Unmanned aerial vehicle acquisition method for corrosion image of steel tower material of power transmission tower

Abstract

The invention relates to a transmission tower steel tower material corrosion image unmanned aerial vehicle acquisition method, which specifically comprises the following steps: presetting an unmanned aerial vehicle shooting rule, preliminarily screening a shooting direction and a tower body part of a transmission tower, and carrying out overall shooting; pre-decomposing the oversized parts in the tower body parts, and independently shooting the decomposed small parts; and dividing and marking the shooting area, and adjusting the shooting sequence and the shooting content according to the preset shooting requirement and the area number.

Description

Technical Field

[0001] The present invention relates to the technical field of power transmission line operation and inspection, and in particular to a method for collecting corrosion images of steel tower materials of power transmission towers using drones. Background Art

[0002] As an important means of patrolling overhead power transmission lines, drones have been widely used in the power industry. At present, there is no effective shooting method for collecting images of overhead power transmission line anti-corrosion drone patrol inspections. The present invention standardizes the drone collection method of steel tower material corrosion images, provides standardized data for tower material corrosion intelligent identification technology, and improves the recognition accuracy of corrosion intelligent algorithms. Summary of the invention

[0003] In order to solve the above problems existing in the prior art, the present invention proposes a method for collecting corrosion images of steel tower materials of power transmission towers by using drones.

[0004] The technical solution of the present invention is as follows:

[0005] On the one hand, the present invention provides a method for collecting corrosion images of steel tower materials of power transmission towers by drone, and the specific steps include:

[0006] Preset drone shooting rules, preliminarily screen the shooting direction and tower parts of the transmission pole, and shoot the entire tower;

[0007] Pre-disassemble the oversized components in each part of the tower body, and take separate photos of the disassembled small components;

[0008] Divide and number the shooting areas, and adjust the shooting order and content according to the preset shooting requirements and area numbers.

[0009] As a preferred implementation, the preset drone shooting rule is specifically to only shoot the front and back images of the transmission pole; the tower body includes the tower head, tower body and tower legs;

[0010] As a preferred embodiment, the step of pre-decomposing the oversized components in each tower body part is specifically as follows:

[0011] Preset the range of the shooting components according to the lens of the shooting camera;

[0012] First, the oversized components are decomposed according to the functional structure of the transmission pole. After decomposition, the small components whose sizes exceed the range of the lens are decomposed again according to several connection nodes.

[0013] As a preferred implementation, the preset shooting requirements are specifically:

[0014] The shooting order is carried out one by one in the order of the labels, and each small component is photographed one by one in each area from left to right and from top to bottom;

[0015] Use a level eye angle to shoot, with each small component in the middle of the frame, and focus on the intersection or node plate in the middle of each small component.

[0016] On the other hand, the present invention provides a transmission tower steel material corrosion image acquisition system using a drone, comprising:

[0017] The acquisition area planning module presets the drone shooting rules, preliminarily selects the shooting direction and tower parts of the transmission pole, and performs overall shooting;

[0018] The component decomposition module is used to pre-decompose the oversized components in each part of the tower body and take separate photos of each small component after decomposition;

[0019] The acquisition route planning module divides and numbers the shooting areas, and adjusts the shooting order and content according to the preset shooting requirements and area numbers.

[0020] As a preferred implementation, the preset drone shooting rule is specifically to only shoot the front and back images of the transmission pole; the tower body includes the tower head, tower body and tower legs;

[0021] As a preferred embodiment, the step of pre-decomposing the oversized components in each tower body part is specifically as follows:

[0022] Preset the range of the shooting components according to the lens of the shooting camera;

[0023] First, the oversized components are decomposed according to the functional structure of the transmission pole. After decomposition, the small components whose sizes exceed the range of the lens are decomposed again according to several connection nodes.

