Sharing system for realizing extra-high voltage and forest joint patrol by using unmanned aerial vehicle

Abstract

The invention discloses a sharing system for realizing extra-high voltage and forest joint inspection by using unmanned aerial vehicles, which comprises a plurality of unmanned aerial vehicle libraries which are respectively installed at the combination positions of a power transmission line and a forest area, each unmanned aerial vehicle library is internally provided with an unmanned aerial vehicle in a one-to-one manner, and the unmanned aerial vehicles are used for carrying inspection equipment and executing inspection tasks; the unmanned aerial vehicle garage and the unmanned aerial vehicles are each provided with a GPS device. And the intelligent scheduling module comprises a task management unit, an unmanned aerial vehicle resource management unit, a path planning unit and a safety monitoring unit and is used for efficiently managing and coordinating unmanned aerial vehicle resources. According to the invention, dual patrol tasks of forests and power transmission lines can be realized by using one set of unmanned aerial vehicle equipment, equipment or configuration does not need to be replaced, and the resource utilization efficiency and the operation flexibility are greatly improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of unmanned aerial vehicle inspection, and in particular relates to a sharing system for realizing joint inspection of ultra-high voltage and forests by using unmanned aerial vehicles. Background Art

[0002] In modern society, electricity is a key resource to drive economic growth, and its stable and reliable supply is crucial to the development of the national economy. UHV transmission lines, as an infrastructure that undertakes important power transmission tasks in the power grid, are particularly critical for maintenance and supervision. Traditional inspection methods mainly rely on manual inspections, which are costly, inefficient, and face many challenges in complex climate and terrain environments. With the continuous advancement of technology, drones are gradually becoming an ideal choice for UHV transmission line inspections with their cost-effectiveness, flexible operation, and strong adaptability.

[0003] UHV lines often pass through complex geographical environments, such as vast jungle areas. Forest protection and fire prevention in these areas are also extremely important, which puts higher requirements and challenges on forest inspections. How to effectively integrate drone technology to meet the needs of dual inspections of lines and forests, and to achieve resource sharing and maximize efficiency, is a problem that needs to be solved urgently. Therefore, whether it is possible to provide a shared system that can realize simultaneous monitoring and management of UHV power lines and forests through a co-construction and sharing model is a technical problem that needs to be solved urgently in the present invention. Summary of the invention

[0004] In order to overcome the problems in the prior art, the purpose of the present invention is to provide a shared system for realizing UHV and forest joint inspections using drones, which can provide a centralized data storage, management and analysis platform for forest and UHV joint inspections.

[0005] To achieve the above-mentioned purpose, the present invention provides a shared system for realizing joint inspection of UHV and forests by using drones, comprising: a plurality of drone hangars, which are respectively installed at the junction of the power transmission line and the forest area, each of which is provided with a drone one-to-one, the drone is used to carry inspection equipment and perform inspection tasks, and the drone hangar and the drone are respectively installed with GPS devices; The drone self-inspection module includes a drone self-inspection acquisition unit, which is used to collect the appearance image of the drone and the temperature distribution data on the surface of the drone; a drone self-inspection data processing unit, which is used to process the data collected by the drone self-inspection acquisition unit and detect the appearance and line status of the drone; a drone self-inspection feedback unit, wherein the drone self-inspection feedback unit has an expert knowledge base, which is used to generate a drone self-inspection report based on the appearance and line status of the drone and prompt personnel to take corresponding measures; The transmission line inspection module includes a transmission line acquisition unit for collecting the state of the transmission line; a transmission line data processing unit for processing the data collected by the transmission line acquisition unit to identify the damaged point of the transmission line; a transmission line inspection feedback unit for generating a transmission line damage report and automatically triggering an alarm when a damaged point is identified in the transmission line; The forest inspection module includes a forest inspection collection unit for collecting information about the status of forests and organisms in the forest; a forest inspection data processing unit for identifying and monitoring diseases, disasters and plant growth status in the forest; and a forest inspection report unit for automatically generating forest inspection reports. The intelligent scheduling module, including the task management unit, the UAV resource management unit, the path planning unit and the safety monitoring unit, is used for the efficient management and coordination of UAV resources.

