original pictures, videos and result data after defect analysis which are shot by the unmanned aerial vehicle inspection, and automatically associates a tower with the original pictures and space-time cohesion based on geographic positions; the defect information management module is used for importing result data of the defect hidden danger analysis module and the tree obstacle analysis module to carry out defect management, and can be combined with power grid resources to conveniently inquire and count defect data and result report information according to defect types, parts, elements, appearances and grade conditions; the two three-dimensional visualization and space analysis module completes automatic modeling and three-dimensional visualization of the channel range through a network, and compares and spatially analyzes data before and after aerial survey.
6. The intelligent defect analysis system based on unmanned aerial vehicle image acquisition automation of power transmission and distribution line according to claim 1, wherein: the database, the server, the unmanned aerial vehicle management module, the unmanned aerial vehicle operation module, the real-time image quick-assembly magic cube module, the unmanned aerial vehicle, the defect hidden danger analysis module, the tree obstacle analysis module and the inspection data management module are all provided with independent power supplies and are connected with an external control end through a network and a radio.
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