Autonomous survey method for transmission lines after typhoon disasters based on UAV based on typhoon monitoring system

Abstract

The present invention relates to the field of typhoon monitoring, and specifically discloses a method for autonomously surveying power transmission lines after a typhoon disaster using a drone based on a typhoon monitoring system. After a typhoon warning platform for a transmission line receives warning information of a typhoon passing through, it intelligently calls a drone near the geographical location information according to the geographical location in the warning information; the called drone automatically receives the dispatch information and automatically starts a wind disaster differentiated survey mode for surveying, and returns the survey results to a remote command center; during the survey, the drone detects in real time whether the network signal covers the flight range, and when no network signal is detected, the survey results are automatically stored in the fuselage, and when a network signal is detected, the survey results are transmitted to the remote command center in a timely or real-time manner. The present invention uses information during the typhoon passing through to intelligently mobilize drones for surveying, reduce human participation, and greatly improve the efficiency of disaster emergency response.

Description

Technical Field

[0001] The present invention belongs to the technical field of typhoon monitoring, and in particular relates to an autonomous survey method for power transmission lines after a typhoon disaster using an unmanned aerial vehicle (UAV) based on a typhoon monitoring system. Background Art

[0002] When a typhoon passes through, the damage to the power grid mainly manifests itself in tower (pole) breakage, wind deviation failures, and discharge of hanging objects. The power equipment damaged by typhoons has the disadvantages of large loss range, extremely strong destructive power, and high permanent failure rate.

[0003] The area where a typhoon passes through is often quite large. The current mainstream typhoon warning system for power lines can only monitor the partial area, location, and real-time wind speed, rainfall and other information of the overhead power lines affected by the typhoon when the typhoon passes through, but it cannot view the specific damage on site, and thus cannot directly provide instant information to emergency repair and maintenance personnel. Long-flight fixed-wing UAVs can make up for such shortcomings. Therefore, a method for autonomous survey of power transmission lines after a typhoon disaster based on a typhoon monitoring system is needed. Summary of the invention

[0004] The purpose of the present invention is to provide a method for autonomously surveying power transmission lines after a typhoon disaster using an unmanned aerial vehicle (UAV) based on a typhoon monitoring system, thereby overcoming the current defect of being unable to immediately check the conditions of overhead power lines affected by a typhoon when the typhoon passes through.

[0005] To achieve the above object, the present invention provides a method for autonomously surveying power transmission lines after a typhoon disaster using an unmanned aerial vehicle (UAV) based on a typhoon monitoring system, comprising the following steps:

[0006] After receiving the warning information of the typhoon passing through, the transmission line typhoon warning platform intelligently calls the drone near the geographical location information according to the geographical location in the warning information;

[0007] The called UAV automatically receives the dispatch information and starts the wind disaster differentiated survey mode to conduct survey, and returns the survey results to the remote command center;

[0008] During the survey, the drone detects in real time whether the network signal covers the flight range. When no network signal is detected, the survey result is automatically stored in the fuselage. When a network signal is detected, the survey result is transmitted to the remote command center in a timely or real-time manner.

[0009] Preferably, the warning information includes: coordinates of equipment that monitors the passage of the typhoon and information on areas affected by the passage of the typhoon.

[0010] Preferably, the survey results include: the overall picture of the transmission line after the typhoon passes, identification of tower tilt and identification of wire breakage.

[0011] Preferably, the UAV is a fixed-wing UAV.

[0012] Preferably, the method further comprises: the remote command center updates the monitoring image in the power transmission line typhoon warning platform according to the survey results.

[0013] Preferably, it also includes: the remote command center displays the results of the network signals detected by the drone in the form of a list.

