An unmanned aerial vehicle-based power inspection infrared defect determination method

Abstract

The application discloses a kind of based on unmanned aerial vehicle electric power inspection infrared defect determination method, comprising the following steps: S1.utilizes unmanned aerial vehicle to carry infrared camera, infrared photo shooting is carried out according to inspection route, while recording the shooting information corresponding to infrared photo, transmission to processor;S2.processor with the tower number and point number corresponding to the infrared photo is named to infrared photo, is saved to unmanned aerial vehicle memory card after classification, and the shooting information and storage address of each infrared photo are saved;S3.after unmanned aerial vehicle inspection is completed, the information saved in unmanned aerial vehicle memory card is uploaded to background server;S4.background server according to upload information, each infrared photo is judged for defect.The infrared photo of unmanned aerial vehicle collection in the application, according to ambient temperature, normal temperature photo and point temperature, convert into the relative temperature difference and absolute temperature difference of inspection point, to judge defect, reduce the possibility of defect misjudgment, improve the accuracy of determination.

Description

TECHNICAL FIELD

[0001] The present application relates to infrared defect determination, in particular to an unmanned aerial vehicle power inspection infrared defect determination method. BACKGROUND

[0002] With the continuous application of unmanned aerial vehicle power inspection business, a large number of inspection photos need to be processed and defects screened. The current system has visible light photo naming and defect screening functions, but the infrared photo data processing for shooting is quite complex.

[0003] At present, temperature measurement is carried out by artificial professional software tools, relying on human experience, and the defect level is determined according to the temperature level,

[0004] This method does not fully consider that there are many power equipment components, different components will emit heat, and they will affect each other. The highest temperature of a certain point cannot be used as a condition for determination. SUMMARY

[0005] The purpose of the present application is to overcome the shortcomings of the prior art, provide an unmanned aerial vehicle power inspection infrared defect determination method and system, and convert the relative temperature difference and absolute temperature difference of the inspection point into the relative temperature difference and absolute temperature difference of the inspection point according to the environmental temperature, normal temperature photo and point temperature, to determine the defect, reduce the possibility of defect misjudgment, and improve the accuracy of determination.

[0006] The purpose of the present application is achieved by the following technical scheme: an unmanned aerial vehicle power inspection infrared defect determination method, comprising the following steps:

[0007] S1. An infrared camera is carried by an unmanned aerial vehicle, and infrared photos are taken according to an inspection route. When each infrared photo is taken, the corresponding shooting information of the infrared photo is recorded, and the infrared photo and the shooting information are transmitted to the processor carried by the unmanned aerial vehicle;

[0008] S2. For the received infrared photo, the processor carried by the unmanned aerial vehicle names the infrared photo according to the tower number and point number corresponding to the infrared photo, classifies the named infrared photo according to the tower, and saves it to the unmanned aerial vehicle storage card, and saves the shooting information and storage address of each infrared photo in the unmanned aerial vehicle storage card;

[0009] S3. After the unmanned aerial vehicle inspection is completed, the information saved in the unmanned aerial vehicle storage card is uploaded to the background server;

[0010] S4. The background server determines the defect of each infrared photo according to the uploaded information:

[0011] S401. Select any infrared photo, frame the area where the inspection point in the infrared photo is located as a temperature measurement area, then extract the temperature value of each pixel point in the temperature measurement area, and obtain the highest temperature, the lowest temperature and the average temperature in the temperature measurement area;

[0012] S402. For the selected infrared photo, calculate the relative temperature difference, the absolute temperature difference and the heat value of the inspection point;

[0013] S403. Set the infrared defect level, and determine the infrared photo defect according to the relative temperature difference, the absolute temperature difference and the heat value;

[0014] S404. For each infrared photo, repeat steps S401-S403 to complete the defect determination of all infrared photos.

[0015] The beneficial effects of the present application are: the present application fully considers the infrared photo temperature measurement by the infrared temperature difference calculation method, and provides an important basis for the infrared photo defect determination level and a powerful guarantee for the power equipment inspection and maintenance by considering the environmental temperature and the temperature of the adjacent inspection point. Based on the infrared temperature difference calculation method, the relative and absolute temperature differences are calculated, the possibility of defect misjudgment is reduced, the accuracy of the determination is improved, and the inspection point with defects can be found. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 The method flowchart of the present application. DETAILED DESCRIPTION

[0017] The technical solutions of the present application will be described in detail below in combination with the drawings, but the protection scope of the present application is not limited to the following description.

