Safety detection system and safety detection method for power transmission line, and storage medium

Abstract

The invention relates to the technical field of power transmission line detection, and particularly discloses a safety detection system and method for a power transmission line and a storage medium, and the system comprises a first unmanned aerial vehicle which is integrally provided with an X-ray generation device; the second unmanned aerial vehicle is integrally provided with an X-ray receiving device; the controller is electrically connected with the first unmanned aerial vehicle and the second unmanned aerial vehicle, and is used for generating a control instruction according to a target power transmission line, controlling the first unmanned aerial vehicle and the second unmanned aerial vehicle to execute X-ray detection for the target power transmission line based on the control instruction, generating a corresponding safety detection result, and sending the safety detection result to the first unmanned aerial vehicle and the second unmanned aerial vehicle. The detection positions of the first unmanned aerial vehicle and the second unmanned aerial vehicle are located on the left side face and the right side face of the target power transmission line respectively. By improving the existing power transmission line detection system and detection method, the degree of freedom and comprehensiveness of detection are improved, the detection safety is improved, and the actual requirements of users are met.

Description

Technical Field

[0001] The present invention relates to the technical field of power transmission line detection, and in particular to a safety detection system, a safety detection method and a storage medium for power transmission lines. Background Art

[0002] With the continuous development of science and technology, there are more and more electricity consumption scenarios in people's lives, so the requirements for power transmission capacity are also getting higher and higher. As a result, more and more high-voltage transmission lines are configured. High-voltage transmission lines are often connected at intermediate points by transmission line towers. Therefore, the reliable coordination between transmission line towers and high-voltage lines has become the key point of large-scale power transmission.

[0003] Each high-voltage line needs to be connected to the transmission line tower through a connecting structure. Since the high-voltage lines are located at high altitudes, the maintenance of the high-voltage lines is inconvenient for technical personnel. Whether the high-voltage line and the transmission line tower are reliably connected is often difficult to distinguish with the naked eye from a distance. Once a tiny break or abnormality occurs in the connection between the high-voltage line and the transmission line tower, it will cause abnormal power consumption of the line. The above-mentioned tiny break is often inside the connecting structure and is often not detectable from the outside.

[0004] In order to solve the above technical problems, technicians use X-ray generators and X-ray receivers to scan the above connection structure to obtain X-ray scanning information for the inside of the connection structure and perform fault analysis. In the actual operation process, it is necessary to first place the above equipment near the location of the connection structure. Since the connection structure is located at a high altitude, accidents may occur if it is manually carried. Therefore, the existing technology uses a drone to lift the lifting equipment to the high-voltage line near the connection structure, install it on the high-voltage line, and scan the connection structure. However, in the actual application process, technicians found that the existing technology has at least the following technical problems:

[0005] On the one hand, since there are multiple high-voltage wires installed on the transmission line tower in the vertical direction, the UAV may generate arcs when it is too close to the high-voltage wires during the hoisting process, which may cause damage to the UAV and further accidents.

[0006] Secondly, drones have propellers. If they are too close to high-voltage wires, a flight accident may occur due to the propellers touching the high-voltage wires.

[0007] Thirdly, the X-ray generator and X-ray receiver are fixedly installed near the connection structure, so they can only scan and analyze the fractures or defects of the connection interface. Therefore, they have great limitations and cannot meet higher safety detection requirements. Summary of the invention

[0008] In order to overcome the above-mentioned technical problems existing in the prior art, the embodiments of the present invention provide a safety detection system, a safety detection method and a storage medium for a transmission line. By improving the existing transmission line detection system and detection method, the freedom and comprehensiveness of detection are improved, the detection safety is improved, and the actual needs of users are met.

[0009] In order to achieve the above-mentioned purpose, an embodiment of the present invention provides a safety detection system for a power transmission line, the safety detection system comprising: a first unmanned aerial vehicle, integrated with an X-ray generating device; a second unmanned aerial vehicle, integrated with an X-ray receiving device; a controller, electrically connected to the first unmanned aerial vehicle and the second unmanned aerial vehicle, for generating a control instruction according to a target transmission line, and controlling the first unmanned aerial vehicle and the second unmanned aerial vehicle to perform X-ray detection on the target transmission line based on the control instruction to generate corresponding safety detection results, the detection positions of the first unmanned aerial vehicle and the second unmanned aerial vehicle are respectively located on the left and right sides of the target transmission line.

[0010] Preferably, the control instructions include a starting point control instruction, an operation control instruction and an end point control instruction, and the generating of the control instruction according to the target transmission line includes: determining an initial three-dimensional position, an extended line and a terminal three-dimensional position based on the target transmission line, the initial three-dimensional position includes a first three-dimensional position located on a first horizontal side surface of the target transmission line and a second three-dimensional position located on a second horizontal side surface, the terminal three-dimensional position includes a third three-dimensional position located on the first horizontal side surface and a fourth three-dimensional position located on the second horizontal side surface, the first horizontal side surface being an opposite side surface of the second horizontal side surface in an extension direction of the target transmission line; generating a starting point control instruction based on the first three-dimensional position and the second three-dimensional position; generating an operation control instruction based on the extended line; generating an end point control instruction based on the third three-dimensional position and the fourth three-dimensional position.