[0014] Preferably, the wind disaster differentiated disaster survey mode includes:

[0015] S21. Set up routine inspections and obtain basic inspection routes and routine inspection routes;

[0016] S22, regularly receiving the information of typhoon transit monitoring in the dispatch information, judging whether it is the nth time to receive the information of typhoon transit monitoring in the dispatch information, when n=1, it is the first time to receive the coordinates of the device that monitors the typhoon transit and the information of the area affected by the typhoon transit in the dispatch information, then enter step S23, otherwise enter step S25;

[0017] S23, judging whether the area where the typhoon passes through is overlapped with the inspection area in the routine inspection task according to the coordinates of the equipment where the typhoon passes through and the area affected by the typhoon passing through, if so, directly performing inspection detection according to the routine inspection route of the overlapping inspection area, and calling the drone closest to the starting point of the routine inspection route for inspection; otherwise, entering the next step S24 for reset;

[0018] S24, splicing all small inspection areas corresponding to the area where the typhoon passes to form an initial inspection area, splicing the initial inspection area along the direction of the cable to form an initial inspection route, and calling the drone closest to the starting point of the inspection route for inspection;

[0019] S25, subtracting the typhoon transit area monitored in the dispatch information received for the nth time from the typhoon transit area monitored in the dispatch information received for the n-1th time to obtain a new area to be inspected, and intelligently calling the corresponding drone for the new area to be inspected;

[0020] S26. Repeat steps S22-S25 to realize autonomous survey of all power transmission lines by drone after the wind disaster.

[0021] Preferably, the intelligent call is performed using a phased greedy planning algorithm.

[0022] Compared with the existing technology, the present invention has the following beneficial effects:

[0023] 1. The autonomous survey method for power transmission lines after a typhoon disaster using a drone based on a typhoon monitoring system provided by the present invention is that after the typhoon warning platform of the power transmission line receives the warning information of the typhoon passing through, it intelligently calls the drone near the geographical location information according to the geographical location in the warning information; the called drone automatically receives the dispatch information and self-starts the wind disaster differentiated survey mode for survey, and returns the survey results to the remote command center; during the survey, the drone detects in real time whether the network signal covers the flight range, and when the network signal is not detected, the survey results are automatically stored in the fuselage, and when the network signal is detected, the survey results are transmitted to the remote command center in a timely or real-time manner. That is, the present invention uses the information when the typhoon passes through to intelligently mobilize drones for survey, reduce human participation, and greatly improve the efficiency of disaster emergency response.

[0024] 2. In the present invention, the remote command center updates the monitoring image in the power transmission line typhoon warning platform according to the survey results, realizes the linkage between the UAV system and the power transmission line typhoon warning platform, and performs real-time monitoring.

[0025] 3. The differentiated wind disaster survey mode adopted by the present invention can automatically plan the detection trajectory and improve the efficiency of disaster emergency response.

[0026] 4. The intelligent call of the present invention adopts a phased greedy planning algorithm to call the drone, and the phased greedy planning algorithm can allocate the drone more efficiently. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the technical solution of the present invention, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only one embodiment of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0028] Figure 1 It is a flow chart of the autonomous survey method of power transmission lines after a typhoon disaster based on a UAV of the typhoon monitoring system of the present invention;

[0029] Figure 2 It is the monitoring image displayed by the remote center of the present invention

[0030] Figure 3 It is an example of video splicing of the present invention. DETAILED DESCRIPTION

[0031] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0032] Example 1

[0033] like Figure 1 As shown, the autonomous survey method for transmission lines after a typhoon disaster based on a UAV of a typhoon monitoring system includes the following steps:

[0034] S1. After receiving the warning information of the typhoon passing through, the transmission line typhoon warning platform intelligently calls the drone near the geographical location information according to the geographical location in the warning information;

[0035] The warning information includes: the coordinates of the equipment that monitored the typhoon's passage and the area information affected by the typhoon's passage;

[0036] S2. The called UAV automatically receives the dispatch information and starts the wind disaster differentiated survey mode to conduct survey, and returns the survey results to the remote command center;

[0037] During the survey, the drone detects in real time whether the network signal covers the flight range. When no network signal is detected, the survey result is automatically stored in the fuselage. When a network signal is detected, the survey result is transmitted to the remote command center in a timely or real-time manner.

[0038] The results of the survey include: the overall picture of the transmission line after the typhoon passed, the identification of tilted towers and the identification of broken wires.

[0039] S3. The remote command center updates the monitoring image (map) in the transmission line typhoon warning platform according to the survey results, realizes real-time monitoring, and ensures the accuracy of the monitoring data. The remote command center displays the results of the network signal detected by the drone in the form of a list, such as Figure 2 shown.

