Unmanned aerial vehicle inspection system for distribution network line

Abstract

The invention relates to an unmanned aerial vehicle inspection system for a distribution network line, which is characterized in that a camera component in a remote sensing monitoring module carried in an inspection unmanned aerial vehicle can be used for shooting and collecting information of the distribution network line, and a data processing module can be used for carrying out weighted average gray processing and filtering noise reduction processing on image data; the image analysis module can be used for analyzing image data of the receipts so as to identify and judge fault points of the distribution network line, and the fault point marking module can be used for independently marking the fault points and shooting and imaging the fault points; an inspection route plan generation module is utilized to generate an optimal flight route according to the take-off and landing position, the flight speed and the flight height of the inspection unmanned aerial vehicle and the position of a key pole tower; the main control module can be used for adjusting the flight direction of the inspection unmanned aerial vehicle and the shooting angle of the camera shooting assembly according to a control instruction of the remote terminal, so that the shooting accuracy is improved; in general, the system has the advantages of being efficient and convenient to use and clear and accurate in shooting.

Description

Technical Field

[0001] The present invention belongs to the technical field of distribution network inspection, and in particular relates to an unmanned aerial vehicle inspection system for distribution network lines. Background Art

[0002] The distribution network refers to the power grid that receives electric energy from the transmission network or regional power plant, distributes it locally or distributes it step by step to various users according to voltage through distribution facilities. It is composed of overhead lines, cables, poles, distribution transformers, disconnectors, reactive power compensators and some ancillary facilities, and plays an important role in distributing electric energy in the power grid. The distribution network lines are generally exposed outdoors, and they will inevitably be affected by the natural environment and social environment during operation. In particular, extreme weather such as lightning and storms may destroy or damage the distribution network equipment, or cause accidents such as electric shocks. At the same time, problems such as artificial theft, random wiring, and deliberate destruction will also affect the normal operation of the distribution equipment and even cause safety accidents. Therefore, it is necessary to conduct regular inspections of the distribution network lines. The traditional power inspection method usually relies on manual inspection and equipment detection. During the specific operation, the labor intensity of the staff is high, the labor is time-consuming, and the inspection efficiency is low. Moreover, under the condition of harsh external environment, the personal safety of the inspectors cannot be guaranteed, and there is a great risk. Therefore, in order to solve the above problems, it is necessary to develop a distribution network line drone inspection system that is efficient and convenient to use and can take clear and accurate photos. Summary of the invention

[0003] The purpose of the present invention is to overcome the shortcomings of the prior art and to provide a distribution network line drone inspection system that is efficient and convenient to use and can take clear and accurate photos.

[0004] The object of the present invention is achieved as follows: a UAV inspection system for distribution network lines, comprising an inspection UAV, a main control module, an image pre-classification module, a data processing module, an image analysis module, a fault point marking module, a storage module, an inspection route planning generation module, a signal transmission module, a GPS positioning module and a remote terminal, wherein the inspection UAV is equipped with a remote sensing monitoring module, the remote sensing monitoring module is composed of a plurality of camera components, and the camera components are used to capture and collect information of the distribution network lines to be inspected during the flight of the inspection UAV; The main control module is used to control and adjust the flight status of the inspection drone and the shooting direction of the camera component in the remote sensing monitoring module; The image pre-classification module is used to pre-classify and mark the image data captured by the camera assembly; The data processing module is used to perform weighted average grayscale processing and filtering noise reduction processing on the collected image data; The image analysis module is used to analyze the image data of the receipt, so as to identify and judge the fault point of the distribution network line; The fault point marking module is used to mark the fault point identified and determined by the image analysis module separately and to take images through the shooting component; The storage module is used to store and back up the image data and the pictures taken at the fault point; The inspection route planning generation module can generate the best flight route according to the take-off and landing position of the inspection drone, the flight speed and altitude of the inspection drone, and the position of the key tower; The signal transmission module can be used to transmit the video captured by the camera assembly to the remote terminal, and the remote terminal can receive the control signal of the main control module; The GPS positioning module can be used to locate the position of the inspection drone in real time; The remote terminal is used to observe the image information captured by the camera assembly in real time, and to send adjustment instructions for the flight direction of the inspection drone and the shooting angle of the camera assembly to the main control module.

[0005] Furthermore, a GIS module is provided inside the remote terminal, which can display the information of transmission lines and towers, and provide corresponding attributes, editing, coloring, importing, exporting and displaying operations for the corresponding transmission line information.

