Drainage pumping station autonomous inspection method and system based on industrial unmanned aerial vehicle

Abstract

The invention discloses a drainage pumping station autonomous inspection method and system based on an industrial unmanned aerial vehicle, and relates to the technical field of unmanned aerial vehicle inspection, and the method comprises the steps: obtaining inspection region information, dividing an inspection region, and obtaining inspection region classification information. The inspection area is divided according to the important indexes of the inspection area, the inspection track planning is facilitated, the inspection efficiency is improved, the inspection track planning of a common area is realized through the basic inspection track information, the inspection track displacement difference coefficient is obtained through the unmanned aerial vehicle inspection track planning information, and the inspection efficiency is improved. The unmanned aerial vehicle routing inspection track is evaluated through the routing inspection track displacement difference coefficient, the reliability of the unmanned aerial vehicle routing inspection track and the accuracy of routing inspection data are ensured, the routing inspection efficiency of the drainage pumping station is improved, the safety problem existing in manual routing inspection of the drainage pumping station is avoided, and the safety risk of personnel is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicle inspection, and in particular to an autonomous inspection method and system for a drainage pump station based on an industrial unmanned aerial vehicle. Background Art

[0002] Drainage pump stations are mainly used to remove stagnant water, keep low-lying areas dry, prevent floods and water disasters, and protect infrastructure and the environment. They are of great significance to urban flood control, agricultural irrigation, and environmental protection, and can improve the quality of life and economic benefits of the region. Traditional drainage pump station inspections require pump station duty personnel to patrol the pump station at regular intervals and check the operation of all station equipment. The complex environment, small space, and large number of equipment in the pump station increase the effectiveness of manual inspections. At the same time, due to the low frequency and long intervals of manual inspections, inspections cannot be carried out during equipment operation for safety reasons. The relevant units are unaware of possible situations of equipment, cables, and water pipes during the inspection interval. When there is a problem with the equipment, the problem cannot be discovered in time, which leads to the expansion of the problem. It is also necessary to deal with possible toxic and harmful gases, which can easily lead to safety accidents caused by environmental factors. The probability of human omissions or inadequate inspections during manual inspections is relatively high, and various production safety accidents may occur during manual inspections, such as equipment failures caused by unexpected operations, and falling into confined spaces in dim environments and being unable to escape. In severe cases, it may even cause casualties. Therefore, the use of industrial drones to achieve autonomous inspections of drainage pump stations improves the reliability and accuracy of inspections.

[0003] The current inspection methods for drainage pump stations still have problems such as low inspection frequency, long intervals, inability to detect abnormal equipment conditions in a timely manner, inability to accurately analyze and evaluate the inspection demand areas, inability to accurately judge the importance of the inspection areas, inability to plan the UAV inspection trajectory according to the specific status of the inspection area, and inability to adjust the UAV inspection trajectory in a timely and accurate manner. Summary of the invention

[0004] In order to solve the above-mentioned technical problems, an autonomous inspection method and system for drainage pump stations based on industrial drones are provided. This technical solution solves the problems raised in the above-mentioned background technology, such as low inspection frequency and long intervals, inability to detect abnormal conditions of equipment in a timely manner, inability to accurately analyze and evaluate the inspection demand areas, inability to accurately judge the importance of the inspection areas, inability to plan the drone inspection trajectory according to the specific status of the inspection area, and inability to adjust the drone inspection trajectory in a timely and accurate manner.

[0005] In order to achieve the above purpose, the technical solution adopted by the present invention is:

[0006] An autonomous inspection method for a drainage pump station based on an industrial drone, comprising:

[0007] Acquire inspection area information, wherein the inspection area information includes drainage pump station equipment information and drainage pump station pipeline information;

[0008] Divide the inspection area and obtain inspection area classification information, wherein the inspection area classification includes general area, basic inspection area and specific inspection area;

[0009] According to the inspection area classification information, the plane information of the inspection area is obtained based on the plane coordinate system;

[0010] Take the coordinates of the center point of each region as the coordinates of the region to obtain the region coordinate information;

[0011] According to the regional coordinate information, the two regional coordinates with the farthest inspection area coordinates are used as the first inspection point of the drone and the second inspection point of the drone;

[0012] The first inspection point of the drone and the second inspection point of the drone are used as the starting and ending feature points of the drone inspection to obtain the drone inspection trajectory information;

[0013] Based on the drone inspection trajectory information, autonomous drone inspections of drainage pump stations are carried out to obtain drainage pump station inspection data.

[0014] Preferably, the dividing the inspection area and obtaining the inspection area classification information specifically includes:

[0015] According to the inspection area information, obtain the drainage pump station equipment information and drainage pump station pipeline information;

[0016] According to the drainage pump station equipment information, obtain the drainage pump station equipment function information and status change data;

[0017] According to the drainage pump station pipeline information, obtain the drainage pump station pipeline type information;

[0018] Acquire UAV parameter information, wherein the UAV parameter information includes UAV monitoring range information and UAV flight parameter information;

[0019] Based on the monitoring range of the drone, the inspection area is divided to obtain a number of inspection sub-areas, where the area of ​​the inspection sub-areas is consistent with the monitoring range of the drone;

[0020] According to the drainage pump station equipment function information, status change data and drainage pump station pipeline type information, the importance of the inspection sub-area is evaluated to obtain the inspection area importance index;

[0021] According to the inspection area importance index, the inspection sub-areas are classified to obtain the inspection area classification information.

