CN-115454126-B - Cluster unmanned aerial vehicle inspection method based on power transmission line and related equipment

CN115454126BCN 115454126 BCN115454126 BCN 115454126BCN-115454126-B

Abstract

The invention relates to the technical field of power inspection, and discloses a clustered unmanned aerial vehicle inspection method based on a power transmission line and related equipment. The method comprises the steps of obtaining a three-dimensional laser point cloud model of a target power transmission line and sensing parameters of each unmanned aerial vehicle, extracting all inspection space information and a plurality of inspection points in the three-dimensional laser point cloud model, generating an inspection tower directory tree, carrying out geographic coordinate conversion on the inspection points in the inspection tower directory tree to obtain a plurality of inspection point coordinates, calculating sensing values of the unmanned aerial vehicles based on the sensing parameters of the unmanned aerial vehicles, matching the corresponding inspection point coordinates based on the sensing values, generating corresponding route inspection lines of the unmanned aerial vehicles according to the matching results, and controlling the unmanned aerial vehicles to form unmanned aerial vehicle clusters to inspect the inspection points according to the route inspection lines to obtain inspection data. The invention realizes the efficient inspection of the power transmission line by the clustered unmanned aerial vehicle.

Inventors

LI NING
XIE GUIWEN
YANG JIARUI
ZHANG XIAOBO
YANG SHAOBIN
LUO HONGYANG
KANG RUI
ZHANG YUE
Hai Falin
MA CONGHUI
LI SHENGHUA
LI BO
HE ZHIHUA
YUE JINGFEI
MA YUHUI
CAO KAI
YANG JIONG
CHEN WEI
ZOU WEIHUA
BAI LU
WU JIANNING
ZHENG QIAN

Assignees

国网宁夏电力有限公司超高压公司
国网宁夏电力有限公司超高压公司

Dates

Publication Date: 20260421
Application Date: 20220906
Priority Date: 20220906

Claims (9)