[0011] Preferably, a visible light collection device is configured on the first unmanned aerial vehicle or the second unmanned aerial vehicle, and the generating of the operation control instruction based on the extended line includes: collecting visible light image information of the target transmission line by the visible light collection device; performing target contour extraction on the visible light image information to obtain the target contour of the target transmission line; generating three-dimensional path information based on the extended line; and generating the operation control instruction based on the three-dimensional path information and the target contour.

[0012] Preferably, the controlling the first unmanned aerial vehicle and the second unmanned aerial vehicle to perform X-ray detection on the target transmission line based on the control instruction to generate corresponding safety detection results includes: controlling the first unmanned aerial vehicle to fly and hover to the first three-dimensional position and controlling the second unmanned aerial vehicle to fly and hover to the second three-dimensional position based on the starting point control instruction; controlling the first unmanned aerial vehicle and the second unmanned aerial vehicle to perform corresponding collaborative flight actions based on the operation control instruction to obtain real-time X-ray detection video; controlling the first unmanned aerial vehicle to hover to the third three-dimensional position and controlling the second unmanned aerial vehicle to hover to the fourth three-dimensional position based on the endpoint control instruction; generating safety detection results based on the real-time X-ray detection video.

[0013] Preferably, controlling the first unmanned aerial vehicle and the second unmanned aerial vehicle to perform corresponding coordinated flight actions based on the operation control instruction includes: acquiring X-ray detection information of the X-ray receiving device in real time; determining the centering deviation of the first unmanned aerial vehicle, the second unmanned aerial vehicle and the extended route based on the X-ray detection information; controlling the flight attitude of the first unmanned aerial vehicle and / or the second unmanned aerial vehicle in real time based on the centering deviation; and controlling the first unmanned aerial vehicle and the second unmanned aerial vehicle to fly along the extended route based on the operation control instruction.

[0014] Preferably, the real-time control of the flight attitude of the first unmanned aerial vehicle and / or the second unmanned aerial vehicle based on the centering deviation includes: obtaining the power parameters of the target transmission line; determining the safe distance between the target transmission line and the unmanned aerial vehicle based on the power parameters; obtaining the transmission power of the X-ray generating device; determining the shooting distance range between the X-ray generating device and the X-ray receiving device based on the transmission power; and real-time control of the flight attitude of the first unmanned aerial vehicle and / or the second unmanned aerial vehicle based on the safe distance, the shooting distance range and the centering deviation.

[0015] Preferably, determining the shooting distance range between the X-ray generating device and the X-ray receiving device based on the transmitting power includes: determining the imageable distance between the X-ray generating device and the X-ray receiving device based on the transmitting power; within the imageable distance, evaluating the imaging clarity of the X-ray receiving device to obtain clarity evaluation information; obtaining a preset clarity requirement; determining a shooting distance range based on the clarity evaluation information and the preset clarity requirement, so that the clarity of the video shot within the shooting distance range meets the preset clarity requirement.

[0016] Preferably, generating a safety detection result based on the real-time X-ray detection video includes: determining whether there is a missed detection section for the target transmission line in the real-time X-ray detection video; if the missed detection section exists, obtaining the missed detection position of the missed detection section; determining a go-around path based on the missed detection position and the current positions of the first unmanned aerial vehicle and the second unmanned aerial vehicle; controlling the first unmanned aerial vehicle and the second unmanned aerial vehicle to perform a go-around operation based on the go-around path; obtaining a go-around detection video during the go-around operation; and generating a safety detection result based on the X-ray detection video and the go-around detection video.

[0017] Correspondingly, the present invention also provides a safety detection method for a transmission line, which is applied to the safety detection system described in an embodiment of the present invention, wherein the safety detection system includes a first unmanned aerial vehicle and a second unmanned aerial vehicle, and the safety detection method includes: generating a control instruction based on the target transmission line; controlling the first unmanned aerial vehicle and the second unmanned aerial vehicle to fly to the left and right sides of the target transmission line based on the control instruction; performing X-ray detection on the target transmission line to generate corresponding safety detection results.

[0018] On the other hand, the present invention further provides a computer-readable storage medium having a computer program stored thereon, which implements the method provided by the present invention when the program is executed by a processor.

[0019] Through the technical solution provided by the present invention, the present invention has at least the following technical effects:

[0020] By improving the existing detection system of high-voltage transmission lines, a detection system consisting of two unmanned aerial vehicles is adopted, and coordinated flight control technology is used to control them to freely perform real-time, dynamic X-ray detection on any part of the high-voltage transmission line, thereby greatly improving the comprehensiveness and safety of detection; at the same time, in the process of coordinated flight, the various parameters and physical indicators of the unmanned aerial vehicle are accurately controlled according to the high-voltage scenario, so as to ensure the safety of the flight process, solve the technical problems in the existing technology, and meet the actual needs of users.