[0022] Preferably, the step of classifying the inspection sub-areas according to the inspection area importance index and obtaining the inspection area classification information specifically includes:

[0023] Based on the inspection area classification requirements, obtain the first threshold of the inspection area importance index and the second threshold of the inspection area importance index;

[0024] Classifying the inspection sub-areas according to the inspection area importance index, the inspection area importance index first threshold and the inspection area importance index second threshold;

[0025] If the inspection area importance index of the inspection sub-area is lower than the first inspection area importance index threshold, the area is a common area;

[0026] If the inspection area importance index of the inspection sub-area is higher than the first inspection area importance index threshold and lower than the second inspection area importance index threshold, then the area is the basic inspection area;

[0027] If the inspection area importance index of the inspection sub-area is higher than the second inspection area importance index threshold, then the area is a specific inspection area;

[0028] The calculation formula of the inspection area importance index is:

[0029]

[0030] Where Q(a) is the inspection area importance index of the a-th inspection sub-area, μ b is the pipe type coefficient of the bth drainage pump station pipe in the ath inspection sub-area, S b is the area of ​​the bth drainage pump station pipeline in the ath inspection sub-area, S1 is the area of ​​the drainage pump station equipment in the ath inspection sub-area, is the maximum value of the i-th equipment operation data of the drainage pump station equipment in the a-th inspection sub-area, is the minimum value of the i-th equipment operation data of the drainage pump station equipment in the a-th inspection sub-area, t i (max, min) is the shortest time for the maximum value change of the operating data of the i-th equipment in the drainage pump station equipment in the a-th inspection sub-area, that is, the shortest time from the maximum value of the i-th equipment operating data to the minimum value of the i-th equipment operating data or from the minimum value of the i-th equipment operating data to the maximum value of the i-th equipment operating data, a1 is the total number of drainage pump station pipelines in the a-th inspection sub-area, and n is the total number of types of drainage pump station equipment operating data.

[0031] Preferably, the method of using the first inspection point of the drone and the second inspection point of the drone as the start and end feature points of the drone inspection to obtain the drone inspection trajectory information specifically includes:

[0032] The first inspection point of the drone is used as the starting point of the drone inspection trajectory, the regional coordinate points of the general area are used as the drone inspection points, the general area coordinate points are traversed, and the second inspection point of the drone is used as the end point of the drone inspection trajectory to obtain basic inspection trajectory information;

[0033] Wherein, the area coordinate point of the general area with the largest distance value from the drone inspection point in the basic inspection trajectory is used as the next drone inspection point;

[0034] According to the basic inspection trajectory information, basic inspection point information is obtained, wherein the basic inspection point information includes the area coordinate information of the first inspection point of the drone, the second inspection point of the drone and the general area;

[0035] According to the basic inspection point information, the inspection trajectory is planned for the basic inspection area and the specific inspection area, and the drone inspection trajectory planning information is obtained;

[0036] According to the inspection trajectory planning information of the UAV, the inspection trajectory displacement difference coefficient is obtained;

[0037] According to the inspection trajectory displacement difference coefficient, determine whether the drone inspection trajectory meets the drone inspection standard. If not, adjust the drone inspection trajectory according to the inspection trajectory displacement difference coefficient. If so, obtain the drone inspection trajectory information based on the drone inspection trajectory planning information.

[0038] Preferably, the inspection trajectory planning is performed on the basic inspection area and the specific inspection area according to the basic inspection point information, and the drone inspection trajectory planning information is obtained, specifically including:

[0039] According to the inspection area classification information, information of the area to be allocated is obtained, wherein the area to be allocated is a basic inspection area and a specific inspection area;

[0040] According to the basic inspection point information and the information of the area to be assigned, the regional coordinate priority index is obtained;

[0041] Based on the order of regional coordinate priority index from large to small, the assigned areas are connected to obtain the UAV inspection trajectory planning information;

[0042] The calculation formula of regional coordinate priority index is:

[0043]

[0044] Where E(k) is the regional coordinate priority index of the w-th area to be assigned and the k-th basic inspection point, Q(w) is the inspection area importance index of the w-th area to be assigned, d is the total number of areas of the area type to which the w-th area to be assigned belongs, and L kis the distance between the area coordinate point of the wth area to be allocated and the kth basic inspection point, and D is the total number of inspection sub-areas.

[0045] Preferably, judging whether the inspection trajectory of the UAV meets the inspection standard of the UAV according to the inspection trajectory displacement difference coefficient specifically includes:

[0046] Based on the UAV inspection trajectory planning standard, the inspection trajectory displacement difference coefficient threshold is obtained;

[0047] According to the inspection trajectory displacement difference coefficient and the inspection trajectory displacement difference coefficient threshold, it is judged whether the UAV inspection trajectory meets the UAV inspection standard;

[0048] Among them, if the inspection trajectory displacement difference coefficient exceeds the inspection trajectory displacement difference coefficient threshold, the UAV inspection trajectory is unqualified, and the UAV inspection trajectory is adjusted according to the inspection trajectory displacement difference coefficient;

[0049] If the inspection trajectory displacement difference coefficient does not exceed the inspection trajectory displacement difference coefficient threshold, the UAV inspection trajectory is qualified, and the UAV inspection trajectory information is obtained according to the UAV inspection trajectory planning information;

[0050] The calculation formula of the inspection trajectory displacement difference coefficient is:

[0051]

[0052] Where R is the inspection trajectory displacement difference coefficient, [x g (k), y g (k)] represents the coordinates of the gth area to be allocated between the kth basic inspection point and the k+1th basic inspection point, [x g+1 (k), y g+1 (k)] represents the coordinates of the g+1th area to be allocated between the kth basic inspection point and the k+1th basic inspection point, (x k ,y k ) is the coordinate of the kth basic inspection point, (x k+1 ,y k+1 ) is the coordinate of the k+1th basic inspection point, (x α ,y α ) is the coordinate of the first inspection point of the drone, (x β ,y β ) is the coordinate of the second inspection point of the UAV, m is the total number of basic inspection points, and H is the total number of areas to be allocated between the kth basic inspection point and the k+1th basic inspection point.

