Panoramic investigation device and method for power-off maintenance operation of power transmission line

Abstract

The invention provides a power transmission line power failure maintenance operation panoramic investigation device and an investigation method, and belongs to the technical field of power transmission line maintenance. The device comprises an unmanned aerial vehicle and a control terminal in communication connection with the unmanned aerial vehicle. A laser designator is integrally arranged on a camera of the unmanned aerial vehicle, and laser emitted by the laser designator is parallel to the orientation of a lens of the camera. The control terminal is used for controlling the unmanned aerial vehicle, a display screen of the control terminal is used for displaying pictures of the camera, and meanwhile, the display screen supports touch operation. According to the unmanned aerial vehicle, the laser indicator can be used for indicating a target, and particularly, when an operation task is arranged, the unmanned aerial vehicle can automatically use the laser indicator to indicate a to-be-overhauled component selected on the control terminal, so that maintenance personnel can conveniently know the maintenance target and know the position of the to-be-overhauled component, and the maintenance efficiency is improved. And maintenance is facilitated.

Description

Technical Field

[0001] The invention belongs to the technical field of power transmission line maintenance, and in particular relates to a panoramic survey device and a survey method for power outage maintenance operations of a power transmission line. Background Art

[0002] The maintenance of transmission lines is a regular preventive repair work based on the problems found during inspections, tests, and tests. It aims to eliminate equipment defects, improve equipment health, prevent accidents, and ensure safe operation of equipment. The maintenance work when the line equipment is out of power is called outage maintenance, such as replacing aging and damaged components, repairing broken and defective parts, and restoring them to normal levels.

[0003] The power outage maintenance work of transmission lines mainly involves power outage and pole climbing maintenance. The main maintenance items include: replacement of insulators and hardware, replacement of conductors or overhead ground wires, replacement of pole towers and crossarms, replacement of guy wires and maintenance of iron towers, maintenance of electrical equipment on poles, etc. The maintenance parts of power outage maintenance work of transmission lines are mainly located on the transmission line towers, especially the towers of high-voltage overhead transmission lines are relatively high, and it is not easy for maintenance personnel to intuitively understand the location of the parts to be repaired on the ground. Summary of the invention

[0004] In view of the deficiencies in the prior art, the present invention provides a panoramic survey device and a survey method for power outage maintenance operations of a transmission line.

[0005] In order to solve one, part or all of the above technical problems, the technical solution adopted by the present invention is: A panoramic survey device for power outage maintenance work of a power transmission line, comprising an unmanned aerial vehicle and a control terminal connected to the unmanned aerial vehicle for communication; a laser pointer is integrally provided on the camera of the unmanned aerial vehicle, and the laser emitted by the laser pointer is parallel to the direction of the lens of the camera; the control terminal is used to control the unmanned aerial vehicle, and the display screen of the control terminal is used to display the image of the camera, and the display screen supports touch operation.

[0006] Furthermore, the drone is used to generate a three-dimensional model of the target tower after flying around the target tower, and is used to identify the transmission line components on the target tower and mark them in the three-dimensional model; the control terminal is used to display the three-dimensional model on the display screen, and is used to obtain the components to be repaired selected by the user in the three-dimensional model and send the selected components to be repaired to the drone; the drone is also used to fly to the vicinity of the component after receiving the selected repair component, and activate the laser pointer to indicate the component.

[0007] A method for panoramic survey of power outage maintenance work of a power transmission line comprises: using a drone to generate a three-dimensional model of a target pole tower; based on the image features of the transmission line components, identifying the transmission line components on the target pole tower from the drone image, and marking them in the three-dimensional model of the target pole tower; selecting the components to be repaired in turn in the three-dimensional model displayed on the drone control terminal, and performing on-site visual confirmation according to the indication of the drone laser pointer after each selection; the laser pointer is integrally arranged with a camera of the drone, and the laser emitted by the laser pointer is parallel to the lens direction of the camera; the components to be repaired are repaired according to the operation plan, and the drone is used to control the operation process and accept the repair results.

[0008] Furthermore, the method of generating a three-dimensional model of a target tower using a drone includes: the drone flies around the target tower, scans the target tower using a laser radar or photographs the target tower using a camera, and constructs a three-dimensional model of the target tower.

[0009] Furthermore, the image features of the power transmission line components are obtained by extracting features from images of the components.

[0010] Furthermore, the annotations of the power transmission line components in the three-dimensional model include the type of the component and the coordinates of the component in the three-dimensional model.

[0011] Furthermore, different types of transmission line components in the three-dimensional model are marked with different colors.