[0006] Furthermore, the drone self-inspection acquisition unit includes a plurality of second high-definition cameras and infrared cameras installed in each drone hangar, wherein the second high-definition cameras are used to acquire the appearance image of the drone, and the infrared cameras are used to acquire the infrared thermal image of the drone; The UAV self-inspection data processing unit obtains the collected data of the UAV self-inspection collection unit, identifies the structure and key components of the UAV through the appearance image of the UAV, and detects whether there are damage, cracks or deformations on the appearance, identifies the surface temperature of the UAV through infrared thermal images, and determines whether there is a line fault.

[0007] Furthermore, the drone self-check feedback unit is provided with an expert knowledge base, and the expert knowledge base is used to classify the appearance and line status of the drone into multiple levels according to the detection results of the drone self-check data processing unit, and prompt personnel to take corresponding measures according to different levels; Specifically, when the appearance or line of the drone is identified as slightly damaged, the personnel are prompted to regularly monitor, record and observe and perform preventive maintenance; When the drone's appearance or lines are identified as moderately damaged, the personnel will be prompted to arrange for repairs as soon as possible to repair the damaged parts; When it is identified that the appearance or lines of the drone are severely damaged, personnel are prompted to immediately stop operation and perform emergency repairs.

[0008] Furthermore, the power transmission line acquisition unit is installed on the UAV with a first high-definition camera, a laser radar and an infrared thermal imager, wherein the first high-definition camera is used to acquire a visual image of the power transmission line, the laser radar is used to acquire a three-dimensional point cloud image of the power transmission line, and the infrared thermal imager is used to acquire a temperature distribution of the power transmission line; The transmission line data processing unit acquires the collected data of the transmission line collection unit, establishes a transmission line model through the visual image and three-dimensional point cloud map of the transmission line, and identifies whether the transmission line is damaged through the temperature distribution of the transmission line.

[0009] Furthermore, the forest inspection collection unit includes a first high-definition camera, an infrared thermal imager, a laser radar, a multispectral camera and a thermal imaging camera installed on the drone, wherein the first high-definition camera is used to collect visual images of the forest, the infrared thermal imager is used to collect the temperature distribution of the forest, the laser radar is used to collect a three-dimensional point cloud map of the forest, the multispectral camera is used to collect forest images in different spectral ranges, and the thermal imaging camera is used to collect thermal imaging images of the forest. The forest inspection data processing unit obtains the collected data of the forest inspection collection unit, identifies forest diseases, plant growth status and biodiversity through visual images; identifies overheated areas and potential fire hazards through the temperature distribution of the forest; models the forest and monitors geometric changes through three-dimensional point cloud maps; monitors the plant growth status in the forest and analyzes biodiversity through images in different spectral ranges; and detects and identifies forest diseases, fire hazards and biological activity patterns through thermal imaging images.

[0010] Furthermore, the task management unit of the intelligent scheduling module is used to manage inspection tasks and drive the drone to perform tasks; The drone resource management unit is used to receive and update the status information of each drone in real time, and the status information of the drone includes at least the power, damage status and location information of the drone; The path planning unit has an obstacle database, and the path planning unit is used to generate a flight path based on the acquired satellite geographic information and the obstacle database; The security monitoring unit obtains GPS device information of the drone library and the drones, and monitors the dynamics of the drones and the drone library in real time.

