Multi-view situation awareness navigation method of transformer substation inspection unmanned aerial vehicle
A technology of situational awareness and navigation method, applied in the field of unmanned aerial vehicle navigation, can solve the problems of low efficiency of monitoring video management and inspection, low accuracy of navigation and positioning, etc.
Active Publication Date: 2020-10-02
GUANGDONG POWER GRID CO LTD +1
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[0004] The present invention provides a multi-eye situational awareness navigation method for substation inspection UAVs to overcome the defects of low navigation and positioning accuracy and low monitoring video management and inspection efficiency of substation inspection UAVs described in the prior art
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[0063] The accompanying drawings are for illustrative purposes only and cannot be construed as limiting the patent;
[0064] In order to better illustrate this embodiment, some parts in the drawings will be omitted, enlarged or reduced, and do not represent the size of the actual product;
[0065] For those skilled in the art, it is understandable that some well-known structures and descriptions thereof may be omitted in the drawings.
[0066] The technical solutions of the present invention will be further described below in conjunction with the accompanying drawings and embodiments.
[0067] This embodiment proposes a multi-eye situational awareness navigation method for substation inspection drones, such as figure 1 As shown, it is a flow chart of the multi-eye situational awareness navigation method of the substation inspection UAV in this embodiment.
[0068] In the multi-eye situation awareness navigation method of the substation inspection UAV proposed in this embodim...
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The invention provides a multi-view situation awareness navigation method of a transformer substation inspection unmanned aerial vehicle. The method comprises the following steps: collecting video streams shot by a monitoring camera and an inspection unmanned aerial vehicle in a transformer substation; decoding the video stream to obtain multi-source synchronous multi-frame pictures of different regions in the transformer substation, and storing the multi-source synchronous multi-frame pictures in a specified storage path; establishing a transformer substation space coordinate system; readingthe synchronous multi-frame picture, and performing object identification analysis on the synchronous multi-frame picture by adopting an improved SSD algorithm to obtain a classification result of thepower equipment in the transformer substation; adopting a multi-source SLAM algorithm to conduct situation awareness on the real-time environment of the transformer substation, and obtaining the running state of the inspection unmanned aerial vehicle in the transformer substation; and inputting the classification result of the power equipment in the transformer substation and the operation stateof the inspection unmanned aerial vehicle in the transformer substation into a scheduling system background, matching the classification result and the operation state of the inspection unmanned aerial vehicle with transformer substation actual environment characteristic data in the scheduling system background, and finishing multi-view situation awareness navigation of the inspection unmanned aerial vehicle when the matching is consistent.
Description
technical field [0001] The invention relates to the technical field of unmanned aerial vehicle navigation, and more specifically, relates to a multi-eye situational awareness navigation method of a substation inspection unmanned aerial vehicle. Background technique [0002] At present, UAV inspection has been initially applied in power system distribution network inspection. The application of intelligent inspection methods has greatly promoted the innovation of traditional operation and maintenance methods in power systems. By using UAVs in substations for inspection Inspection can further improve the unmanned and automatic level of the substation. [0003] Due to the large number of power equipment in the substation, such as power transformers, voltage and current transformers, high-voltage circuit breakers and other power equipment, as well as the expansion and renovation project of the substation, the wiring situation in the substation is complicated, the equipment is de...
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Login to View More IPC IPC(8): H04N7/18G07C1/20G06K9/00
CPCH04N7/181G07C1/20G06V20/46G06V20/40G06V20/52
Inventor 张永挺谢幸生王干军吴啟民冯灿成江玉欢李福鹏丁宗宝张勇志林永昌朱翚邱桂洪梁简
Owner GUANGDONG POWER GRID CO LTD