[0024] As a preferred implementation, the preset shooting requirements are specifically:

[0025] The shooting order is carried out one by one in the order of the labels, and each small component is photographed one by one in each area from left to right and from top to bottom;

[0026] Use a level eye angle to shoot, with each small component in the middle of the frame, and focus on the intersection or node plate in the middle of each small component.

[0027] On the other hand, the present invention proposes an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, a method for collecting images of steel tower material corrosion of a transmission tower by using a drone as described in any embodiment of the present invention is implemented.

[0028] On the other hand, the present invention proposes a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements a method for collecting images of steel tower material corrosion of a transmission tower using a drone as described in any embodiment of the present invention.

[0029] The present invention has the following beneficial effects:

[0030] 1. The present invention standardizes the method for collecting steel tower material corrosion images, provides standardized data for tower material corrosion intelligent identification technology, and improves the recognition accuracy of corrosion intelligent algorithms.

[0031] 2. The present invention decomposes the components of the tower that need to be photographed in a regular manner, ensuring that a clear image can be taken of each component, thereby obtaining more accurate data. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 It is a flow chart of the present invention;

[0033] Figure 2 Shooting and analysis of the tower body Figure 1 ;

[0034] Figure 3 Shooting and analysis of the tower body Figure 2 ;

[0035] Figure 4 Take a planning diagram for a 500kV AC line single-circuit straight wineglass tower;

[0036] Figure 5 Shoot planning drawings for double-circuit tension towers for 500kV AC lines;

[0037] Figure 6 Photographing the planning diagram for the single-circuit straight cathead tower of 220kV AC line;

[0038] Figure 7 Take a planning diagram for a single-circuit tension tower for a 220kV AC line. DETAILED DESCRIPTION

[0039] 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.

[0040] It should be understood that the step numbers used in this document are only for convenience of description and are not intended to limit the order in which the steps are executed.

[0041] It should be understood that the terms used in the present specification are only for the purpose of describing specific embodiments and are not intended to limit the present invention. As used in the present specification and the appended claims, unless the context clearly indicates otherwise, the singular forms "a", "an" and "the" are intended to include plural forms.

[0042] The terms “include” and “comprising” indicate the presence of described features, integers, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or combinations thereof.

[0043] The term "and / or" means and includes any and all possible combinations of one or more of the associated listed items.

[0044] Embodiment 1:

[0045] See also Figure 1 , a method for collecting corrosion images of steel tower materials of power transmission towers by drone, the specific steps include:

[0046] Preset drone shooting rules, preliminarily screen the shooting direction and tower parts of the transmission pole, and shoot the entire tower;

[0047] Pre-disassemble the oversized components in each part of the tower body, and take separate photos of the disassembled small components;

[0048] Divide and number the shooting areas, and adjust the shooting order and content according to the preset shooting requirements and area numbers.

[0049] As a preferred implementation of this embodiment, the preset drone shooting rule is specifically to only shoot the front and back images of the transmission pole; the tower body includes the tower head, tower body and tower legs;

[0050] In this embodiment, all shooting contents should be shot when the safety conditions of the operation allow. If the safety conditions are more stringent, shooting is not required. For example, the tower head of a 220kV cathead tower is relatively small, and when shooting the cross arm part, the risk of crossing the conductor is relatively high, so shooting is not required.

[0051] For the tower leg shooting, only the upper part needs to be shot. You can choose to shoot according to the environmental conditions. If there are obstacles on the ground, you don’t need to shoot.

[0052] As a preferred implementation of this embodiment, the step of pre-decomposing the oversized components in each tower body part is specifically as follows:

[0053] Preset the range of the shooting components according to the lens of the shooting camera;

[0054] First, the oversized components are decomposed according to the functional structure of the transmission pole. After decomposition, the small components whose sizes exceed the range of the lens are decomposed again according to several connection nodes.

[0055] In this embodiment, in order to meet the technical requirements of resolution, when the size of a component is too large, it can be decomposed into several components of appropriate sizes so that it is suitable for taking a single photo.