[0011] The present invention can realize the dual inspection tasks of forests and power transmission lines with one set of UAV equipment, without changing equipment or configuration, which greatly improves resource utilization efficiency and operational flexibility. By integrating task allocation, path planning, data processing and feedback, operators can complete all operations of two inspection tasks on a unified platform, simplifying the workflow and reducing the difficulty of operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 A structural schematic diagram of a sharing system for realizing UHV and forest joint inspection using a drone provided by the present invention; DETAILED DESCRIPTION

[0013] This embodiment provides a shared system for realizing UHV and forest joint inspection by using drones, such as Figure 1 As shown, it includes multiple drone hangars and multiple drones installed one-to-one in the drone hangars, and also includes a drone hangar self-inspection module, a power transmission line inspection module, a forest inspection module and an intelligent scheduling module.

[0014] In this embodiment, multiple drone hangars are installed at both ends and in the middle of the combination of the power transmission line and the forest area, ensuring that the multiple drone hangars can cover a wide inspection range. GPS devices are installed on the multiple drone hangars and drones, and the multiple GPS devices are output to the intelligent scheduling module for the intelligent scheduling module to monitor the dynamics of the drone hangar and the drones.

[0015] The drone self-test module includes a drone self-test collection unit, a drone self-test data processing unit and a drone self-test feedback unit.

[0016] The drone self-test acquisition unit is used to perform regular inspections on the appearance and internal components of the drone. The drone self-test acquisition unit includes a plurality of second high-definition cameras and infrared cameras installed in the drone library. The second high-definition camera is used to acquire the appearance image of the drone, and the infrared camera is used to acquire the infrared thermal image of the drone; the data collected by the drone self-test acquisition unit is transmitted to the drone self-test data processing unit.

[0017] The UAV self-inspection data processing unit obtains the collected data of the UAV self-inspection collection unit, identifies the structure and key components of the UAV through the appearance image of the UAV, and detects whether there are damage, cracks or deformations on the appearance, identifies the surface temperature of the UAV through infrared thermal images, and determines whether there is a line fault.

[0018] The drone self-inspection feedback module has an expert knowledge base built in, and the expert knowledge base is used to classify the abnormal conditions of the drone's appearance and lines into multiple levels according to the detection results of the drone self-inspection data processing unit, and prompt personnel to take corresponding measures according to different levels; specifically, when it is identified that the drone's appearance or line is slightly damaged, that is, the drone's appearance or line surface has slight wear and scratches but does not affect normal operation, the personnel are prompted to regularly monitor, record and observe and perform preventive maintenance; when it is identified that the drone's appearance or line is moderately damaged, that is, the drone's appearance or line surface has obvious cracks and burn marks, but has not yet affected the drone's performance, the personnel are prompted to arrange maintenance as soon as possible to repair the damaged parts; when it is identified that the drone's appearance or line is severely damaged, that is, the drone's appearance or line surface has large-scale damage and fractures, which seriously affects the drone's performance, the personnel are prompted to immediately stop operation and perform emergency repairs.

[0019] The transmission line inspection module is used to identify the damaged points of the transmission line. It includes a transmission line acquisition unit, a transmission line data processing unit and a transmission line inspection feedback unit.

[0020] The power transmission line acquisition unit includes a first high-definition camera, a laser radar and an infrared thermal imager installed on the drone, wherein the first high-definition camera captures the visual image of the line, the laser radar collects the three-dimensional point cloud image of the power transmission line, and the infrared thermal imager is used to collect the temperature distribution of the power transmission line; The transmission line data processing unit acquires the collected data of the transmission line collection unit, models the transmission line through the visual image and three-dimensional point cloud map of the transmission line; identifies the hot spots in the line through the temperature distribution of the transmission line, and further automatically identifies the damage in the transmission line through a deep learning algorithm.

[0021] The transmission line inspection feedback unit is used to automatically trigger an alarm when the transmission line data processing unit identifies a damaged point in the transmission line, and generate a transmission line damage report, which at least includes the damaged location, damage type, and damage degree of the transmission line.

[0022] The transmission line inspection module includes the forest inspection collection unit, the forest inspection data processing unit and the forest inspection reporting unit.