[0018] As shown in the drawings, a method for determining infrared defects based on unmanned aerial vehicle power inspection, comprising the following steps: Figure 1 S1. An infrared camera is carried by a UAV, and infrared photos are taken according to an inspection route. When each infrared photo is taken, the corresponding shooting information of the infrared photo is recorded, and the infrared photo and the shooting information are transmitted to the processor carried by the UAV;

[0019] S2. For the received infrared photo, the processor carried by the UAV names the infrared photo according to the tower number and the point number corresponding to the infrared photo, classifies the named infrared photo according to the tower, and saves it to the UAV storage card, and saves the shooting information and storage address of each infrared photo in the UAV storage card;

[0020] S3. After the UAV inspection is completed, the information saved in the UAV storage card is uploaded to the background server;

[0021]

[0022] ​In the embodiments of the present application, the wireless transmission module connected with the processor can be directly carried in the unmanned aerial vehicle, and the data stored in the memory card is uploaded to the background server through the wireless transmission module by the processor; or after the unmanned aerial vehicle inspection is completed, the memory card of the unmanned aerial vehicle is inserted into a PC computer, and then the PC computer reads and uploads to the background server through the Internet.

[0023] S4. The background server determines defects according to the uploaded information for each infrared photo:

[0024] S401. Select any infrared photo, frame the area where the inspection point in the infrared photo is located as a temperature measurement area, then extract the temperature value of each pixel point in the temperature measurement area, and obtain the highest temperature, the lowest temperature and the average temperature in the temperature measurement area; in the embodiments of the present application, the framing here can be framed by the staff of the background, or can be automatically recognized and framed by the background server, and generally framed by the staff of the background through the key input device (keyboard, mouse, etc.).

[0025] S402. For the selected infrared photo, calculate the relative temperature difference, the absolute temperature difference and the heat value of the inspection point;

[0026] S403. Set the infrared defect level, and determine the infrared photo defect according to the relative temperature difference, the absolute temperature difference and the heat value;

[0027] S404. For each infrared photo, repeat steps S401-S403 to complete the defect determination of all infrared photos.

[0028] In the embodiments of the present application, the inspection route includes: towers that need to be inspected, inspection sequence of each tower, inspection points in each tower, and inspection sequence of each inspection point in each tower;

[0029] Each tower has its own tower number, and each inspection point in each tower has its own point number.

[0030] In the embodiments of the present application, the shooting information includes photo file name, shooting time stamp, longitude, latitude, tower number, point number and environment temperature when each infrared photo is shot, and the shooting information is also recorded as POS information.

[0031] In the embodiments of the present application, the time stamp is automatically generated by the infrared camera when shooting, the longitude and latitude are provided by the positioning module carried by the unmanned aerial vehicle, the positioning module is connected with the processor, and the environment temperature is provided by the temperature sensor carried by the unmanned aerial vehicle, the temperature sensor is connected with the processing module. In step S2, the infrared photos of each tower are classified as a class.

[0032] In the embodiment of the present application, when the unmanned aerial vehicle carrying the infrared camera performs infrared photographing according to the inspection route in step S1, each inspection point of each tower is sequentially taken as an inspection target for infrared photographing, and at least one infrared photograph is collected for each inspection point.

[0033] Suppose that the infrared target corresponding to the current infrared photograph is a main inspection point.

[0034] If other inspection points are photographed when collecting the infrared photograph of the main inspection point, the photographed other inspection points are defined as peripheral inspection points.

[0035] In step S401, one or more temperature measurement regions are obtained when a infrared photograph is framed.

[0036] For the temperature measurement region where the main inspection point is located, the highest temperature, the lowest temperature and the average temperature of the pixel points in the region are needed to be obtained.

[0037] For the temperature measurement region where the peripheral inspection point is located, the highest temperature and the lowest temperature are needed to be obtained.

[0038] Step S402 includes:

[0039] (1) Suppose that T_env represents the ambient temperature when the current infrared photograph is taken, T_MIN represents the lowest temperature of the pixel points in the framed region of the main inspection point, T_MAX represents the highest temperature of the pixel points in the framed region of the main inspection point, T_AVE represents the average temperature of the pixel points in the framed region of the main inspection point, minOfMaxs represents the minimum value of the highest temperatures in all the framed regions of the current infrared photograph, minOfAves represents the minimum value of the average temperatures in all the framed regions of the current infrared photograph, minOfMins represents the minimum value of the lowest temperatures in all the framed regions of the current infrared photograph, maxOfMaxs represents the maximum value of the highest temperatures in all the framed regions of the current infrared photograph, T represents the heat value, which is equal to T_MAX, aT represents the absolute temperature difference, rT represents the relative temperature difference, and T_ZC represents the pre-set normal temperature.