[0021] Other features and advantages of the embodiments of the present invention will be described in detail in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The accompanying drawings are used to provide a further understanding of the embodiments of the present invention and constitute a part of the specification. Together with the following specific implementations, they are used to explain the embodiments of the present invention, but do not constitute a limitation on the embodiments of the present invention. In the accompanying drawings:

[0023] Figure 1 is a schematic diagram of a safety detection system for a power transmission line provided by an embodiment of the present invention;

[0024] Figure 2 It is a specific implementation flow chart of the safety detection method for power transmission lines provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0025] The specific implementation of the embodiment of the present invention is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described here is only used to illustrate and explain the embodiment of the present invention, and is not used to limit the embodiment of the present invention.

[0026] The terms "system" and "network" in the embodiments of the present invention can be used interchangeably. "Multiple" means two or more than two. In view of this, "multiple" can also be understood as "at least two" in the embodiments of the present invention. "And / or" describes the association relationship of associated objects, indicating that three relationships can exist. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / ", unless otherwise specified, generally indicates that the previous and subsequent associated objects are in an "or" relationship. In addition, it should be understood that in the description of the embodiments of the present invention, the words "first", "second", etc. are only used to distinguish the purpose of description, and cannot be understood as indicating or implying relative importance, nor can they be understood as indicating or implying order.

[0027] The background technology of the present invention is introduced below.

[0028] In the existing safety inspection of high-voltage transmission lines, due to the secrecy of transmission lines, conventional visible light detection methods cannot detect defects such as fractures and damages hidden in transmission lines or parts, so technicians often use X-rays to detect them. In the application process, on the one hand, the X-ray detection equipment is hoisted on the high-voltage line by a drone and fixed, and then X-ray detection is performed. Since the drone may have abnormal failures, once the drone fails, the propeller of the drone may damage the high-voltage line, as well as smash the equipment or the technicians below; at the same time, since the operation scene is located in a high-voltage scene, and the drone is also a live device, when the drone is too close to the high-voltage line above, it will cause a breakdown event, resulting in power outage of the entire power line or damage to related equipment. Therefore, the existing technology has huge safety hazards.

[0029] Secondly, since the connectors of high-voltage lines have the highest failure rate and the cost of X-ray inspection equipment is relatively high, only the connectors are often inspected. The uneven structure of ceramic insulators requires special inspection tooling and is rarely inspected. The failure rate of high-voltage lines is low, so they are rarely inspected. Therefore, the existing inspection methods have very high limitations and cannot meet higher safety requirements.

[0030] See also Figure 1An embodiment of the present invention provides a safety detection system for a power transmission line, the safety detection system comprising: a first unmanned aerial vehicle, integrated with an X-ray generating device; a second unmanned aerial vehicle, integrated with an X-ray receiving device; a controller, electrically connected to the first unmanned aerial vehicle and the second unmanned aerial vehicle, for generating a control instruction according to a target power transmission line, and controlling the first unmanned aerial vehicle and the second unmanned aerial vehicle to perform X-ray detection on the target power transmission line based on the control instruction to generate a corresponding safety detection result, wherein the detection positions of the first unmanned aerial vehicle and the second unmanned aerial vehicle are respectively located on the left and right sides of the target power transmission line.

[0031] In a possible implementation, the conventional defect detection method for connectors on high-voltage transmission towers is improved, and a detection system consisting of two unmanned aerial vehicles is used to perform X-ray detection at any position on the transmission line in a more flexible manner, thereby improving the defect that the conventional detection method can only perform X-ray detection on connectors on high-voltage transmission towers. In the embodiment of the present invention, the unmanned aerial vehicle can be, for example, an existing commercial drone or other equipment, which will not be described in detail here.

[0032] Specifically, an X-ray generating device is integrated on the first unmanned aerial vehicle. For example, the X-ray generating device (such as an X-ray generator) can be installed on the purchased drone in a fixed installation manner, or customized development can be adopted to integrate the X-ray generating device and the drone at the factory; based on the same principle, the X-ray receiving device (such as an X-ray imaging receiving flat panel) can be integrated with the second unmanned aerial vehicle. During application, the X-ray generator is aligned with the X-ray receiving device carried by the second unmanned aerial vehicle through the first unmanned aerial vehicle to perform X-ray shooting and imaging.

[0033] In a specific application process, the controller is electrically connected to the first unmanned aerial vehicle and the second unmanned aerial vehicle. For example, the controller may pre-store flight control algorithms, balance control algorithms, and operation control programs for the above two unmanned aerial vehicles. The above two unmanned aerial vehicles may be connected to the controller via a communication cable, or may be wirelessly connected to the controller by configuring a wireless communication module (such as a 4G module), and both may realize corresponding control functions, which will not be elaborated here.