[0040] Among them, the corresponding survey and flight trajectory of the drone during the survey should be within the field of view of the transmission tower corridor with a radius of 500 meters; the drone adopts a fixed-wing drone. Specifically, the fixed-wing drone adopts the CW-25 vertical take-off and landing fixed-wing drone, which can perform large-area missions and has the characteristics of long flight time, high speed, large load, stable structure, and high reliability.

[0041] Specifically, in step S2, the wind disaster differentiated disaster survey mode includes:

[0042] S21. Set up routine inspections and obtain basic inspection routes and routine inspection routes, including:

[0043] S221, divide the poles into small inspection areas according to the positions of the poles and towers, and form basic inspection routes along the poles and towers along the cables;

[0044] S222. The user can select an area to be inspected according to a routine inspection task. The inspection area is spliced ​​along the direction of the cable by multiple small inspection areas to form a routine inspection route.

[0045] S22, regularly receiving the information of typhoon transit monitoring in the dispatch information, judging whether it is the nth time to receive the information of typhoon transit monitoring in the dispatch information, when n=1, it is the first time to receive the coordinates of the device that monitors the typhoon transit and the information of the area affected by the typhoon transit in the dispatch information, then enter step S23, otherwise enter step S25;

[0046] S23, judging whether the area where the typhoon passes through is overlapped with the inspection area in the routine inspection task according to the coordinates of the equipment where the typhoon passes through and the area affected by the typhoon passing through, if so, directly performing inspection detection according to the routine inspection route of the overlapping inspection area, and calling the drone closest to the starting point of the routine inspection route for inspection; otherwise, entering the next step S24 for reset;

[0047] S24, splicing all small inspection areas corresponding to the area where the typhoon passes to form an initial inspection area, splicing the initial inspection area along the direction of the cable to form an initial inspection route, and calling the drone closest to the starting point of the inspection route for inspection;

[0048] S25, subtracting the typhoon transit area monitored in the dispatch information received for the nth time from the typhoon transit area monitored in the dispatch information received for the n-1th time to obtain a new area to be inspected, and intelligently calling the corresponding drone for the new area to be inspected;

[0049] S26. Repeat steps S22-S25 to realize autonomous survey of all power transmission lines by drone after the wind disaster.

[0050] In steps S22-S26, during the inspection process, the drone performs orthogonal stitching of the captured images in real time and transmits them to the handheld terminal or remote center, which overlays and displays the stitched orthogonal image data on the map of the power transmission line typhoon warning platform; wherein the stitching includes video stitching or visual footprint stitching, such as Figure 3As shown; during the inspection and detection process, the drone uses AI detection to identify the poles and cables in the shooting picture in real time, and compares the poles and cables in the real-time identification shooting picture with the standard poles and cables to determine whether the poles and cables are in an abnormal state. The abnormal state includes: broken poles, fallen poles, and hanging objects on the poles or cables, etc. The poles and cables in abnormal state are identified and reminded in real time, and the severity level is divided according to the abnormal state of the poles or cables, and fixed-point detection is performed according to the severity; among them, the severity level is divided into: no abnormality, small abnormality, serious abnormality, and very serious abnormality, and all identification results are automatically stored.

[0051] In addition, individual surveys can be conducted for areas or towers that have suffered severe damage, which also includes:

[0052] S27. The handheld terminal or remote center classifies the severity level according to the abnormal status of the pole tower or cable being photographed, and performs fixed-point detection according to the severity. The detected images can be superimposed on the map of the transmission line typhoon warning platform or displayed separately.

[0053] Specifically, when the abnormal state is in a serious or very serious abnormal state, the coordinate information of the area belonging to the abnormal state is obtained, the information of the drone in the standby state is obtained, and the drones near the coordinates of the area belonging to the abnormal state are preferentially called, and the flight distance needs to be calculated based on the standby position of the drone and the coordinates of the area belonging to the abnormal state, and it is determined whether the drones near the coordinates of the area belonging to the abnormal state can fly completely. In addition, when performing fixed-point detection, a 360° panoramic shot of the area near the target point is required, and at least two posture angles are collected.

[0054] In steps S22-S27, the intelligent call is performed using a phased greedy planning algorithm, and the design of the drone inspection and detection path is optimized using a greedy algorithm.

[0055] In addition, during drone inspection and detection, the drone can perform self-service obstacle avoidance based on the drone environment perception and autonomous obstacle avoidance method based on deep Q learning.