[0006] Furthermore, the inspection drone is equipped with binocular vision sensors at the front, rear and bottom of the fuselage, and infrared sensors on the left and right sides.

[0007] Furthermore, a detection device is provided at the front end of the inspection drone, and the detection device includes a detection component and an obstacle avoidance component. The detection component is used to detect obstacles on the moving route of the inspection drone, and the obstacle avoidance component can automatically adjust the lift and moving direction of the inspection drone through the main control module based on the data of the detection component.

[0008] Beneficial effects of the present invention: the present invention sets a data processing module, which can be used to perform weighted average grayscale processing and filtering noise reduction processing on image data, thereby increasing the clarity of the image; sets an image analysis module and a fault point marking module, which can be used to analyze the image data of the receipt, thereby identifying and judging the fault point of the distribution network line; the fault point marking module can be used to mark the fault point identified and judged by the image analysis module separately, and after marking, the shooting component can be controlled to shoot and image the fault point separately, so as to facilitate observation and judgment by operators; the inspection route planning generation module is set, and before use, the best flight route can be generated according to the take-off and landing position of the inspection drone, the flight speed and flight altitude of the inspection drone and the position of the key pole tower; the main control module is set, and the flight direction of the inspection drone and the shooting angle of the camera component can be adjusted according to the control command of the remote terminal, thereby realizing multi-directional shooting and increasing the accuracy of shooting; in general, the present invention has the advantages of efficient and convenient use and clear and accurate shooting. DETAILED DESCRIPTION

[0009] The present invention is further described below.

[0010] Embodiment: A UAV inspection system for distribution network lines, comprising an inspection UAV, a main control module, an image pre-classification module, a data processing module, an image analysis module, a fault point marking module, a storage module, an inspection route planning generation module, a signal transmission module, a GPS positioning module and a remote terminal, wherein the inspection UAV is equipped with a remote sensing monitoring module, the remote sensing monitoring module is composed of a plurality of camera components, and the camera components are used to capture and collect information of the distribution network lines to be inspected during the flight of the inspection UAV; The main control module is used to control and adjust the flight status of the inspection drone and the shooting direction of the camera component in the remote sensing monitoring module; The image pre-classification module is used to pre-classify and mark the image data captured by the camera assembly; The data processing module is used to perform weighted average grayscale processing and filtering noise reduction processing on the collected image data; The image analysis module is used to analyze the image data of the receipt, so as to identify and judge the fault point of the distribution network line; The fault point marking module is used to mark the fault point identified and determined by the image analysis module separately and to take images through the shooting component; The storage module is used to store and back up the image data and the pictures taken at the fault point; The inspection route planning generation module can generate the best flight route according to the take-off and landing position of the inspection drone, the flight speed and altitude of the inspection drone, and the position of the key tower; The signal transmission module can be used to transmit the video captured by the camera assembly to the remote terminal, and the remote terminal can receive the control signal of the main control module; The GPS positioning module can be used to locate the position of the inspection drone in real time; The remote terminal is used to observe the image information captured by the camera assembly in real time, and to send adjustment instructions for the flight direction of the inspection drone and the shooting angle of the camera assembly to the main control module.

[0011] Furthermore, a GIS module is provided inside the remote terminal, which can display the information of transmission lines and towers, and provide corresponding attributes, editing, coloring, importing, exporting and displaying operations for the corresponding transmission line information.

[0012] Furthermore, the inspection drone is equipped with binocular vision sensors at the front, rear and bottom of the fuselage, and infrared sensors on the left and right sides.

[0013] Furthermore, a detection device is provided at the front end of the inspection drone, and the detection device includes a detection component and an obstacle avoidance component. The detection component is used to detect obstacles on the moving route of the inspection drone, and the obstacle avoidance component can automatically adjust the lift and moving direction of the inspection drone through the main control module based on the data of the detection component.