[0034] In a specific embodiment, the first unmanned aerial vehicle and the second unmanned aerial vehicle have been deployed at the inspection site. At this time, the technician can input the relevant information of the target transmission line in the controller in advance. For example, the target transmission line is the high-voltage transmission tower, connectors, high-voltage lines and other parts of the target transmission line that currently need to be X-ray inspected. According to the spatial coordinates and position information of the above parts in three-dimensional space, corresponding control instructions can be generated to control the above two unmanned aerial vehicles to perform X-ray inspection. In order to solve the technical problems existing in the prior art of using a single unmanned aerial vehicle to hoist X-ray inspection equipment, in an embodiment of the present invention, two unmanned aerial vehicles carry an X-ray generator and an X-ray receiving device respectively, and fly collaboratively to the target transmission line for X-ray inspection.

[0035] In the embodiment of the present invention, by adopting a safety detection system composed of two unmanned aerial vehicles, the flexibility of detection can be greatly improved, so that the detection of high-voltage lines is not limited to the connectors, but any part of the high-voltage lines can be detected, which greatly improves the detection range and meets higher safety detection requirements; at the same time, by controlling the two unmanned aerial vehicles to approach the high-voltage transmission line from the side, the distance between the unmanned aerial vehicle and the high-voltage transmission line can be effectively controlled to reduce the risk of breakdown. At the same time, even if the unmanned aerial vehicle fails, it will not cause any damage to the high-voltage transmission line, thereby reducing the impact of the detection process on the power system, reducing safety risks, and meeting actual needs.

[0036] In the actual control process, the technician can manually operate the controller (such as a joystick) to control the unmanned aerial vehicle, or the corresponding control program can be pre-stored or set in the controller, and the controller generates corresponding control instructions and controls the unmanned aerial vehicle to perform corresponding X-ray detection. In an embodiment of the present invention, the control instructions include a starting point control instruction, an operation control instruction, and an end point control instruction, and the generation of control instructions according to the target transmission line includes: determining an initial three-dimensional position, an extension line, and a termination three-dimensional position based on the target transmission line, the initial three-dimensional position includes a first three-dimensional position located on the first horizontal side of the target transmission line and a second three-dimensional position on the second horizontal side, the termination three-dimensional position includes a third three-dimensional position located on the first horizontal side and a fourth three-dimensional position located on the second horizontal side, the first horizontal side being the opposite side of the second horizontal side in the extension direction of the target transmission line; generating a starting point control instruction based on the first three-dimensional position and the second three-dimensional position; generating an operation control instruction based on the extension line; generating an end point control instruction based on the third three-dimensional position and the fourth three-dimensional position.

[0037] For example, in one embodiment, the first unmanned aerial vehicle and the second unmanned aerial vehicle are both configured near the controller. After completing the configuration of the controller, the controller first determines an initial three-dimensional position according to the target transmission line. For example, the initial three-dimensional position includes a first three-dimensional position located on the first horizontal side of the target transmission line and a second three-dimensional position on the second horizontal side. After the first unmanned aerial vehicle and the second unmanned aerial vehicle are started, a preliminary pairing operation is first performed. Specifically, the first unmanned aerial vehicle and the second unmanned aerial vehicle automatically align the centers of the X-ray generator and the X-ray receiving device to complete the pairing operation, and then fly collaboratively to the initial three-dimensional position. Specifically, the first unmanned aerial vehicle is controlled to fly and hover at the first three-dimensional position, and the second unmanned aerial vehicle is controlled to fly and hover to the second three-dimensional position, thereby achieving hovering at the initial detection position.

[0038] It should be noted that during the X-ray detection process, the X-ray detection video collected by the X-ray receiving device can be obtained in real time when the unmanned aerial vehicle is started, or the X-ray detection video can be collected in real time after the unmanned aerial vehicle hovers to the initial three-dimensional position. Technical personnel can configure it according to actual needs, and no further details will be given here.

[0039] After completing the hovering preparation at the initial position, the controller generates an operation control instruction based on the extended line. For example, the three-dimensional path data of the route in three-dimensional space can be determined based on the extended line. After the three-dimensional path data is input into the controller, the corresponding operation control instruction is generated to control the operation of the unmanned aerial vehicle. However, in actual application, the high-voltage line includes an insulating outer layer and a metal inner layer. Under different ambient temperatures, its appearance may change due to thermal expansion and contraction. Therefore, if a fixed input three-dimensional path data method is used, it may not match the actual shooting path, resulting in detection deviation or even missed detection. At the same time, if the unmanned aerial vehicle shakes abnormally during movement (such as abnormal control, external strong wind, etc.), it will cause detection deviation, so it cannot meet actual needs.

[0040] In order to solve the above technical problems, in an embodiment of the present invention, a visible light collection device is configured on the first unmanned aerial vehicle or the second unmanned aerial vehicle, and the generation of operation control instructions based on the extended line includes: collecting visible light image information for the target transmission line through the visible light collection device; performing target contour extraction on the visible light image information to obtain the target contour of the target transmission line; generating three-dimensional path information based on the extended line; and generating operation control instructions based on the three-dimensional path information and the target contour.