[0040] (2) Calculate the absolute temperature difference aT and the relative temperature difference rT:

[0041] Calculate single-label absolute temperature difference slatd = T_MAX - T_MIN, which is the absolute temperature difference without considering the influence of the peripheral inspection point and the environment.

[0042] Calculate multi-label absolute temperature difference mlatd = T_MAX - minOfMax, which is the absolute temperature difference considering the influence of the highest temperature of the peripheral inspection point.

[0043] Single-label relative temperature difference slrtd=(T_MAX-T_MIN) / (T_MAX-T_env), i.e. relative temperature difference considering the influence of the ambient temperature;

[0044] Multi-label relative temperature difference mlrtd=(T_MAX-T_ZC) / (T_MAX-T_env), i.e. relative temperature difference considering the influence of the ambient temperature and the normal temperature;

[0045] Wherein, the relative temperature difference rT is composed of the single-label relative temperature difference slrtd and the multi-label relative temperature difference mlrtd;

[0046] The absolute temperature difference aT is composed of the single-label absolute temperature difference slatd and the multi-label absolute temperature difference mlatd.

[0047] The step S403 comprises:

[0048] S4031. Pre-set three defect levels of critical, serious and general, and set the heat value range, the relative temperature difference range and the absolute temperature difference range corresponding to each defect level;

[0049] The relative temperature difference range under each defect level comprises a single-label relative temperature difference range and a multi-label relative temperature difference range;

[0050] The absolute temperature difference range under each defect level comprises a multi-label absolute temperature difference range and a single-label relative temperature difference range;

[0051] S4032. According to the heat value T, the relative temperature difference rT and the absolute temperature difference aT, judge whether the defect level is critical:

[0052] When any of the following conditions is met, it is considered that the defect level is critical:

[0053] (1) The heat value T is in the heat value range of the defect level critical;

[0054] (2) The relative temperature difference rT is in the relative temperature difference range of the defect level critical, i.e. the single-label relative temperature difference slrtd is in the single-label absolute temperature difference range of the defect level critical, or the multi-label relative temperature difference mlrtd is in the multi-label relative temperature difference range of the defect level critical;

[0055] (3) The absolute temperature difference aT is in the absolute temperature difference range of the defect level critical, i.e. the single-label absolute temperature difference slatd is in the single-label absolute temperature difference range of the defect level critical, or the multi-label absolute temperature difference mlatd is in the multi-label absolute temperature difference range of the defect level critical;

[0056] If the defect level is determined to be critical, the determination ends and a determination result is obtained; if the defect level is not critical, step S4033 is entered;

[0057] S4033. According to the heat value T, the relative temperature difference rT and the absolute temperature difference aT, it is determined whether the defect level is serious:

[0058] When any of the following conditions is met, the defect level is considered to be serious:

[0059] (1) The heat value T is within the heat value value range of the defect level serious;

[0060] (2) The relative temperature difference rT is within the relative temperature difference value range of the defect level serious, that is, the single label relative temperature difference slrtd is within the single label absolute temperature difference value range of the defect level serious, or the multi-label relative temperature difference mlrtd is within the multi-label relative temperature difference value range of the defect level serious;

[0061] (3) The absolute temperature difference aT is within the absolute temperature difference value range of the defect level serious, that is, the single label absolute temperature difference slatd is within the single label absolute temperature difference value range of the defect level serious, or the multi-label absolute temperature difference mlatd is within the multi-label absolute temperature difference value range of the defect level serious;

[0062] If the defect level is determined to be serious, the determination ends and a determination result is obtained; if the defect level is not serious, step S4034 is entered;

[0063] S4034. According to the heat value T, the relative temperature difference rT and the absolute temperature difference aT, it is determined whether the defect level is general:

[0064] When any of the following conditions is met, the defect level is considered to be general:

[0065] (1) The heat value T is within the heat value value range of the defect level general;

[0066] (2) The relative temperature difference rT is within the relative temperature difference value range of the defect level general, that is, the single label relative temperature difference slrtd is within the single label absolute temperature difference value range of the defect level general, or the multi-label relative temperature difference mlrtd is within the multi-label relative temperature difference value range of the defect level general;

[0067] (3) The absolute temperature difference aT is within the absolute temperature difference value range of the defect level general, that is, the single label absolute temperature difference slatd is within the single label absolute temperature difference value range of the defect level general, or the multi-label absolute temperature difference mlatd is within the multi-label absolute temperature difference value range of the defect level general;

[0068] If the defect level is determined to be normal, the determination ends and a determination result is obtained; if the defect level is not normal, it is determined that the infrared image is normal and the corresponding main inspection point has no defect.