[0053] Furthermore, an autonomous inspection system for drainage pumping stations based on industrial drones is proposed to implement the above inspection method, including:

[0054] A main control module, the main control module is used to classify the inspection sub-areas according to the inspection area importance index, the first threshold of the inspection area importance index and the second threshold of the inspection area importance index, judge whether the drone inspection trajectory meets the drone inspection standard according to the inspection trajectory displacement difference coefficient, and according to the regional coordinate information, take the two regional coordinates with the farthest inspection area coordinate distance as the first drone inspection point and the second drone inspection point, take the first drone inspection point and the second drone inspection point as the start and end feature points of the drone inspection, and obtain the drone inspection trajectory information;

[0055] An information acquisition module, the information acquisition module is used to obtain inspection area information, drainage pump station equipment information and drainage pump station pipeline information, obtain inspection area plane information based on the plane coordinate system construction according to the inspection area classification information, take the coordinates of the center point of each area as the coordinates of the area, obtain area coordinate information, obtain drone parameter information, drone monitoring range information and drone flight parameter information, obtain drainage pump station equipment information and drainage pump station pipeline information according to the inspection area information, obtain drainage pump station equipment function information and status change data according to the drainage pump station equipment information, and obtain drainage pump station pipeline type information according to the drainage pump station pipeline information;

[0056] The evaluation module evaluates the importance of the inspection sub-area based on the drainage pump station equipment function information, state change data and drainage pump station pipeline type information, obtains the inspection area importance index, obtains the area coordinate priority index based on the basic inspection point information and the area to be allocated information, and obtains the inspection trajectory displacement difference coefficient based on the drone inspection trajectory planning information;

[0057] A display module interacts with the main control module and is used to output and display drone inspection trajectory information and drainage pump station inspection data.

[0058] Optionally, the main control module specifically includes:

[0059] A control unit, the control unit is used to obtain the drone inspection trajectory information by taking the two area coordinates with the farthest inspection area coordinates as the first drone inspection point and the second drone inspection point as the start and end feature points of the drone inspection according to the area coordinate information;

[0060] An information receiving unit, which interacts with the information acquisition module and the evaluation module to receive data and transmit it to the judgment unit;

[0061] A judgment unit is used to classify the inspection sub-areas according to the inspection area importance index, the first threshold of the inspection area importance index and the second threshold of the inspection area importance index, and to judge whether the drone inspection trajectory meets the drone inspection standard according to the inspection trajectory displacement difference coefficient.

[0062] Optionally, the information acquisition module specifically includes:

[0063] A first acquisition unit, the first acquisition unit is used to acquire inspection area information, drainage pump station equipment information and drainage pump station pipeline information, acquire inspection area plane information based on the inspection area classification information and plane coordinate system, and acquire area coordinate information by taking the coordinates of the center point of each area as the coordinates of the area;

[0064] The second acquisition unit is used to obtain UAV parameter information, UAV monitoring range information and UAV flight parameter information, obtain drainage pump station equipment information and drainage pump station pipeline information according to the inspection area information, obtain drainage pump station equipment function information and status change data according to the drainage pump station equipment information, and obtain drainage pump station pipeline type information according to the drainage pump station pipeline information.

[0065] Optionally, the evaluation module specifically includes:

[0066] A regional evaluation unit, the regional evaluation unit is used to evaluate the importance of the inspection sub-area according to the drainage pump station equipment function information, state change data and drainage pump station pipeline type information, and obtain the inspection area importance index;

[0067] The regional inspection evaluation unit is used to obtain the regional coordinate priority index according to the basic inspection point information and the area to be allocated information, and obtain the inspection trajectory displacement difference coefficient according to the drone inspection trajectory planning information.

[0068] Compared with the prior art, the present invention has the following beneficial effects:

[0069] The present invention proposes an autonomous inspection method and system for drainage pump stations based on industrial drones, which divides the inspection area according to the important index of the inspection area, facilitates the planning of the inspection trajectory, improves the inspection efficiency, and realizes the inspection trajectory planning of ordinary areas through basic inspection trajectory information. The inspection trajectory displacement difference coefficient is obtained through the drone inspection trajectory planning information, and the drone inspection trajectory is evaluated through the inspection trajectory displacement difference coefficient, which ensures the reliability of the drone inspection trajectory and the accuracy of the inspection data, improves the inspection efficiency of the drainage pump station, avoids the safety problems that exist when manually inspecting the drainage pump station, and reduces the safety risks of personnel. BRIEF DESCRIPTION OF THE DRAWINGS

[0070] Figure 1 This is a flow chart of an autonomous inspection method for a drainage pump station based on an industrial drone proposed by the present invention;

[0071] Figure 2 This is a flow chart for obtaining inspection area classification information in the present invention;

[0072] Figure 3 This is a flow chart for obtaining the inspection trajectory information of the drone in the present invention;

[0073] Figure 4 This is a structural block diagram of an autonomous inspection system for drainage pump stations based on industrial drones proposed in the present invention. DETAILED DESCRIPTION

[0074] The following description is used to disclose the present invention so that those skilled in the art can implement the present invention. The preferred embodiments described below are only examples, and those skilled in the art may think of other obvious variations.