[0056] The foregoing descriptions of specific exemplary embodiments of the present invention are for the purpose of explanation and illustration. These descriptions are not intended to limit the present invention to the precise form disclosed, and it is obvious that many changes and variations can be made based on the above teachings. Although an embodiment of the present invention has been shown and described, this specific embodiment is only an explanation of the present invention and is not a limitation of the invention. The specific features, structures, materials or characteristics described may be combined in a suitable manner in any one or more embodiments or examples. The purpose of selecting and describing the exemplary embodiments is to explain the specific principles of the present invention and its practical application, so that those skilled in the art can make modifications, substitutions, variations and various selections and changes to the embodiments without creative contribution as needed without departing from the principles and purpose of the present invention after reading this specification, but they are protected by patent law as long as they are within the scope of the claims of the present invention.

Claims

1. A method for autonomously surveying power transmission lines after a typhoon disaster using a drone based on a typhoon monitoring system, characterized in that: The following steps are involved: After receiving the warning information of the typhoon passing through, the transmission line typhoon warning platform intelligently calls the drone near the geographical location information according to the geographical location in the warning information; The called UAV automatically receives the dispatch information and starts the wind disaster differentiated survey mode to conduct survey, and returns the survey results to the remote command center; The differentiated wind disaster survey model includes: S21. Set up routine inspections and obtain basic inspection routes and routine inspection routes; S22, regularly receiving the information of typhoon transit monitoring in the dispatch information, judging whether it is the nth time to receive the information of typhoon transit monitoring in the dispatch information, when n=1, it is the first time to receive the coordinates of the device that monitors the typhoon transit and the information of the area affected by the typhoon transit in the dispatch information, then enter step S23, otherwise enter step S25; S23, judging whether the area where the typhoon passes through is overlapped with the inspection area in the routine inspection task according to the coordinates of the equipment where the typhoon passes through and the area affected by the typhoon passing through, if so, directly performing inspection detection according to the routine inspection route of the overlapping inspection area, and calling the drone closest to the starting point of the routine inspection route for inspection; otherwise, entering the next step S24 for reset; S24, splicing all small inspection areas corresponding to the area where the typhoon passes to form an initial inspection area, splicing the initial inspection area along the direction of the cable to form an initial inspection route, and calling the drone closest to the starting point of the inspection route for inspection; S25, subtract the typhoon transit area monitored in the nth dispatch information received from the n-1th dispatch information received to obtain a new area to be inspected, and intelligently call the corresponding drone for the new area to be inspected; the intelligent call is performed using a staged greedy planning algorithm; S26, repeating steps S22-S25 to realize autonomous survey of all transmission lines after the wind disaster by drone; During the survey, the drone detects in real time whether the network signal covers the flight range. When no network signal is detected, the survey result is automatically stored in the fuselage. When a network signal is detected, the survey result is transmitted to the remote command center in a timely or real-time manner.

2. The method for autonomously surveying power transmission lines after a typhoon disaster using an unmanned aerial vehicle based on a typhoon monitoring system according to claim 1 is characterized in that: The warning information includes: the coordinates of the equipment that monitored the typhoon's passage and the area information affected by the typhoon's passage.

3. The method for autonomously surveying power transmission lines after a typhoon disaster using an unmanned aerial vehicle based on a typhoon monitoring system according to claim 1 is characterized in that: The results of the survey include: the overall picture of the transmission line after the typhoon passed, the identification of tilted towers and the identification of broken wires.

4. The method for autonomously surveying power transmission lines after a typhoon disaster using an unmanned aerial vehicle based on a typhoon monitoring system according to claim 1 is characterized in that: The UAV is a fixed-wing UAV.

5. The method for autonomously surveying power transmission lines after a typhoon disaster using an unmanned aerial vehicle based on a typhoon monitoring system according to claim 1 is characterized in that: Also includes: The remote command center updates the monitoring images in the power transmission line typhoon warning platform according to the survey results.

6. The method for autonomously surveying power transmission lines after a typhoon disaster using an unmanned aerial vehicle based on a typhoon monitoring system according to claim 1 is characterized in that: Also includes: The remote command center displays the results of the network signals detected by the drone in the form of a list.

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