[0041] In one possible implementation, a visible light collection device, such as a camera, is configured on the first unmanned aerial vehicle or the second unmanned aerial vehicle. During operation, the camera is used to collect visible light image information of the target transmission line in real time, and the target contour is extracted from the visible light image information using an existing contour extraction algorithm to obtain a corresponding target contour. During the flight of the unmanned aerial vehicle, the three-dimensional path information generated according to the extended line is combined with the target contour in real time to form a closed-loop control. In the initial state, the initial operation control instruction is first generated using the three-dimensional path information. Once a large deviation is found between the three-dimensional path information and the target contour during operation, the operation control instruction is immediately adjusted to ensure that the operation route of the unmanned aerial vehicle is consistent with the actual extension line of the target transmission line, thereby ensuring accurate shooting and detection results.

[0042] In the traditional detection process, since the X-ray generator or X-ray receiving device is fixed on the high-voltage line, its imaging environment is relatively stable, so the detection of connector breakage and failure can often be achieved by taking a photo of the connector. In the application process of the safety detection system provided by the present invention, the imaging environment is provided for the above-mentioned X-ray imaging device through the coordinated flight of two unmanned aerial vehicles. During the flight, due to the external environment or internal control accuracy, the relative positions of the two unmanned aerial vehicles are inevitably shaken, resulting in blurred imaging.

[0043] In an embodiment of the present invention, the controlling of the first unmanned aerial vehicle and the second unmanned aerial vehicle to perform X-ray detection on the target transmission line based on the control instruction to generate corresponding safety detection results includes: controlling the first unmanned aerial vehicle to fly and hover to the first three-dimensional position and controlling the second unmanned aerial vehicle to fly and hover to the second three-dimensional position based on the starting point control instruction; controlling the first unmanned aerial vehicle and the second unmanned aerial vehicle to perform corresponding collaborative flight actions based on the operation control instruction to obtain real-time X-ray detection video; controlling the first unmanned aerial vehicle to hover to the third three-dimensional position and controlling the second unmanned aerial vehicle to hover to the fourth three-dimensional position based on the endpoint control instruction; generating safety detection results based on the real-time X-ray detection video.

[0044] In one possible implementation, it is necessary to conduct a one-time comprehensive inspection of the target transmission line from the high-voltage transmission tower insulators, connectors to the high-voltage lines. Therefore, the first unmanned aerial vehicle and the second unmanned aerial vehicle are first controlled to fly and hover to an initial three-dimensional position, and then the two unmanned aerial vehicles are controlled to perform corresponding coordinated flight actions along the extended line. During the coordinated flight, real-time X-ray detection video is obtained from the X-ray receiving device in real time. After completing the inspection of the entire target transmission line, the first unmanned aerial vehicle is controlled to hover to a third three-dimensional position and the second unmanned aerial vehicle is controlled to hover to a fourth three-dimensional position, and a safety inspection result is generated based on the real-time X-ray detection video.

[0045] In an embodiment of the present invention, based on the highly flexible detection system composed of dual aircraft, by collecting real-time detection videos, the technical problem of imaging blur in the process of taking images using the system can be effectively overcome. Technicians can select a picture with the best imaging clarity from a detection video of a certain detection part for analysis, thereby effectively ensuring imaging clarity and accuracy and meeting user needs.

[0046] In the process of controlling the side coordinated flight of the first unmanned aerial vehicle and the second unmanned aerial vehicle, although the risk of breakdown caused by the unmanned aerial vehicle being too close to the high-voltage line above is effectively avoided, the unmanned aerial vehicle located on the inner side of the high-voltage line still needs to maintain a distance from the two high-voltage lines, that is, it cannot be too close to the high-voltage line on the target transmission line, nor can it be too far from the high-voltage line on the target transmission line, otherwise a breakdown accident will still occur; secondly, the flight posture of the unmanned aerial vehicle is affected by a large number of factors, and in order to ensure the reliability and accuracy of the imaging, it is necessary to keep the imaging of the target transmission line in the middle position of the imaging area as much as possible.

[0047] In an embodiment of the present invention, controlling the first unmanned aerial vehicle and the second unmanned aerial vehicle to perform corresponding collaborative flight actions based on the operation control instruction includes: acquiring X-ray detection information of the X-ray receiving device in real time; determining the centering deviation of the first unmanned aerial vehicle, the second unmanned aerial vehicle and the extended route based on the X-ray detection information; controlling the flight attitude of the first unmanned aerial vehicle and / or the second unmanned aerial vehicle in real time based on the centering deviation; and controlling the first unmanned aerial vehicle and the second unmanned aerial vehicle to fly along the extended route based on the operation control instruction.