[0075] Reference Figure 1 - Figure 3 As shown, an autonomous inspection method for a drainage pump station based on an industrial drone in an embodiment of the present invention includes:

[0076] Acquire inspection area information, wherein the inspection area information includes drainage pump station equipment information and drainage pump station pipeline information;

[0077] Divide the inspection area and obtain inspection area classification information, wherein the inspection area classification includes general area, basic inspection area and specific inspection area;

[0078] Specifically, the inspection area is divided and the inspection area classification information is obtained, including:

[0079] According to the inspection area information, obtain the drainage pump station equipment information and drainage pump station pipeline information;

[0080] According to the drainage pump station equipment information, obtain the drainage pump station equipment function information and status change data;

[0081] According to the drainage pump station pipeline information, obtain the drainage pump station pipeline type information;

[0082] Acquire UAV parameter information, wherein the UAV parameter information includes UAV monitoring range information and UAV flight parameter information;

[0083] Based on the monitoring range of the drone, the inspection area is divided to obtain a number of inspection sub-areas, where the area of ​​the inspection sub-areas is consistent with the monitoring range of the drone;

[0084] According to the drainage pump station equipment function information, status change data and drainage pump station pipeline type information, the importance of the inspection sub-area is evaluated to obtain the inspection area importance index;

[0085] According to the inspection area importance index, the inspection sub-areas are classified to obtain the inspection area classification information.

[0086] Specifically, according to the inspection area importance index, the inspection sub-areas are classified to obtain the inspection area classification information, including:

[0087] Based on the inspection area classification requirements, obtain the first threshold of the inspection area importance index and the second threshold of the inspection area importance index;

[0088] Classifying the inspection sub-areas according to the inspection area importance index, the inspection area importance index first threshold and the inspection area importance index second threshold;

[0089] If the inspection area importance index of the inspection sub-area is lower than the first inspection area importance index threshold, the area is a common area;

[0090] If the inspection area importance index of the inspection sub-area is higher than the first inspection area importance index threshold and lower than the second inspection area importance index threshold, then the area is the basic inspection area;

[0091] If the inspection area importance index of the inspection sub-area is higher than the second inspection area importance index threshold, then the area is a specific inspection area;

[0092] The calculation formula of the inspection area importance index is:

[0093]

[0094] Where Q(a) is the inspection area importance index of the a-th inspection sub-area, μ b is the pipe type coefficient of the bth drainage pump station pipe in the ath inspection sub-area, S b is the area of ​​the bth drainage pump station pipeline in the ath inspection sub-area, S1 is the area of ​​the drainage pump station equipment in the ath inspection sub-area, is the maximum value of the i-th equipment operation data of the drainage pump station equipment in the a-th inspection sub-area, is the minimum value of the i-th equipment operation data of the drainage pump station equipment in the a-th inspection sub-area, t i(max, min) is the shortest time for the maximum value change of the operating data of the i-th equipment in the drainage pump station equipment in the a-th inspection sub-area, that is, the shortest time from the maximum value of the i-th equipment operating data to the minimum value of the i-th equipment operating data or from the minimum value of the i-th equipment operating data to the maximum value of the i-th equipment operating data, a1 is the total number of drainage pump station pipelines in the a-th inspection sub-area, and n is the total number of types of drainage pump station equipment operating data.

[0095] In this scheme, the inspection area is divided based on the drone monitoring range, that is, the inspection area is divided into several sub-areas consistent with the drone monitoring range, so as to facilitate the planning of the drone inspection trajectory later. The importance of the inspection sub-area is evaluated through the drainage pump station equipment function information, state change data and drainage pump station pipeline type information, and the inspection area importance index is obtained. The inspection sub-area is classified through the inspection area importance index, the inspection area importance index first threshold and the inspection area importance index second threshold;

[0096] It can be understood that the pipe type coefficient of the drainage pump station pipe is related to the pipe type. Different types of drainage pump station pipes have different coefficients. In this embodiment, the drainage pump station pipes are divided into drainage pipes, power pipes and other pipes, among which the pipe type coefficient of other pipes is 1, the pipe type coefficient of drainage pipes is 2, and the pipe type coefficient of power pipes is 5. The first threshold value of the inspection area importance index is one seventh of the maximum value of the inspection area importance index, and the second threshold value of the inspection area importance index is one third of the maximum value of the inspection area importance index.

[0097] According to the inspection area classification information, the plane information of the inspection area is obtained based on the plane coordinate system;

[0098] Take the coordinates of the center point of each region as the coordinates of the region to obtain the region coordinate information;

[0099] According to the regional coordinate information, the two regional coordinates with the farthest inspection area coordinates are used as the first inspection point of the drone and the second inspection point of the drone;

[0100] The first inspection point of the drone and the second inspection point of the drone are used as the starting and ending feature points of the drone inspection to obtain the drone inspection trajectory information;

[0101] Specifically, the first inspection point of the drone and the second inspection point of the drone are used as the starting and ending feature points of the drone inspection to obtain the drone inspection trajectory information, including:

[0102] The first inspection point of the drone is used as the starting point of the drone inspection trajectory, the regional coordinate points of the general area are used as the drone inspection points, the general area coordinate points are traversed, and the second inspection point of the drone is used as the end point of the drone inspection trajectory to obtain basic inspection trajectory information;

[0103] Wherein, the area coordinate point of the general area with the largest distance value from the drone inspection point in the basic inspection trajectory is used as the next drone inspection point;

[0104] According to the basic inspection trajectory information, basic inspection point information is obtained, wherein the basic inspection point information includes the area coordinate information of the first inspection point of the drone, the second inspection point of the drone and the general area;

[0105] According to the basic inspection point information, the inspection trajectory is planned for the basic inspection area and the specific inspection area, and the drone inspection trajectory planning information is obtained;

[0106] According to the inspection trajectory planning information of the UAV, the inspection trajectory displacement difference coefficient is obtained;

[0107] According to the inspection trajectory displacement difference coefficient, determine whether the drone inspection trajectory meets the drone inspection standard. If not, adjust the drone inspection trajectory according to the inspection trajectory displacement difference coefficient. If so, obtain the drone inspection trajectory information based on the drone inspection trajectory planning information.

