Substation unmanned aerial vehicle autonomous inspection system

A technology of inspection system and unmanned aerial vehicle, applied in the direction of control/adjustment system, non-electric variable control, instrument, etc., can solve the problems of high cost and lack of independent inspection, so as to improve accuracy and facilitate use and operation , the effect of extending the service life

Pending Publication Date: 2021-01-26
ZHANGZHOU POWER SUPPLY COMPANY STATE GRID FUJIANELECTRIC POWER +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] Under the existing technology, UAV inspection requires manual identification of a large number of aerial images, and the cost is high. There is no independent inspection, charging and other links, and a large amount of human intervention is still required

Method used

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  • Substation unmanned aerial vehicle autonomous inspection system
  • Substation unmanned aerial vehicle autonomous inspection system
  • Substation unmanned aerial vehicle autonomous inspection system

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0055] In this example, the UAV inspection objects are the gantry 2 in the substation and the overhead line 3 in the substation, and the landmarks are set on the ground of the aisle 4 in the substation.

[0056] In order to ensure that the drone can hover at a specific horizontal position during inspection, it is necessary to draw the hovering landmark 5 of the drone at a certain distance in the aisle 4 of the substation. The pixel difference adjusts the horizontal position until the two center points coincide, ensuring that each flight can hover at the same position.

[0057] The inspection UAV is equipped with camera, ultrasonic, GPS and other components. The camera is used for image acquisition. Human-machine flight plans routes and waypoints, and the UAV is equipped with an image processing module to identify the center point and direction of the landmark and use the flight control module to control the UAV to complete flight commands such as navigation, hovering, and auto...

Embodiment 2

[0062] Due to the limited cruise capability of UAVs, it is difficult to maintain multiple inspection tasks with one charge. In order to reduce human intervention and improve endurance, the UAV parking apron is designed for autonomous return and charging. In order to realize the fixed-point and directional landing of UAVs, Landing signs need to be designed to assist the UAV to land at a specific point for autonomous charging. Therefore, according to the characteristics of UAV flight and landing, the hovering landmarks and landing signs are designed as a combination of concentric circles and isosceles triangles.

[0063] like figure 1 and Figure 4 As shown, the apron 9 mainly includes an environmental monitoring module (temperature, humidity, wind speed), a landing sign 7 , a protective cover 8 and a charging point (charging module) 11 .

[0064] When the UAV completes an inspection mission, that is, all the images of the inspection points are captured, the autonomous return ...

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Abstract

The invention provides a substation unmanned aerial vehicle autonomous inspection system, which comprises an image analysis module, an unmanned aerial vehicle and a landmark arranged in a substation,wherein the landmark is arranged at the overlooking position of an inspection aerial photography point of an inspection route of the unmanned aerial vehicle, and posture information which can be recognized by the unmanned aerial vehicle is drawn on the landmark; when the unmanned aerial vehicle inspects the substation along the inspection route, the flight working condition of the unmanned aerialvehicle is adjusted into an aerial photography working condition according to the attitude information at the landmark, and the aerial photography working condition is used for shooting transformer substation aerial photography pictures and transmitting the pictures back to the image analysis module; and the image analysis module evaluates whether abnormal information exists in the substation or not by comparing substation aerial photography pictures shot by the unmanned aerial vehicle at different time points. According to the invention, autonomous cruise, landing and autonomous charging of the unmanned aerial vehicle can be realized without human intervention, and batch image comparison can be automatically performed on the shot images.

Description

technical field [0001] The invention relates to the technical field of positioning and navigation of unmanned aerial vehicles, in particular to a substation unmanned aerial vehicle autonomous inspection system. Background technique [0002] In traditional substation manual inspections, the operation and maintenance personnel need to conduct a comprehensive inspection. It takes at least 4 hours for four people, and even requires personnel to climb up the tower to inspect the lines and electrical equipment, which is not only time-consuming, labor-intensive, dangerous, and expensive. Moreover, substations are widely distributed in remote areas. Faced with such a large workload, the cycle of manual line inspection is too long and the cost is too high, which is obviously impractical. Therefore, it has gradually become an inevitable development direction to use drones instead of manpower for autonomous intelligent inspection of substations. [0003] Under the existing technology,...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/10
CPCG05D1/101
Inventor 陈俊杰叶东华陈凌睿产焰萍林毅斌柳杨
Owner ZHANGZHOU POWER SUPPLY COMPANY STATE GRID FUJIANELECTRIC POWER
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