[0048] In a possible implementation, in the process of controlling the coordinated flight of two unmanned aerial vehicles, X-ray detection information of the X-ray receiving device is obtained in real time. For example, the X-ray detection information includes an X-ray imaging area, through which the imaging center can be determined, and it can be further determined whether the center of the X-ray generator is consistent with the center of the X-ray receiving device or whether the deviation thereof is within an acceptable range; the X-ray detection information also includes detection information of corresponding components on the target transmission line. According to the deviation between the detection information and the center of the X-ray receiving device, it can be determined whether a large deviation has occurred in the X-ray detection position of the target transmission line. If the X-ray detection position of the target transmission line is If the position has deviated to the edge of the X-ray detection device, it is necessary to immediately adjust the flight attitude of the UAV to avoid incomplete detection or missed detection. That is, during the coordinated flight of the UAV, on the one hand, the centering deviation of the first UAV, the second UAV and the extended line is determined according to the X-ray detection information to ensure that the relative positions between the first UAV and the second UAV, and between the UAV and the target transmission line are in accurate and reliable positions, thereby ensuring the accuracy and reliability of the X-ray video shooting; on the other hand, the UAV is controlled to fly forward according to the operation control instructions determined by the extended line to collect real-time X-ray detection video of the entire target transmission line.

[0049] Furthermore, in the specific coordinated control process, on the one hand, it is necessary to consider the safety of the UAVs in a high-pressure flight environment, so it is necessary to maintain the distance between the first UAV and the second UAV; on the other hand, the farther the distance between the X-ray receiving device and the X-ray generator, the blurrier the imaging, which will affect the final analysis effect, so it is also necessary to consider the clarity of the X-ray detection video to accurately control the distance between the two UAVs during the coordinated flight.

[0050] In an embodiment of the present invention, the real-time control of the flight attitude of the first unmanned aerial vehicle and / or the second unmanned aerial vehicle based on the centering deviation includes: obtaining the power parameters of the target transmission line; determining the safe distance between the target transmission line and the unmanned aerial vehicle based on the power parameters; obtaining the transmission power of the X-ray generating device; determining the shooting distance range between the X-ray generating device and the X-ray receiving device based on the transmission power; and real-time control of the flight attitude of the first unmanned aerial vehicle and / or the second unmanned aerial vehicle based on the safe distance, the shooting distance range and the centering deviation.

[0051] In one possible implementation, the power parameters of the target transmission line are further obtained, and the safe distance between the unmanned aerial vehicle and the target transmission line can be determined based on the power parameters. Since the power parameters of different high-voltage lines on the same high-voltage transmission line are often close, the safe distance between the unmanned aerial vehicle and the adjacent high-voltage lines can be determined at the same time, thereby determining the optimal flight distance range of the unmanned aerial vehicle flying inside the target transmission line.

[0052] At this time, the transmission power of the X-ray generator is further obtained, and the optimal shooting distance range between the X-ray generating device and the X-ray receiving device can be determined based on the transmission power. For example, in an embodiment of the present invention, the distance between the unmanned aerial vehicle flying inside the target transmission line and the target transmission line is 1-1.5m, and the distance between the unmanned aerial vehicle flying outside the target transmission line is 2-3m. This makes the distance between the two unmanned aerial vehicles, that is, the X-ray generator and the X-ray receiving device, within the range of 3-5m, which can achieve sufficient safety and accurate X-ray imaging.

[0053] In an embodiment of the present invention, determining the shooting distance range between the X-ray generating device and the X-ray receiving device based on the transmission power includes: determining the imageable distance between the X-ray generating device and the X-ray receiving device based on the transmission power; within the imageable distance, evaluating the imaging clarity of the X-ray receiving device to obtain clarity evaluation information; obtaining a preset clarity requirement; determining a shooting distance range based on the clarity evaluation information and the preset clarity requirement, so that the clarity of the video shot within the shooting distance range meets the preset clarity requirement.

[0054] Specifically, first, the imageable distance between the X-ray generator and the X-ray receiving device can be determined according to the transmission power. The target transmission line can be imaged by X-ray within the imageable distance. At this time, the image clarity evaluation information within the imageable distance is further obtained. For example, the technician can conduct experiments on the X-ray generator in advance to determine the clarity of the image of the X-ray receiving device within the imageable distance, and further determine the shooting distance range that can meet the clarity requirements according to the preset clarity requirements. At this time, the distance between the unmanned aerial vehicle and the target transmission line and the distance between the unmanned aerial vehicles are dynamically adjusted in combination with the above-mentioned safety distance and shooting distance range to ensure the flight safety and imaging clarity of the unmanned aerial vehicle. Finally, the relative positions of the unmanned aerial vehicles are further accurately adjusted in combination with the centering deviation, for example, by controlling the flight attitude of the unmanned aerial vehicle to keep the centering deviation within the preset deviation range, thereby realizing the precise control of the flight attitude of the two unmanned aerial vehicles in three-dimensional space, ensuring flight safety and detection accuracy. Finally, after obtaining the real-time X-ray detection video, it is analyzed to generate the corresponding safety detection results.