[0108] Specifically, according to the basic inspection point information, the inspection trajectory planning is carried out for the basic inspection area and the specific inspection area, and the UAV inspection trajectory planning information is obtained, which specifically includes:

[0109] According to the inspection area classification information, information of the area to be allocated is obtained, wherein the area to be allocated is a basic inspection area and a specific inspection area;

[0110] According to the basic inspection point information and the information of the area to be assigned, the regional coordinate priority index is obtained;

[0111] Based on the order of regional coordinate priority index from large to small, the assigned areas are connected to obtain the UAV inspection trajectory planning information;

[0112] The calculation formula of regional coordinate priority index is:

[0113]

[0114] Where E(k) is the regional coordinate priority index of the w-th area to be assigned and the k-th basic inspection point, Q(w) is the inspection area importance index of the w-th area to be assigned, d is the total number of areas of the area type to which the w-th area to be assigned belongs, and L kis the distance between the area coordinate point of the wth area to be allocated and the kth basic inspection point, and D is the total number of inspection sub-areas.

[0115] In this scheme, the first inspection point of the drone is used as the starting point of the drone inspection trajectory, the regional coordinate point of the ordinary area is used as the drone inspection point, the ordinary area coordinate points are traversed, and the second inspection point of the drone is used as the end point of the drone inspection trajectory to obtain the basic inspection trajectory information, that is, starting from the first inspection point of the drone, the ordinary area coordinate point farthest from the first inspection point of the drone is used as the next drone inspection point, and then the ordinary area coordinate point farthest from this drone inspection point is used as the next drone inspection point. For example, if the coordinate point of ordinary area A is the same as the first inspection point of the drone The coordinate point of the ordinary area with the farthest distance, the coordinate point of ordinary area A is used as the drone inspection point connecting the first drone inspection point. If the coordinate point of ordinary area B is the farthest from the coordinate point of ordinary area A, the coordinate point of ordinary area A is used as the drone inspection point connecting the coordinate point of ordinary area A, and the basic inspection trajectory including the first drone inspection point, the second drone inspection point and all ordinary areas is obtained. Then the basic inspection area and the specific inspection area are inserted into the basic inspection trajectory in the order of the regional coordinate priority index from large to small, so as to realize the inspection of the basic inspection area and the specific inspection area.

[0116] Specifically, according to the inspection trajectory displacement difference coefficient, it is judged whether the drone inspection trajectory meets the drone inspection standard, including:

[0117] Based on the UAV inspection trajectory planning standard, the inspection trajectory displacement difference coefficient threshold is obtained;

[0118] According to the inspection trajectory displacement difference coefficient and the inspection trajectory displacement difference coefficient threshold, it is judged whether the UAV inspection trajectory meets the UAV inspection standard;

[0119] Among them, if the inspection trajectory displacement difference coefficient exceeds the inspection trajectory displacement difference coefficient threshold, the UAV inspection trajectory is unqualified, and the UAV inspection trajectory is adjusted according to the inspection trajectory displacement difference coefficient;

[0120] If the inspection trajectory displacement difference coefficient does not exceed the inspection trajectory displacement difference coefficient threshold, the UAV inspection trajectory is qualified, and the UAV inspection trajectory information is obtained according to the UAV inspection trajectory planning information;

[0121] The calculation formula of the inspection trajectory displacement difference coefficient is:

[0122]

[0123] Where R is the inspection trajectory displacement difference coefficient, [x g (k), y g(k)] represents the coordinates of the gth area to be allocated between the kth basic inspection point and the k+1th basic inspection point, [x g+1 (k), y g+1 (k)] represents the coordinates of the g+1th area to be allocated between the kth basic inspection point and the k+1th basic inspection point, (x k ,y k ) is the coordinate of the kth basic inspection point, (x k+1 ,y k+1 ) is the coordinate of the k+1th basic inspection point, (x α ,y α ) is the coordinate of the first inspection point of the drone, (x β ,y β ) is the coordinate of the second inspection point of the UAV, m is the total number of basic inspection points, and H is the total number of areas to be allocated between the kth basic inspection point and the k+1th basic inspection point.

[0124] In this scheme, the inspection trajectory displacement difference coefficient and the inspection trajectory displacement difference coefficient threshold are used to determine whether the drone inspection trajectory meets the drone inspection standard. The inspection trajectory displacement difference coefficient is used to evaluate the drone inspection trajectory, thereby ensuring the reliability of the drone inspection trajectory and the accuracy of the inspection data, and improving the inspection efficiency of the drainage pump station. In this embodiment, the inspection trajectory displacement difference coefficient threshold is 1.12(ω1+ω2).

[0125] Based on the drone inspection trajectory information, autonomous drone inspections of drainage pump stations are carried out to obtain drainage pump station inspection data.