[0014] When the present invention is used, first, according to the take-off and landing position, flight speed, flight altitude and position of key poles of the inspection drone, the inspection route planning generation module generates the best flight route for the inspection drone, and then, the inspection drone is released. During the flight, the inspection drone uses the remote sensing monitoring module composed of multiple camera components carried inside it to take real-time photos of the distribution network lines. After that, the captured video is sequentially pre-classified and marked by the image pre-classification module, weighted average grayscale processing and filtering noise reduction processing by the data processing module, and analysis, recognition and judgment by the image analysis module. Finally, while the storage module stores the backup internally, it is transmitted to the remote terminal through the signal transmission module for real-time observation by the operator. In this process, the fault point marking module can analyze the image The fault points identified and judged by the module are marked separately, and images are taken through the shooting component to facilitate observation and judgment by the operator; at the same time, during the flight of the inspection UAV, the operator can send control instructions to the main control module through the remote terminal and the signal transmission module, so that after the main control module receives the control instructions, the flight direction of the inspection UAV and the shooting angle of the camera component are adjusted to achieve multi-directional shooting while increasing the accuracy of shooting; and, by setting a detection component and an obstacle avoidance component, the present invention can detect obstacles on the moving route of the inspection UAV by using the detection component, and can automatically adjust the lift and moving direction of the inspection UAV through the main control module based on the data of the detection component, thereby increasing the safety of the flight of the inspection UAV.

[0015] The present invention sets a data processing module, which can be used to perform weighted average grayscale processing and filtering noise reduction processing on image data, thereby increasing the clarity of the image; sets an image analysis module and a fault point marking module, which can be used to analyze the image data of the receipt, thereby identifying and judging the fault point of the distribution network line; uses the fault point marking module to mark the fault point identified and judged by the image analysis module separately, and controls the shooting component to shoot and image the fault point separately after marking, so as to facilitate observation and judgment by operators; sets an inspection route planning and generating module, and can generate the best flight route before use according to the take-off and landing position of the inspection drone, the flight speed and flight altitude of the inspection drone and the position of the key pole tower; sets a main control module, which can be used to adjust the flight direction of the inspection drone and the shooting angle of the camera component according to the control command of the remote terminal, thereby realizing multi-directional shooting and increasing the accuracy of shooting; in general, the present invention has the advantages of efficient and convenient use and clear and accurate shooting.

[0016] The above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit the same. Although the present invention has been described in detail with reference to the above embodiments, a person skilled in the art should understand that the specific implementation modes of the present invention can still be modified or replaced by equivalents, and any modification or equivalent replacement that does not depart from the spirit and scope of the present invention should be included in the scope of the claims of the present invention.

Claims

1. A UAV inspection system for distribution network lines, comprising an inspection UAV, a main control module, an image pre-classification module, a data processing module, an image analysis module, a fault point marking module, a storage module, an inspection route planning generation module, a signal transmission module, a GPS positioning module and a remote terminal, Features: The inspection drone is equipped with a remote sensing monitoring module, which is composed of multiple camera components. The camera components are used to capture and collect information about the distribution network line to be inspected during the flight of the inspection drone. The main control module is used to control and adjust the flight status of the inspection drone and the shooting direction of the camera component in the remote sensing monitoring module; The image pre-classification module is used to pre-classify and mark the image data captured by the camera assembly; The data processing module is used to perform weighted average grayscale processing and filtering noise reduction processing on the collected image data; The image analysis module is used to analyze the image data of the receipt, so as to identify and judge the fault point of the distribution network line; The fault point marking module is used to mark the fault point identified and determined by the image analysis module separately and to take images through the shooting component; The storage module is used to store and back up the image data and the pictures taken at the fault point; The inspection route planning generation module can generate the best flight route according to the take-off and landing position of the inspection drone, the flight speed and altitude of the inspection drone, and the position of the key tower; The signal transmission module can be used to transmit the video captured by the camera assembly to the remote terminal, and the remote terminal can receive the control signal of the main control module; The GPS positioning module can be used to locate the position of the inspection drone in real time; The remote terminal is used to observe the image information captured by the camera assembly in real time, and to send adjustment instructions for the flight direction of the inspection drone and the shooting angle of the camera assembly to the main control module.

2. A UAV inspection system for distribution network lines as claimed in claim 1, Features: The remote terminal is internally provided with a GIS module, which can display the information of transmission lines and towers, and provide corresponding attribute, editing, color marking, importing, exporting and displaying operations for the corresponding transmission line information.

3. A UAV inspection system for distribution network lines as claimed in claim 1, Features: The inspection drone is equipped with binocular vision sensors at the front, rear and bottom of the fuselage, and infrared sensors on the left and right sides.

4. A distribution network line drone inspection system as claimed in claim 1, Features: A detection device is provided at the front end of the inspection drone, and the detection device includes a detection component and an obstacle avoidance component. The detection component is used to detect obstacles on the moving route of the inspection drone, and the obstacle avoidance component can automatically adjust the lift and moving direction of the inspection drone through the main control module based on the data of the detection component.