[0023] The forest inspection collection unit includes a first high-definition camera, an infrared thermal imager, a laser radar, a multi-spectral camera and a thermal imaging camera installed on the drone, wherein the first high-definition camera is used to collect visual images, the infrared thermal imager is used to collect the temperature distribution of the forest, the laser radar is used to collect three-dimensional point cloud images, the multi-spectral camera is used to collect images in different spectral ranges, and the thermal imaging camera is used to collect thermal imaging images. The forest inspection collection unit and the power transmission line inspection collection unit share a set of infrared thermal imagers and a first high-definition camera.

[0024] The forest inspection data processing unit obtains the collected data of the forest inspection collection unit, identifies forest diseases, plant growth status and biodiversity monitoring through visual images; identifies overheated areas and potential fire hazards through the temperature distribution of the forest; models the forest and monitors geometric changes through three-dimensional point cloud maps; monitors plant growth status and analyzes biodiversity through images in different spectral ranges; and automatically detects and identifies forest diseases, fire hazards and biological activity patterns through thermal imaging images and based on artificial intelligence and machine learning algorithms.

[0025] The forest inspection report unit is used to automatically generate a forest inspection report based on the recognition results of the forest inspection data processing unit. The forest inspection report at least includes the recognition results of forest diseases, plant growth status, biodiversity, fire hazards, and biological activity patterns.

[0026] The intelligent scheduling module is used to achieve efficient management and coordination of UAV resources, including task management unit, UAV resource management unit, path planning unit and safety monitoring unit.

[0027] The task management unit is used to receive and manage inspection tasks, including inspection tasks of ultra-high voltage lines and forests, and drive drones to perform tasks.

[0028] The drone resource management unit is used to receive and update the status information of each drone in real time, and the status information of the drone at least includes the power, status, location, etc. of the drone.

[0029] The path planning unit has an obstacle database, and generates a flight path based on the acquired satellite geographic information and the obstacle database.

[0030] The security monitoring unit is used to obtain GPS device information of the drone library and the drones, and monitor the dynamics of the drones and the drone library in real time.

[0031] The above description is only a preferred embodiment of the present invention and does not limit the present invention in any form. Although the present invention has been disclosed as a preferred embodiment as above, it is not used to limit the present invention. Any technical personnel in this field can make some changes or modify the technical contents disclosed above into equivalent embodiments without departing from the scope of the technical solution of the present invention. However, any brief modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention are still within the scope of the technical solution of the present invention.

Claims

1. A sharing system for realizing UHV and forest joint inspection using drones, characterized in that: include: Multiple drone hangars are installed at the junction of the power transmission line and the forest area. Each drone hangar is equipped with a drone one by one. The drone is used to carry inspection equipment and perform inspection tasks. GPS devices are installed on the drone hangar and the drones respectively. A drone self-inspection module, including a drone self-inspection acquisition unit, which is used to collect the appearance image of the drone and the temperature distribution data of the drone surface; The UAV self-test data processing unit is used to process the data collected by the UAV self-test collection unit and detect the appearance and line status of the UAV; A drone self-check feedback unit, wherein the drone self-check feedback unit has an expert knowledge base, which is used to generate a drone self-check report based on the appearance and line status of the detected drone and prompt personnel to take corresponding measures; The transmission line inspection module includes a transmission line acquisition unit for collecting the state of the transmission line; a transmission line data processing unit for processing the data collected by the transmission line acquisition unit to identify the damaged point of the transmission line; a transmission line inspection feedback unit for generating a transmission line damage report and automatically triggering an alarm when a damaged point is identified in the transmission line; The forest inspection module includes a forest inspection collection unit for collecting information about the status of forests and organisms in the forests; Forest inspection data processing unit, used to identify and monitor diseases, disasters and plant growth status in the forest; Forest inspection report unit, used to automatically generate forest inspection reports; The intelligent scheduling module, including the task management unit, the UAV resource management unit, the path planning unit and the safety monitoring unit, is used for the efficient management and coordination of UAV resources.