[0126] Reference Figure 4 As shown, further, combined with the above-mentioned drainage pump station autonomous inspection method based on industrial drones, an industrial drone-based drainage pump station autonomous inspection system is proposed, including:

[0127] A main control module, the main control module is used to classify the inspection sub-areas according to the inspection area importance index, the first threshold of the inspection area importance index and the second threshold of the inspection area importance index, judge whether the drone inspection trajectory meets the drone inspection standard according to the inspection trajectory displacement difference coefficient, and according to the regional coordinate information, take the two regional coordinates with the farthest inspection area coordinate distance as the first drone inspection point and the second drone inspection point, take the first drone inspection point and the second drone inspection point as the start and end feature points of the drone inspection, and obtain the drone inspection trajectory information;

[0128] An information acquisition module, the information acquisition module is used to obtain inspection area information, drainage pump station equipment information and drainage pump station pipeline information, obtain inspection area plane information based on the plane coordinate system construction according to the inspection area classification information, take the coordinates of the center point of each area as the coordinates of the area, obtain area coordinate information, obtain drone parameter information, drone monitoring range information and drone flight parameter information, obtain drainage pump station equipment information and drainage pump station pipeline information according to the inspection area information, obtain drainage pump station equipment function information and status change data according to the drainage pump station equipment information, and obtain drainage pump station pipeline type information according to the drainage pump station pipeline information;

[0129] The evaluation module evaluates the importance of the inspection sub-area based on the drainage pump station equipment function information, state change data and drainage pump station pipeline type information, obtains the inspection area importance index, obtains the area coordinate priority index based on the basic inspection point information and the area to be allocated information, and obtains the inspection trajectory displacement difference coefficient based on the drone inspection trajectory planning information;

[0130] A display module interacts with the main control module and is used to output and display drone inspection trajectory information and drainage pump station inspection data.

[0131] Main control module, including:

[0132] A control unit, the control unit is used to obtain the drone inspection trajectory information by taking the two area coordinates with the farthest inspection area coordinates as the first drone inspection point and the second drone inspection point as the start and end feature points of the drone inspection according to the area coordinate information;

[0133] An information receiving unit, which interacts with the information acquisition module and the evaluation module to receive data and transmit it to the judgment unit;

[0134] A judgment unit is used to classify the inspection sub-areas according to the inspection area importance index, the first threshold of the inspection area importance index and the second threshold of the inspection area importance index, and to judge whether the drone inspection trajectory meets the drone inspection standard according to the inspection trajectory displacement difference coefficient.

[0135] Information acquisition module, specifically including:

[0136] A first acquisition unit, the first acquisition unit is used to acquire inspection area information, drainage pump station equipment information and drainage pump station pipeline information, acquire inspection area plane information based on the inspection area classification information and plane coordinate system, and acquire area coordinate information by taking the coordinates of the center point of each area as the coordinates of the area;

[0137] The second acquisition unit is used to obtain UAV parameter information, UAV monitoring range information and UAV flight parameter information, obtain drainage pump station equipment information and drainage pump station pipeline information according to the inspection area information, obtain drainage pump station equipment function information and status change data according to the drainage pump station equipment information, and obtain drainage pump station pipeline type information according to the drainage pump station pipeline information.

[0138] Assessment modules include:

[0139] A regional evaluation unit, the regional evaluation unit is used to evaluate the importance of the inspection sub-area according to the drainage pump station equipment function information, state change data and drainage pump station pipeline type information, and obtain the inspection area importance index;

[0140] The regional inspection evaluation unit is used to obtain the regional coordinate priority index according to the basic inspection point information and the area to be allocated information, and obtain the inspection trajectory displacement difference coefficient according to the drone inspection trajectory planning information.

[0141] To sum up, the advantages of the present invention are: through the drainage pump station equipment function information, state change data and drainage pump station pipeline type information, the importance of the inspection sub-area is evaluated, the inspection area importance index is obtained, and the inspection area is divided according to the inspection area importance index, which is convenient for the planning of the inspection trajectory and improves the inspection efficiency. By taking the first inspection point of the drone as the starting point of the drone inspection trajectory, the regional coordinate point of the ordinary area as the drone inspection point, the coordinate points of the ordinary area are traversed, and the second inspection point of the drone is taken as the end point of the drone inspection trajectory to obtain the basic inspection trajectory information. According to the basic inspection point information, the inspection trajectory of the basic inspection area and the specific inspection area is planned, and the drone inspection trajectory planning information is obtained. Through the drone inspection trajectory planning information, the inspection trajectory displacement difference coefficient is obtained, and the drone inspection trajectory is evaluated through the inspection trajectory displacement difference coefficient, ensuring the reliability of the drone inspection trajectory and the accuracy of the inspection data, improving the drainage pump station inspection efficiency, avoiding the safety problems that exist when manually inspecting the drainage pump station, and reducing the safety risks of personnel.

[0142] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions only describe the principles of the present invention. The present invention may be subject to various changes and improvements without departing from the spirit and scope of the present invention. These changes and improvements fall within the scope of the present invention. The scope of protection claimed by the present invention is defined by the attached claims and their equivalents.

Claims

1. An autonomous inspection method for a drainage pump station based on an industrial drone, characterized in that: include: Acquire inspection area information, wherein the inspection area information includes drainage pump station equipment information and drainage pump station pipeline information; Divide the inspection area and obtain inspection area classification information, wherein the inspection area classification includes general area, basic inspection area and specific inspection area; According to the inspection area classification information, the plane information of the inspection area is obtained based on the plane coordinate system; Take the coordinates of the center point of each region as the coordinates of the region to obtain the region coordinate information; According to the regional coordinate information, the two regional coordinates with the farthest inspection area coordinates are used as the first inspection point of the drone and the second inspection point of the drone; The first inspection point of the drone and the second inspection point of the drone are used as the starting and ending feature points of the drone inspection to obtain the drone inspection trajectory information; Based on the drone inspection trajectory information, autonomous drone inspections of drainage pump stations are carried out to obtain drainage pump station inspection data.