[0055] However, in actual applications, unexpected situations (such as sudden strong winds, short-term communication / control anomalies of unmanned aerial vehicles) may cause a section of the target transmission line to be missed, resulting in invalidation of the detection results or reduction of the detection effect.

[0056] In order to solve the above technical problems, in an embodiment of the present invention, the generation of a safety detection result based on the real-time X-ray detection video includes: determining whether there is a missed detection section for the target transmission line in the real-time X-ray detection video; if the missed detection section exists, obtaining the missed detection position of the missed detection section; determining a go-around path based on the missed detection position and the current positions of the first unmanned aerial vehicle and the second unmanned aerial vehicle; controlling the first unmanned aerial vehicle and the second unmanned aerial vehicle to perform a go-around operation based on the go-around path; obtaining a go-around detection video during the go-around operation; and generating a safety detection result based on the X-ray detection video and the go-around detection video.

[0057] In a possible implementation, after the real-time X-ray detection video is initially acquired, it is automatically determined whether there is a missed detection segment therein. If there is no missed detection segment, the real-time X-ray detection video is directly analyzed for abnormalities and a corresponding safety detection result is generated. If there is a missed detection segment, the corresponding missed detection position is further acquired, such as acquiring the initial position of the missed detection and the missed detection length, and then the go-around path is determined according to the current positions of the first unmanned aerial vehicle and the second unmanned aerial vehicle, and the two unmanned aerial vehicles are controlled to perform the corresponding go-around operation, and the corresponding go-around detection video is obtained, and then the real-time X-ray detection video is combined with the go-around detection video, for example, the existing video splicing algorithm can be used to splice and cover the go-around detection video to the corresponding segment in the real-time X-ray detection video, so as to achieve the optimization and improvement of the detection video, and the optimized and improved detection video is analyzed, such as analyzing and defect recognition by an intelligent defect recognition algorithm, so as to generate the final safety detection result.

[0058] In the embodiment of the present invention, the detection effect of the X-ray detection process is automatically monitored. Once missed detection is found, the relevant detection content is automatically supplemented, thereby effectively ensuring the accuracy and completeness of the detection and meeting the actual needs of the user.

[0059] See also Figure 2 Based on the same inventive concept, an embodiment of the present invention provides a safety detection method for a power transmission line, which is applied to a safety detection system according to an embodiment of the present invention. The safety detection system includes a first unmanned aerial vehicle and a second unmanned aerial vehicle. The safety detection method includes:

[0060] S10: generating a control instruction based on the target transmission line;

[0061] S20: controlling the first unmanned aerial vehicle and the second unmanned aerial vehicle to fly to the left and right sides of the target power transmission line based on the control instruction;

[0062] S30: Performing X-ray detection on the target power transmission line and generating corresponding safety detection results.

[0063] Furthermore, an embodiment of the present invention also provides a computer-readable storage medium on which a computer program is stored, and when the program is executed by a processor, the method described in the present invention is implemented.

[0064] The optional implementation modes of the embodiments of the present invention are described in detail above in conjunction with the accompanying drawings. However, the embodiments of the present invention are not limited to the specific details in the above implementation modes. Within the technical concept of the embodiments of the present invention, various simple modifications can be made to the technical scheme of the embodiments of the present invention, and these simple modifications all belong to the protection scope of the embodiments of the present invention.

[0065] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. To avoid unnecessary repetition, the embodiments of the present invention will not further describe various possible combinations.

[0066] Those skilled in the art can understand that all or part of the steps in the above-mentioned embodiment method can be completed by instructing the relevant hardware through a program, and the program is stored in a storage medium, including a number of instructions to enable a single-chip microcomputer, a chip or a processor to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program codes.

[0067] In addition, various implementation modes of the embodiments of the present invention may be arbitrarily combined, and as long as they do not violate the concept of the embodiments of the present invention, they should also be regarded as the contents disclosed by the embodiments of the present invention.

Claims

1. A safety detection system for power transmission lines, characterized in that: The safety detection system comprises: The first unmanned aerial vehicle is integrated with an X-ray generating device; The second unmanned aerial vehicle is integrated with an X-ray receiving device; A controller is electrically connected to the first unmanned aerial vehicle and the second unmanned aerial vehicle, and is used to generate control instructions according to a target transmission line, and based on the control instructions, control the first unmanned aerial vehicle and the second unmanned aerial vehicle to perform X-ray detection on the target transmission line to generate corresponding safety detection results. The detection positions of the first unmanned aerial vehicle and the second unmanned aerial vehicle are respectively located on the left and right sides of the target transmission line.