[0012] Furthermore, the method of performing on-site visual confirmation according to the indication of the drone laser pointer includes: after selecting the component to be repaired in the control terminal, the drone flies to the vicinity of the selected component according to its own coordinates and the coordinates of the selected component, and starts the laser pointer to indicate the component; the on-site staff visually confirms whether the selected component is correct according to the indication of the laser pointer.

[0013] Furthermore, after the visual confirmation, the visual confirmation result is also confirmed in the control terminal.

[0014] Compared with the prior art, the present invention has the following beneficial effects: The transmission line outage maintenance operation panoramic survey device provided by the present invention can use the method of adjusting the target to the center of the camera screen and use the laser pointer to indicate the target. For example, when arranging the tower maintenance operation task on the ground, the close-up picture of the target component to be repaired can be viewed in the screen of the control terminal, and the specific position of the target component can be viewed on the ground, which is convenient for maintenance personnel to clearly identify the maintenance target.

[0015] The panoramic survey method for power outage maintenance of transmission lines provided by the present invention first uses a drone to generate a three-dimensional model of the target tower; based on the image features of the transmission line components, the transmission line components on the target tower are identified from the drone image and marked in the three-dimensional model of the target tower. Then the staff selects the components to be repaired in turn from the three-dimensional model displayed on the drone control terminal. After each selection, the drone flies to the vicinity of the selected component according to the coordinates of the selected component, and starts the laser pointer to indicate the component. Through the on-site indication of the laser pointer, maintenance personnel can more intuitively understand the location of the components to be repaired, which is convenient for maintenance. During the maintenance operation, the drone can also be used to control the operation process; after the maintenance is completed, the drone can also be used to inspect and accept the maintenance results. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The present invention is further described in detail below in conjunction with the accompanying drawings.

[0017] Figure 1 : A schematic diagram of embodiment 1 of the present invention; Figure 2 : Flowchart of Example 2 of the present invention. DETAILED DESCRIPTION

[0018] In order to better understand the present invention, the content of the present invention is further clearly described below in conjunction with the embodiments and the accompanying drawings, but the protection content of the present invention is not limited to the following embodiments. In the following description, a large number of specific details are provided to provide a more thorough understanding of the present invention. However, it is obvious to those skilled in the art that the present invention can be implemented without one or more of these details.

[0019] Example 1: See Figure 1 The purpose of this embodiment is to provide a panoramic survey device for power transmission line power outage maintenance operations, including a drone 100 and a control terminal 200 that is communicatively connected to the drone 100.

[0020] The camera 110 of the drone 100 is integrally provided with a laser pointer 120, and the laser emitted by the laser pointer 120 is parallel to the lens direction of the camera 110. The laser pointer 120 is used for target indication. When necessary, the laser pointer 120 can be activated, and the angle of the camera 110 can be adjusted at the same time so that the target is at the center of the camera 110 screen. At this time, the laser beam emitted by the laser pointer 120 will indicate the target.

[0021] The control terminal 200 is used to control the drone 100 , and the display screen of the control terminal 200 is used to display the image of the camera 110 , and the display screen supports touch operation.

[0022] By using the survey device provided in this embodiment, the target can be indicated by using the laser pointer 120 by adjusting the target to the center of the camera 110 screen. For example, when arranging the tower maintenance task on the ground, the close-up image of the target component to be repaired can be viewed in the screen of the control terminal 200, and the specific position of the target component can be viewed on the ground, so that the maintenance personnel can clearly identify the maintenance target.

[0023] Example 2: See Figure 2 The purpose of this embodiment is to provide a method for panoramic survey of power transmission line power outage maintenance operations. The survey method includes: S1. Use a drone to photograph or scan the target tower to generate a three-dimensional model of the target tower.

[0024] The drone 100 is controlled to fly around the target pole tower to take pictures or scan, and the pole tower is reconstructed in three dimensions. Three-dimensional reconstruction is an existing technology. For example, a laser radar can be mounted on the drone 100 to construct a three-dimensional model of the pole tower; or a binocular camera can be mounted to construct a three-dimensional model of the pole tower using oblique photography technology; or a single-lens conventional camera can be used to construct a three-dimensional model of the pole tower using algorithms such as photometric stereo vision, shape from shading, shape from texture, and shape from focus.

[0025] S2. Based on the image features of the transmission line components, the transmission line components on the target tower are identified from the drone image and marked in the three-dimensional model of the target tower.

[0026] Transmission line components, such as insulators and line fittings, generally have a specific structure or appearance, so feature extraction is performed on the images of these components to obtain the image features of the components. When the drone 100 flies around the target tower and takes pictures, the image features of the components can be used to analyze the captured images and identify the transmission line components, so that when constructing the three-dimensional model, the three-dimensional model of the target tower can be directly annotated. The annotated information includes the type of component, the coordinates of the component in the three-dimensional model, etc. Different types of components in the three-dimensional model can be annotated with different colors to distinguish them.