2. The method for autonomous inspection of drainage pumping stations based on industrial drones according to claim 1 is characterized in that: The division of the inspection area and obtaining the inspection area classification information specifically includes: According to the inspection area information, obtain the drainage pump station equipment information and drainage pump station pipeline information; According to the drainage pump station equipment information, obtain the drainage pump station equipment function information and status change data; According to the drainage pump station pipeline information, obtain the drainage pump station pipeline type information; Acquire UAV parameter information, wherein the UAV parameter information includes UAV monitoring range information and UAV flight parameter information; Based on the monitoring range of the drone, the inspection area is divided to obtain a number of inspection sub-areas, where the area of ​​the inspection sub-areas is consistent with the monitoring range of the drone; According to the drainage pump station equipment function information, status change data and drainage pump station pipeline type information, the importance of the inspection sub-area is evaluated to obtain the inspection area importance index; According to the inspection area importance index, the inspection sub-areas are classified to obtain the inspection area classification information.

3. The method for autonomous inspection of drainage pumping stations based on industrial drones according to claim 2 is characterized in that: The inspection sub-areas are classified according to the inspection area importance index to obtain the inspection area classification information, specifically including: Based on the inspection area classification requirements, obtain the first threshold of the inspection area importance index and the second threshold of the inspection area importance index; Classifying the inspection sub-areas according to the inspection area importance index, the inspection area importance index first threshold and the inspection area importance index second threshold; If the inspection area importance index of the inspection sub-area is lower than the first inspection area importance index threshold, the area is a common area; If the inspection area importance index of the inspection sub-area is higher than the first inspection area importance index threshold and lower than the second inspection area importance index threshold, then the area is the basic inspection area; If the inspection area importance index of the inspection sub-area is higher than the second inspection area importance index threshold, then the area is a specific inspection area; The calculation formula of the inspection area importance index is: Where Q(a) is the inspection area importance index of the a-th inspection sub-area, μ b is the pipe type coefficient of the bth drainage pump station pipe in the ath inspection sub-area, S b is the area of ​​the bth drainage pump station pipeline in the ath inspection sub-area, S1 is the area of ​​the drainage pump station equipment in the ath inspection sub-area, is the maximum value of the i-th equipment operation data of the drainage pump station equipment in the a-th inspection sub-area, is the minimum value of the i-th equipment operation data of the drainage pump station equipment in the a-th inspection sub-area, t i (max, min) is the shortest time for the maximum value change of the operating data of the i-th equipment in the drainage pump station equipment in the a-th inspection sub-area, that is, the shortest time from the maximum value of the i-th equipment operating data to the minimum value of the i-th equipment operating data or from the minimum value of the i-th equipment operating data to the maximum value of the i-th equipment operating data, a1 is the total number of drainage pump station pipelines in the a-th inspection sub-area, and n is the total number of types of drainage pump station equipment operating data.

4. The method for autonomous inspection of drainage pumping stations based on industrial drones according to claim 1 is characterized in that: The first inspection point of the drone and the second inspection point of the drone are used as the starting and ending characteristic points of the drone inspection to obtain the drone inspection trajectory information, specifically including: The first inspection point of the drone is used as the starting point of the drone inspection trajectory, the regional coordinate points of the general area are used as the drone inspection points, the general area coordinate points are traversed, and the second inspection point of the drone is used as the end point of the drone inspection trajectory to obtain basic inspection trajectory information; Wherein, the area coordinate point of the general area with the largest distance value from the drone inspection point in the basic inspection trajectory is used as the next drone inspection point; According to the basic inspection trajectory information, basic inspection point information is obtained, wherein the basic inspection point information includes the area coordinate information of the first inspection point of the drone, the second inspection point of the drone and the general area; According to the basic inspection point information, the inspection trajectory is planned for the basic inspection area and the specific inspection area, and the drone inspection trajectory planning information is obtained; According to the inspection trajectory planning information of the UAV, the inspection trajectory displacement difference coefficient is obtained; According to the inspection trajectory displacement difference coefficient, determine whether the drone inspection trajectory meets the drone inspection standard. If not, adjust the drone inspection trajectory according to the inspection trajectory displacement difference coefficient. If so, obtain the drone inspection trajectory information based on the drone inspection trajectory planning information.

5. The method for autonomous inspection of drainage pumping stations based on industrial drones according to claim 4 is characterized in that: According to the basic inspection point information, the inspection trajectory planning is performed for the basic inspection area and the specific inspection area, and the UAV inspection trajectory planning information is obtained, specifically including: According to the inspection area classification information, information of the area to be allocated is obtained, wherein the area to be allocated is a basic inspection area and a specific inspection area; According to the basic inspection point information and the information of the area to be assigned, the regional coordinate priority index is obtained; Based on the order of regional coordinate priority index from large to small, the assigned areas are connected to obtain the UAV inspection trajectory planning information; The calculation formula of regional coordinate priority index is: Where E(k) is the regional coordinate priority index of the w-th area to be assigned and the k-th basic inspection point, Q(w) is the inspection area importance index of the w-th area to be assigned, d is the total number of areas of the area type to which the w-th area to be assigned belongs, and L k is the distance between the area coordinate point of the wth area to be allocated and the kth basic inspection point, and D is the total number of inspection sub-areas.