[0069] The foregoing description shows and describes one preferred embodiment of the application, but it is to be understood that the application is not limited to the foregoing description but is capable of numerous rearrangements, modifications and substitutions of parts and elements, without departing from the spirit and scope of the application. Any changes and modifications that fall within the scope of the application as defined by the claims and their equivalents are intended to be embraced by the application.

Claims

1. A method for determining infrared defects in power grid inspection based on unmanned aerial vehicles (UAVs), characterized in that: The method comprises the following steps: S1. An infrared camera is carried by a UAV, and infrared photos are taken along a patrol route. When each infrared photo is taken, the corresponding shooting information of the infrared photo is recorded, and the infrared photo and the shooting information are transmitted to a processor carried by the UAV; S2. For the received infrared photo, the processor carried by the UAV names the infrared photo according to the tower number and the point number corresponding to the infrared photo, classifies the named infrared photo according to the tower, and saves the infrared photo to a UAV storage card, and saves the shooting information and the storage address of each infrared photo in the UAV storage card; S3. After the UAV completes the patrol, the information saved in the UAV storage card is uploaded to a background server; S4. The background server determines defects of each infrared photo according to the uploaded information: S401. Select any infrared photo, frame the area where the patrol point is located in the infrared photo as a temperature measurement area, then extract the temperature value of each pixel point in the temperature measurement area, and obtain the maximum temperature, the minimum temperature and the average temperature in the temperature measurement area; S402. For the selected infrared photo, the relative temperature difference, the absolute temperature difference and the heat value of the patrol point are calculated; The step S402 comprises: (1) Let T_env represent the ambient temperature when the current infrared photo is taken, T_MIN represent the minimum temperature of the pixel points in the main patrol point frame area, T_MAX represent the maximum temperature of the pixel points in the main patrol point frame area, T_AVE represent the average temperature of the pixel points in the main patrol point frame area, minOfMaxs represent the minimum value of the maximum temperature in all frame areas of the current infrared photo, minOfAves represent the minimum value of the average temperature in all frame areas of the current infrared photo, minOfMins represent the minimum value of the minimum temperature in all frame areas of the current infrared photo, maxOfMaxs represent the maximum value of the maximum temperature in all frame areas of the current infrared photo, T represent the heat value, equal to T_MAX, aT represent the absolute temperature difference, rT represent the relative temperature difference, and T_ZC represent the pre-set normal temperature; (2) Calculate the absolute temperature difference aT and the relative temperature difference rT: Calculate the single-label absolute temperature difference slatd=T_MAX-T_MIN, that is, the absolute temperature difference without considering the influence of the surrounding patrol points and the environment; Calculate the multi-label absolute temperature difference mlatd=T_MAX-minOfMax, that is, the absolute temperature difference considering the influence of the maximum temperature of the surrounding patrol points; The single-label relative temperature difference slrtd=(T_MAX-T_MIN) / (T_MAX-T_env), that is, the relative temperature difference considering the influence of the ambient temperature; The multi-label relative temperature difference mlrtd=(T_MAX-T_ZC) / (T_MAX-T_env), that is, the relative temperature difference considering the influence of the ambient temperature and the normal temperature; Wherein, the relative temperature difference rT is composed of the single-label relative temperature difference slrtd and the multi-label relative temperature difference mlrtd; The absolute temperature difference aT is composed of the single-label absolute temperature difference slatd and the multi-label absolute temperature difference mlatd; S403. Set the infrared defect level, and make infrared photo defect judgment according to the relative temperature difference, the absolute temperature difference and the heat value; S404. Repeat steps S401-S403 for each infrared photo to complete the defect judgment of all infrared photos. 2.The UAV-based power line inspection infrared defect determination method of claim 1, wherein: The inspection route includes: towers that need to be inspected, inspection sequences of each tower, inspection points in each tower, and inspection sequences of each inspection point in each tower; Each tower has its own tower number, and each inspection point in each tower has its own point number. 3.The method of claim 1, wherein the method further comprises: determining the infrared defect based on the infrared image and the visible image. The shooting information includes photo file name, shooting time stamp, longitude, latitude, tower number, point number, and environment temperature when each infrared photo is taken, which is also recorded as POS information. 4.The method of claim 1, wherein the method further comprises: determining the infrared defect of the power transmission line based on the infrared image. In step S2, the infrared photos of each tower are classified as one category. 5.The method of claim 1, wherein the method further comprises: determining the infrared defect of the power transmission line based on the infrared image and the infrared image data. In step S1, when the unmanned aerial vehicle carrying the infrared camera takes infrared photos according to the inspection route, each inspection point of each tower is taken as an inspection target in turn for infrared photo shooting, and at least one infrared photo is collected for each inspection point, Suppose that the infrared target corresponding to the current infrared photo is the main inspection point; If other inspection points are photographed when the main inspection point infrared photo is collected, the photographed other inspection points are defined as surrounding inspection points. 6.The method of claim 5, wherein the method further comprises: determining the infrared defect based on the infrared image and the infrared image of the reference. In step S401, one or more temperature measurement areas are obtained when a infrared photo is framed; For the temperature measurement area where the main inspection point is located, the highest temperature, the lowest temperature and the average temperature of the pixel points in the area need to be obtained; For the temperature measurement area where the surrounding inspection point is located, the highest temperature and the lowest temperature need to be obtained.