[0027] S3. Select the parts to be repaired in turn in the three-dimensional model displayed on the control terminal. After each selection, perform on-site visual confirmation according to the instructions of the drone laser pointer.

[0028] After completing the model construction and component labeling of the target tower, the drone 100 displays the three-dimensional model on the control terminal 200. Then the on-site staff clicks to select the component to be repaired in the three-dimensional model displayed on the control terminal 200. After each selection, after clicking the relevant button for visual confirmation, the drone 100 flies to the vicinity of the selected component according to the coordinates of the selected component, and starts the laser pointer 120 to indicate the component. The on-site staff visually confirms whether the selected component is correct according to the indication of the laser pointer 120. After visual confirmation, the visual confirmation result is then confirmed in the control terminal 200, and then the next component to be repaired is selected, and the above operation is visually confirmed again.

[0029] Through the on-site indication of the laser pointer 120 , maintenance personnel can more intuitively understand the location of the component to be repaired, which facilitates maintenance.

[0030] S4. Inspect the parts to be inspected according to the operation plan, and use drones to control the operation process and inspect the inspection results.

[0031] The final operation plan is to carry out maintenance work and repair the parts to be repaired. During the maintenance process, ground staff or remote supervisors use drones to monitor the maintenance process. After the maintenance, drones are used to inspect and accept the maintenance results.

[0032] During acceptance, drones are also used to take images of maintenance parts, which are archived as acceptance data.

[0033] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Other modifications or equivalent substitutions made to the technical solution of the present invention by ordinary technicians in the field should be included in the scope of the claims of the present invention as long as they do not depart from the spirit and scope of the technical solution of the present invention.

Claims

1. A panoramic survey device for power outage maintenance of power transmission lines, characterized in that: It includes a drone and a control terminal connected to the drone for communication; The camera of the drone is integrally provided with a laser pointer, and the laser emitted by the laser pointer is parallel to the direction of the lens of the camera; The control terminal is used to control the drone, and the display screen of the control terminal is used to display the image of the camera, and the display screen supports touch operation.

2. The panoramic survey device for power transmission line outage maintenance work according to claim 1 is characterized in that: The drone is used to generate a three-dimensional model of the target tower after flying around the target tower, and is used to identify the power transmission line components on the target tower and mark them in the three-dimensional model; The control terminal is used to display the three-dimensional model on the display screen, to obtain the part to be repaired selected by the user in the three-dimensional model and to send the selected part to be repaired to the drone; The drone is also used to fly to the vicinity of the selected maintenance component after receiving the component, and activate the laser pointer to indicate the component.

3. A method for panoramic survey of power transmission line power outage maintenance operations, characterized in that: include: Use drones to generate a 3D model of the target tower; Based on the image features of the transmission line components, the transmission line components on the target tower are identified from the drone image and annotated in the 3D model of the target tower; Select the parts to be repaired in turn in the three-dimensional model displayed on the drone control terminal, and perform on-site visual confirmation according to the indication of the drone laser pointer after each selection; the laser pointer is integrated with the drone camera, and the laser emitted by the laser pointer is parallel to the direction of the camera lens; Inspect the parts to be repaired according to the work plan, and use drones to control the operation process and inspect the maintenance results.

4. The method for panoramic survey of power transmission line power outage maintenance work according to claim 3, characterized in that: The method of using a drone to generate a three-dimensional model of a target pole tower includes: the drone flies around the target pole tower, scans the target pole tower using a laser radar or photographs the target pole tower using a camera, and constructs a three-dimensional model of the target pole tower.

5. The method for panoramic survey of power transmission line power outage maintenance work according to claim 3, characterized in that: The image features of transmission line components are obtained by extracting features from pictures of the components.

6. The method for panoramic survey of power transmission line power outage maintenance work according to claim 3, characterized in that: The annotation of the transmission line components in the three-dimensional model includes the type of the component and the coordinates of the component in the three-dimensional model.

7. The method for panoramic survey of power transmission line power outage maintenance work according to claim 6, characterized in that: Different types of transmission line components in the 3D model are marked with different colors.

8. The method for panoramic survey of power transmission line power outage maintenance work according to claim 3, characterized in that: The method for on-site visual confirmation according to the indication of the drone laser pointer includes: after selecting the component to be repaired in the control terminal, the drone flies to the vicinity of the selected component according to its own coordinates and the coordinates of the selected component, and starts the laser pointer to indicate the component; the on-site staff visually confirms whether the selected component is correct according to the indication of the laser pointer.

9. The method for panoramic survey of power transmission line power outage maintenance work according to claim 8, characterized in that: After the visual confirmation, the visual confirmation result is also confirmed in the control terminal.

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