[0056] The width of a single component should not exceed 7 meters and the height should not exceed 5 meters.

[0057] The tower body is divided into multiple sections using "X" and "K" shaped diagonal members as units. Several "X" and "K" shaped diagonal members on the upper part of the tower body can be regarded as a section. If the "X" shaped diagonal member is narrow and high, it can be split into two "V" shapes for shooting. If the "K" shaped diagonal member near the tower leg is too large, the left and right sides of the "K" shaped diagonal member can be separated and photographed separately.

[0058] Specific examples include Figure 2 and Figure 3 As shown, in Figure 2 In the figure, the upper part of the tower is smaller, so the "X" and "K" type diagonal members are combined into one component, just to the first iron package at the top. The lower part of the tower is larger, so the single "X" type diagonal member is used as a component. Figure 3 In the tower, the lower part is larger, so a single "X"-shaped diagonal is used as a component. Near the tower legs, because the tower has a large root opening, a single "K"-shaped diagonal is divided into two parts.

[0059] If the cross arm part does not exceed 7 meters in size, it can be photographed as a single photo; when the size is larger, it can be decomposed into two parts, the left side and the right side, or three parts, the left side, the middle tower body, and the right side.

[0060] If the ground wire bracket and the adjacent conductor crossarm are both small in size, the two can be combined in one picture.

[0061] As a preferred implementation of this embodiment, the preset shooting requirements are specifically:

[0062] The shooting order is carried out one by one in the order of the labels, and each small component is photographed one by one in each area from left to right and from top to bottom;

[0063] Use a level eye angle to shoot, with each small component in the middle of the frame, and focus on the intersection or node plate in the middle of each small component.

[0064] During the specific implementation, the tower material components should be located in the middle of the frame. At the same time, the drone should be as close as possible (not more than 5.5 meters, but not less than 2.5 meters) to the tower material for framing. Each tower material of the component should be fully framed, but there should be blank space around the frame and it should not be filled up.

[0065] When shooting between two adjacent components, an appropriate degree of overlap should be left, and generally the adjacent edges should be overlapped at about 10%. Except for the tower materials shared by the two components, other parts of the tower materials should not be framed repeatedly.

[0066] The resolution of the collected tower material images should not be less than 1.6mm per pixel.

[0067] Try to shoot at a level angle. If you need to shoot from a bird's-eye view, the angle should not exceed 10°.

[0068] When shooting, you should ensure that the camera parameters are set reasonably to ensure that the image is clear, the exposure is reasonable, and there is no blur.

[0069] The photos should be taken with a fixed-focus camera with a resolution of 20 megapixels or above, and the image should be in its original ratio.

[0070] Embodiment 2:

[0071] Based on the above shooting methods, some common tower-type shooting methods are listed.

[0072] like Figure 4 The shooting method of a single-circuit straight wine glass tower of a 500kV AC line is shown in Table 1 below:

[0073]

[0074]

[0075] Table 1 Shooting rules for single-circuit straight-line wine glass towers of 500kV AC lines

[0076] like Figure 5 The shooting method of the double-circuit tension tower of 500kV AC line is shown in Table 2 below:

[0077]

[0078]

[0079] Table 2 Shooting rules for double-circuit tension towers of 500kV AC lines

[0080] like Figure 6 The shooting method of the single-circuit straight cathead tower of 220kV AC line is shown in Table 3 below:

[0081] Drone hovering area Shooting part number Shooting area Shooting requirements Drone photography location Shooting Angle 1 1 Lower arm Must-shoot Centered on component Head-up 2 2 Tower 1 Must-shoot Centered on component Head-up 3 3 Tower 2 Must-shoot Centered on component Head-up 4 4 Tower 3 Must-shoot Centered on component Head-up 5 5 Tower 4 Must-shoot Centered on component Head-up 6 6 Tower 5 Must-shoot Centered on component Head-up

[0082] Table 3 Shooting rules for single-circuit straight cathead towers of 220kV AC lines

[0083] like Figure 7 The shooting method of a single-circuit tension tower of a 220kV AC line is shown in Table 4 below:

[0084]

[0085]

[0086] Table 4 Shooting rules for single-circuit tension towers of 220kV AC lines

[0087] Embodiment three:

[0088] The present embodiment provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, a method for drone acquisition of corrosion images of steel tower materials of a transmission tower as described in any embodiment of the present invention is implemented.