2. The safety detection system according to claim 1, characterized in that: The control instructions include a starting point control instruction, an operation control instruction and an end point control instruction, and the generating of the control instruction according to the target transmission line includes: Determine an initial three-dimensional position, an extended line, and a terminal three-dimensional position based on the target transmission line, wherein the initial three-dimensional position includes a first three-dimensional position located on a first horizontal side surface of the target transmission line and a second three-dimensional position located on a second horizontal side surface, and the terminal three-dimensional position includes a third three-dimensional position located on the first horizontal side surface and a fourth three-dimensional position located on the second horizontal side surface, wherein the first horizontal side surface is an opposite side surface of the second horizontal side surface in an extension direction of the target transmission line; generating a starting point control instruction based on the first three-dimensional position and the second three-dimensional position; generating an operation control instruction based on the extended line; An endpoint control instruction is generated based on the third three-dimensional position and the fourth three-dimensional position.

3. The safety detection system according to claim 2, characterized in that: The first unmanned aerial vehicle or the second unmanned aerial vehicle is equipped with a visible light collection device, and the generating of the operation control instruction based on the extended line includes: Collecting visible light image information of the target power transmission line by a visible light collection device; Extracting a target contour from the visible light image information to obtain a target contour of the target power transmission line; generating three-dimensional path information based on the extended route; An operation control instruction is generated based on the three-dimensional path information and the target contour.

4. The safety detection system according to claim 2, characterized in that: The controlling the first unmanned aerial vehicle and the second unmanned aerial vehicle to perform X-ray detection on a target power transmission line based on the control instruction to generate corresponding safety detection results includes: Control the first unmanned aerial vehicle to fly and hover to the first three-dimensional position and control the second unmanned aerial vehicle to fly and hover to the second three-dimensional position based on the starting point control instruction; Based on the operation control instruction, the first unmanned aerial vehicle and the second unmanned aerial vehicle are controlled to perform corresponding coordinated flight actions to obtain real-time X-ray detection video; Controlling the first unmanned aerial vehicle to hover to the third three-dimensional position and controlling the second unmanned aerial vehicle to hover to the fourth three-dimensional position based on the endpoint control instruction; A safety detection result is generated based on the real-time X-ray detection video.

5. The safety detection system according to claim 4, characterized in that: The controlling the first unmanned aerial vehicle and the second unmanned aerial vehicle to perform corresponding coordinated flight actions based on the operation control instruction includes: Acquiring X-ray detection information of the X-ray receiving device in real time; Determining alignment deviations of the first unmanned aerial vehicle, the second unmanned aerial vehicle, and the extension line based on the X-ray detection information; Controlling the flight attitude of the first unmanned aerial vehicle and / or the second unmanned aerial vehicle in real time based on the centering deviation; The first unmanned aerial vehicle and the second unmanned aerial vehicle are controlled to fly along the extended route based on the operation control instruction.

6. The safety detection system according to claim 5, characterized in that: The real-time control of the flight attitude of the first unmanned aerial vehicle and / or the second unmanned aerial vehicle based on the centering deviation comprises: Acquiring power parameters of the target transmission line; Determining a safe distance between the target power transmission line and the unmanned aerial vehicle based on the power parameter; Obtaining the transmission power of the X-ray generating device; Determine a shooting distance range between the X-ray generating device and the X-ray receiving device based on the transmission power; The flight attitude of the first unmanned aerial vehicle and / or the second unmanned aerial vehicle is controlled in real time based on the safety distance, the shooting distance range and the centering deviation.

7. The safety detection system according to claim 6, characterized in that: The determining of the shooting distance range between the X-ray generating device and the X-ray receiving device based on the transmission power includes: Determine an imageable distance between the X-ray generating device and the X-ray receiving device based on the transmission power; Within the imaging distance, evaluating the imaging clarity of the X-ray receiving device to obtain clarity evaluation information; Get preset clarity requirements; A shooting distance range is determined based on the clarity evaluation information and the preset clarity requirement, and the clarity of the video shot within the shooting distance range meets the preset clarity requirement.

8. The safety detection system according to claim 4, characterized in that: The generating of the safety detection result based on the real-time X-ray detection video includes: Determining whether there is a missed detection section for the target power transmission line in the real-time X-ray detection video; If the missed detection segment exists, obtaining the missed detection position of the missed detection segment; determining a missed approach path based on the missed detection position and current positions of the first UAV and the second UAV; controlling the first unmanned aerial vehicle and the second unmanned aerial vehicle to perform a go-around operation based on the go-around path; Acquiring a go-around detection video during the go-around operation; A safety detection result is generated based on the X-ray detection video and the go-around detection video.

9. A safety detection method for a power transmission line, characterized in that: Applied to a safety detection system according to any one of claims 1 to 8, the safety detection system comprises a first unmanned aerial vehicle and a second unmanned aerial vehicle, and the safety detection method comprises: generating a control command based on a target transmission line; Controlling the first unmanned aerial vehicle and the second unmanned aerial vehicle to fly to the left and right sides of the target power transmission line based on the control instruction; Perform X-ray detection on the target power transmission line and generate corresponding safety detection results.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the method described in claim 9 is implemented.

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