A multi-eye situational awareness navigation method for substation inspection drones
A technology of situational awareness and navigation method, which is applied in the field of drone navigation, can solve the problems of low monitoring video management inspection efficiency, low navigation positioning accuracy, etc., so as to facilitate recall and manual inspection, improve utilization rate, and solve navigation problems. The effect of low positioning accuracy
Active Publication Date: 2021-08-31
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 present invention proposes a multi-eye situational awareness navigation method for substation inspection drones, which includes the following steps: collecting video streams captured by monitoring cameras in substations and inspection drones; decoding the video streams to obtain different areas in substations Multi-source synchronous multi-frame pictures and save them in the specified storage path; establish a substation space coordinate system; read synchronous multi-frame pictures, use the improved SSD algorithm to perform object recognition and analysis on the synchronous multi-frame pictures, and obtain the power in the substation The classification results of the equipment; the multi-source SLAM algorithm is used to sense the real-time environment of the substation, and the operating status of the inspection drone in the substation is obtained; the classification results of the power equipment in the substation and the inspection drone in the substation The operating status in the substation is input into the background of the dispatching system, and is matched with the actual environmental characteristic data of the substation in the background of the dispatching system. When the matching is consistent, the multi-eye situational awareness navigation of the inspection drone is completed.
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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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