2. According to claim 1, a sharing system for realizing UHV and forest joint inspection by using drones is characterized in that: The drone self-inspection acquisition unit includes a plurality of second high-definition cameras and infrared cameras installed in each drone hangar, wherein the second high-definition cameras are used to acquire the appearance image of the drone, and the infrared cameras are used to acquire the infrared thermal image of the drone; The UAV self-inspection data processing unit obtains the collected data of the UAV self-inspection collection unit, identifies the structure and key components of the UAV through the appearance image of the UAV, and detects whether there are damage, cracks or deformations on the appearance, identifies the surface temperature of the UAV through infrared thermal images, and determines whether there is a line fault.

3. According to claim 1, a sharing system for realizing UHV and forest joint inspection by using drones is characterized in that: The drone self-check feedback unit is provided with an expert knowledge base, and the expert knowledge base is used to classify the appearance and line status of the drone into multiple levels according to the detection results of the drone self-check data processing unit, and prompt personnel to take corresponding measures according to different levels; Specifically, when the appearance or line of the drone is identified as slightly damaged, the personnel are prompted to regularly monitor, record and observe and perform preventive maintenance; When the drone's appearance or lines are identified as moderately damaged, the personnel will be prompted to arrange for repairs as soon as possible to repair the damaged parts; When it is identified that the appearance or lines of the drone are severely damaged, personnel are prompted to immediately stop operation and perform emergency repairs.

4. According to claim 1, a sharing system for realizing UHV and forest joint inspection by using drones is characterized in that: The power transmission line acquisition unit is installed on the UAV with a first high-definition camera, a laser radar and an infrared thermal imager, wherein the first high-definition camera is used to acquire visual images of the power transmission line, the laser radar is used to acquire a three-dimensional point cloud image of the power transmission line, and the infrared thermal imager is used to acquire temperature distribution of the power transmission line; The transmission line data processing unit acquires the collected data of the transmission line collection unit, establishes a transmission line model through the visual image and three-dimensional point cloud map of the transmission line, and identifies whether the transmission line is damaged through the temperature distribution of the transmission line.

5. According to claim 1, a sharing system for realizing UHV and forest joint inspection by using drones is characterized in that: The forest inspection collection unit includes a first high-definition camera, an infrared thermal imager, a laser radar, a multispectral camera and a thermal imaging camera installed on the drone. The first high-definition camera is used to collect visual images of the forest, the infrared thermal imager is used to collect the temperature distribution of the forest, the laser radar is used to collect a three-dimensional point cloud map of the forest, the multispectral camera is used to collect forest images in different spectral ranges, and the thermal imaging camera is used to collect thermal imaging images of the forest. The forest inspection data processing unit obtains the collected data of the forest inspection collection unit, identifies forest diseases, plant growth status and biodiversity through visual images; identifies overheated areas and potential fire hazards through the temperature distribution of the forest; models the forest and monitors geometric changes through three-dimensional point cloud maps; monitors the plant growth status in the forest and analyzes biodiversity through images in different spectral ranges; and detects and identifies forest diseases, fire hazards and biological activity patterns through thermal imaging images.

6. The shared system for realizing UHV and forest joint inspection by using UAV according to claim 1 is characterized in that: The task management unit of the intelligent scheduling module is used to manage inspection tasks and drive the drone to perform tasks; The drone resource management unit is used to receive and update the status information of each drone in real time, and the status information of the drone includes at least the power, damage status and location information of the drone; The path planning unit has an obstacle database, and the path planning unit is used to generate a flight path based on the acquired satellite geographic information and the obstacle database; The security monitoring unit obtains GPS device information of the drone library and the drones, and monitors the dynamics of the drones and the drone library in real time.

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