[0089] Embodiment 4:

[0090] A computer-readable storage medium stores a computer program, which, when executed by a processor, implements a method for collecting images of steel tower material corrosion of a power transmission tower using a drone as described in any embodiment of the present invention.

[0091] The above descriptions are merely embodiments of the present invention and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A method for collecting transmission tower steel material corrosion images by drone, characterized in that: The specific steps include: Preset drone shooting rules, preliminarily screen the shooting direction and tower parts of the transmission pole, and shoot the entire tower; Pre-disassemble the oversized components in each part of the tower body, and take separate photos of the disassembled small components; Divide and number the shooting areas, and adjust the shooting order and content according to the preset shooting requirements and area numbers.

2. The method for collecting transmission tower steel material corrosion images by drone according to claim 1 is characterized in that: The preset drone shooting rule is specifically to only shoot the front and back images of the transmission pole; the tower body includes the tower head, tower body and tower legs.

3. The method for collecting transmission tower steel material corrosion images by drone according to claim 1 is characterized in that: The steps of pre-decomposing the super-large components in each tower body part are specifically as follows: Preset the range of the shooting components according to the lens of the shooting camera; First, the oversized components are decomposed according to the functional structure of the transmission pole. After decomposition, the small components whose sizes exceed the range of the lens are decomposed again according to several connection nodes.

4. The method for collecting transmission tower steel material corrosion images by drone according to claim 1 is characterized in that: The preset shooting requirements are specifically: The shooting order is carried out one by one in the order of the labels, and each small component is photographed one by one in each area from left to right and from top to bottom; Use a level eye angle to shoot, with each small component in the middle of the frame, and focus on the intersection or node plate in the middle of each small component.

5. A UAV image acquisition system for steel tower corrosion of power transmission towers, characterized in that: include: The acquisition area planning module presets the drone shooting rules, preliminarily selects the shooting direction and tower parts of the transmission pole, and performs overall shooting; The component decomposition module is used to pre-decompose the oversized components in each part of the tower body and take separate photos of each small component after decomposition; The acquisition route planning module divides and numbers the shooting areas, and adjusts the shooting order and content according to the preset shooting requirements and area numbers.

6. The transmission tower steel material corrosion image acquisition system according to claim 5 is characterized in that: The preset drone shooting rule is specifically to only shoot the front and back images of the transmission pole; the tower body includes the tower head, tower body and tower legs.

7. The transmission tower steel material corrosion image acquisition system according to claim 5 is characterized in that: The steps of pre-decomposing the super-large components in each tower body part are specifically as follows: Preset the range of the shooting components according to the lens of the shooting camera; First, the oversized components are decomposed according to the functional structure of the transmission pole. After decomposition, the small components whose sizes exceed the range of the lens are decomposed again according to several connection nodes.

8. The transmission tower steel material corrosion image acquisition system according to claim 5 is characterized in that: The preset shooting requirements are specifically: The shooting order is carried out one by one in the order of the labels, and each small component is photographed one by one in each area from left to right and from top to bottom; Use a level eye angle to shoot, with each small component in the middle of the frame, and focus on the intersection or node plate in the middle of each small component.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the program, the method for collecting images of steel tower material corrosion of a transmission tower using a drone as described in any one of claims 1 to 4 is implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, a method for collecting images of steel tower material corrosion of a transmission tower using a drone is implemented as described in any one of claims 1 to 4.

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