7. The method of claim 1, wherein the method further comprises: determining the infrared defect based on the infrared image and the visible image. Step S403 includes: S4031. Pre-set three defect levels of critical, serious and general, and set the heat value range, the relative temperature difference range and the absolute temperature difference range corresponding to each defect level; The relative temperature difference range under each defect level includes: single-label relative temperature difference range and multi-label relative temperature difference range; The absolute temperature difference range under each defect level includes: multi-label absolute temperature difference range and single-label relative temperature difference range; S4032. According to the heat value T, the relative temperature difference rT and the absolute temperature difference aT, it is judged whether the defect level is critical: When any of the following conditions is met, it is considered that the defect level is critical: (1) The heat value T is in the heat value range of the defect level critical; (2) The relative temperature difference rT is in the relative temperature difference range of the defect level critical, that is, the single-label relative temperature difference slrtd is in the single-label absolute temperature difference range of the defect level critical, or the multi-label relative temperature difference mlrtd is in the multi-label relative temperature difference range of the defect level critical; (3) The absolute temperature difference aT is in the absolute temperature difference range of the defect level critical, that is, the single-label absolute temperature difference slatd is in the single-label absolute temperature difference range of the defect level critical, or the multi-label absolute temperature difference mlatd is in the multi-label absolute temperature difference range of the defect level critical; If the defect level is determined to be critical, the judgment ends and the judgment result is obtained; if the defect level is not critical, step S4033 is entered; S4033. According to the thermal value T, the relative temperature difference rT and the absolute temperature difference aT, it is judged whether the defect level is serious: When any of the following conditions is met, the defect level is considered to be serious: (1) The thermal value T is in the thermal value value range of the defect level serious; (2) The relative temperature difference rT is in the relative temperature difference value range of the defect level serious, that is, the single label relative temperature difference slrtd is in the single label absolute temperature difference value range of the defect level serious, or the multi-label relative temperature difference mlrtd is in the multi-label relative temperature difference value range of the defect level serious; (3) The absolute temperature difference aT is in the absolute temperature difference value range of the defect level serious, that is, the single label absolute temperature difference slatd is in the single label absolute temperature difference value range of the defect level serious, or the multi-label absolute temperature difference mlatd is in the multi-label absolute temperature difference value range of the defect level serious; If the defect level is determined to be serious, the judgment ends and the judgment result is obtained; if the defect level is not serious, step S4034 is entered; S4034. According to the thermal value T, the relative temperature difference rT and the absolute temperature difference aT, it is judged whether the defect level is general: When any of the following conditions is met, the defect level is considered to be general: (1) The thermal value T is in the thermal value value range of the defect level general; (2) The relative temperature difference rT is in the relative temperature difference value range of the defect level general, that is, the single label relative temperature difference slrtd is in the single label absolute temperature difference value range of the defect level general, or the multi-label relative temperature difference mlrtd is in the multi-label relative temperature difference value range of the defect level general; (3) The absolute temperature difference aT is in the absolute temperature difference value range of the defect level general, that is, the single label absolute temperature difference slatd is in the single label absolute temperature difference value range of the defect level general, or the multi-label absolute temperature difference mlatd is in the multi-label absolute temperature difference value range of the defect level general; If the defect level is determined to be general, the judgment ends and the judgment result is obtained; if the defect level is not general, the infrared photo is determined to be normal, and the corresponding main inspection point has no defect.

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