6. The method for autonomous inspection of drainage pumping stations based on industrial drones according to claim 4 is characterized in that: The method of judging whether the inspection trajectory of the UAV meets the inspection standard of the UAV according to the inspection trajectory displacement difference coefficient specifically includes: Based on the UAV inspection trajectory planning standard, the inspection trajectory displacement difference coefficient threshold is obtained; According to the inspection trajectory displacement difference coefficient and the inspection trajectory displacement difference coefficient threshold, it is judged whether the UAV inspection trajectory meets the UAV inspection standard; Among them, if the inspection trajectory displacement difference coefficient exceeds the inspection trajectory displacement difference coefficient threshold, the UAV inspection trajectory is unqualified, and the UAV inspection trajectory is adjusted according to the inspection trajectory displacement difference coefficient; If the inspection trajectory displacement difference coefficient does not exceed the inspection trajectory displacement difference coefficient threshold, the UAV inspection trajectory is qualified, and the UAV inspection trajectory information is obtained according to the UAV inspection trajectory planning information; The calculation formula of the inspection trajectory displacement difference coefficient is: Where R is the inspection trajectory displacement difference coefficient, [x g (k), y g (k)] represents the coordinates of the gth area to be allocated between the kth basic inspection point and the k+1th basic inspection point, [x g+1 (k), y g+1 (k)] represents the coordinates of the g+1th area to be allocated between the kth basic inspection point and the k+1th basic inspection point, (x k ,y k ) is the coordinate of the kth basic inspection point, (x k+1 ,y k+1 ) is the coordinate of the k+1th basic inspection point, (x α ,y α ) is the coordinate of the first inspection point of the drone, (x β ,y β ) is the coordinate of the second inspection point of the UAV, m is the total number of basic inspection points, and H is the total number of areas to be allocated between the kth basic inspection point and the k+1th basic inspection point.

7. An autonomous inspection system for drainage pumping stations based on industrial drones, used to implement the inspection method according to any one of claims 1 to 6, characterized in that: include: A main control module, the main control module is used to classify the inspection sub-areas according to the inspection area importance index, the first threshold of the inspection area importance index and the second threshold of the inspection area importance index, judge whether the drone inspection trajectory meets the drone inspection standard according to the inspection trajectory displacement difference coefficient, and according to the regional coordinate information, take the two regional coordinates with the farthest inspection area coordinate distance as the first drone inspection point and the second drone inspection point, take the first drone inspection point and the second drone inspection point as the start and end feature points of the drone inspection, and obtain the drone inspection trajectory information; An information acquisition module, the information acquisition module is used to obtain inspection area information, drainage pump station equipment information and drainage pump station pipeline information, obtain inspection area plane information based on the plane coordinate system construction according to the inspection area classification information, take the coordinates of the center point of each area as the coordinates of the area, obtain area coordinate information, obtain drone parameter information, drone monitoring range information and drone flight parameter information, obtain drainage pump station equipment information and drainage pump station pipeline information according to the inspection area information, obtain drainage pump station equipment function information and status change data according to the drainage pump station equipment information, and obtain drainage pump station pipeline type information according to the drainage pump station pipeline information; The evaluation module evaluates the importance of the inspection sub-area based on the drainage pump station equipment function information, state change data and drainage pump station pipeline type information, obtains the inspection area importance index, obtains the area coordinate priority index based on the basic inspection point information and the area to be allocated information, and obtains the inspection trajectory displacement difference coefficient based on the drone inspection trajectory planning information; A display module interacts with the main control module and is used to output and display drone inspection trajectory information and drainage pump station inspection data.

8. The autonomous inspection system for drainage pumping stations based on industrial drones according to claim 7 is characterized in that: The main control module specifically includes: A control unit, the control unit is used to obtain the drone inspection trajectory information by taking the two area coordinates with the farthest inspection area coordinates as the first drone inspection point and the second drone inspection point as the start and end feature points of the drone inspection according to the area coordinate information; An information receiving unit, which interacts with the information acquisition module and the evaluation module to receive data and transmit it to the judgment unit; A judgment unit is used to classify the inspection sub-areas according to the inspection area importance index, the first threshold of the inspection area importance index and the second threshold of the inspection area importance index, and to judge whether the drone inspection trajectory meets the drone inspection standard according to the inspection trajectory displacement difference coefficient.

9. The autonomous inspection system for drainage pumping stations based on industrial drones according to claim 7 is characterized in that: The information acquisition module specifically includes: A first acquisition unit, the first acquisition unit is used to acquire inspection area information, drainage pump station equipment information and drainage pump station pipeline information, acquire inspection area plane information based on the inspection area classification information and plane coordinate system, and acquire area coordinate information by taking the coordinates of the center point of each area as the coordinates of the area; The second acquisition unit is used to obtain UAV parameter information, UAV monitoring range information and UAV flight parameter information, obtain drainage pump station equipment information and drainage pump station pipeline information according to the inspection area information, obtain drainage pump station equipment function information and status change data according to the drainage pump station equipment information, and obtain drainage pump station pipeline type information according to the drainage pump station pipeline information.

10. The autonomous inspection system for drainage pumping stations based on industrial drones according to claim 7 is characterized in that: The evaluation module specifically includes: A regional evaluation unit, the regional evaluation unit is used to evaluate the importance of the inspection sub-area according to the drainage pump station equipment function information, state change data and drainage pump station pipeline type information, and obtain the inspection area importance index; The regional inspection evaluation unit is used to obtain the regional coordinate priority index according to the basic inspection point information and the area to be allocated information, and obtain the inspection trajectory displacement difference coefficient according to the drone inspection trajectory planning information.

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