1. The utility model provides a cluster unmanned aerial vehicle inspection method based on transmission line for each unmanned aerial vehicle in control unmanned aerial vehicle cluster is to transmission line's inspection, its characterized in that, cluster unmanned aerial vehicle inspection method based on transmission line includes: Acquiring a three-dimensional laser point cloud model of a target power transmission line and sensing parameters of each unmanned aerial vehicle, extracting all inspection space information and a plurality of inspection points in the three-dimensional laser point cloud model, and generating an inspection pole tower directory tree; Performing geographic coordinate conversion on each inspection point in the inspection tower directory tree to obtain a plurality of inspection point coordinates, and calculating a sensing value of each unmanned aerial vehicle based on the sensing parameters of each unmanned aerial vehicle; matching corresponding patrol point coordinates based on the sensing values, and generating corresponding route patrol lines of the unmanned aerial vehicles according to the matching results; controlling each unmanned aerial vehicle group to carry out inspection on each inspection point according to the route inspection line to obtain inspection data; The method comprises the steps of obtaining historical loss information of each unmanned aerial vehicle, carrying out nonlinear self-adaptive estimation on the historical loss information and the inspection data to obtain efficiency loss coefficients of each unmanned aerial vehicle, calculating composite compensation parameters of each unmanned aerial vehicle in the unmanned aerial vehicle cluster according to the efficiency loss coefficients, adjusting route inspection lines of the unmanned aerial vehicle cluster in inspection by utilizing the composite compensation parameters, and controlling the unmanned aerial vehicle cluster to finish inspection of each inspection point based on an adjustment and control result.
2. The transmission line-based clustered unmanned aerial vehicle inspection method of claim 1, wherein the extracting each inspection space information and a plurality of inspection points in the three-dimensional laser point cloud model to generate an inspection tower directory tree comprises: Extracting laser point cloud data, line coordinate data, a plurality of inspection tower information and a plurality of inspection points in the three-dimensional laser point cloud model; Classifying the laser point cloud data based on the inspection tower information; and matching corresponding line coordinate data according to the classified laser point cloud data, and generating a patrol tower directory tree according to the matching result and the patrol priority in the patrol tower information.
3. The transmission line-based clustered unmanned aerial vehicle inspection method according to claim 2, wherein the performing the geographic coordinate transformation on each inspection point in the inspection tower directory tree to obtain a plurality of inspection point coordinates, and calculating the sensing value of each unmanned aerial vehicle based on the sensing parameter of each unmanned aerial vehicle comprises: extracting a plurality of inspection item information in the inspection tower directory tree, and performing coordinate conversion on each inspection item information according to the inspection tower directory tree to obtain initial inspection coordinates; Performing self-adaptive coordinate optimization on the initial inspection coordinates to obtain a plurality of inspection point coordinates; And classifying the sensing parameters of each unmanned aerial vehicle, and performing parameter value conversion on the classified results by using a preset parameter value conversion table to obtain a plurality of sensing values of each unmanned aerial vehicle.
4. The method for inspecting a clustered unmanned aerial vehicle based on a power transmission line according to claim 1, wherein the matching of coordinates of inspection points based on the sensing values and generating the corresponding route inspection line of each unmanned aerial vehicle according to the matching result comprises: numerical combination is carried out on the sensing values, and the coordinates of the inspection points corresponding to the unmanned aerial vehicles are matched according to the combination result; And extracting parking point coordinate information in the three-dimensional laser point cloud model and routing inspection grading information corresponding to the tower directory tree, and performing route connection on routing inspection coordinate points corresponding to the unmanned aerial vehicles according to the routing inspection grading information according to a result of matching of the parking point coordinate information routing inspection point coordinates to obtain route inspection routes corresponding to the unmanned aerial vehicles.
5. The method for inspecting a cluster type unmanned aerial vehicle based on a power transmission line according to claim 1, wherein the controlling each unmanned aerial vehicle to inspect each inspection point by the unmanned aerial vehicle cluster according to the line inspection line, to obtain inspection data, comprises: performing model flight optimization on the route inspection lines of each unmanned aerial vehicle by adopting the three-dimensional laser point cloud model; controlling each unmanned aerial vehicle to form an unmanned aerial vehicle cluster according to the optimized route inspection line; And controlling the unmanned aerial vehicle cluster to carry out inspection on each inspection point to obtain inspection data.
6. The transmission line-based cluster unmanned aerial vehicle inspection method according to any one of claims 1 to 5, wherein before controlling each unmanned aerial vehicle to inspect each inspection point by each unmanned aerial vehicle cluster according to the line inspection line, the method further comprises: Acquiring control terminal information and control center information corresponding to the unmanned aerial vehicle, and performing sequence marking on each unmanned aerial vehicle, the control terminal and the control center to generate a corresponding initial patrol ad hoc network; and carrying out differential correction binding on coordinates of a patrol point of the unmanned aerial vehicle in the patrol ad hoc network based on the route patrol line to obtain a final patrol ad hoc network.
7. Cluster unmanned aerial vehicle inspection device based on transmission line, its characterized in that, cluster unmanned aerial vehicle inspection device based on transmission line includes: the system comprises a point cloud extraction module, a target power transmission line detection module and a target power transmission line detection module, wherein the point cloud extraction module is used for acquiring a three-dimensional laser point cloud model of the target power transmission line and sensing parameters of each unmanned aerial vehicle, extracting each inspection space information and a plurality of inspection points in the three-dimensional laser point cloud model and generating an inspection tower directory tree; The parameter conversion module is used for carrying out geographic coordinate conversion on each inspection point in the inspection tower directory tree to obtain a plurality of inspection point coordinates, and calculating the sensing value of each unmanned aerial vehicle based on the sensing parameters of each unmanned aerial vehicle; The coordinate matching module is used for matching the coordinates of the corresponding inspection points based on the sensing values and generating corresponding route inspection lines of the unmanned aerial vehicles according to the matching results; The line inspection module is used for controlling each unmanned aerial vehicle to form an unmanned aerial vehicle cluster to inspect each inspection point according to the line inspection line to obtain inspection data; The system comprises an interference optimization module, a calculation module, a control module and a control module, wherein the interference optimization module is used for acquiring historical loss information of each unmanned aerial vehicle, performing nonlinear self-adaptive estimation on the historical loss information and the inspection data to obtain efficiency loss coefficients of each unmanned aerial vehicle, calculating composite compensation parameters of each unmanned aerial vehicle in the unmanned aerial vehicle cluster according to the efficiency loss coefficients, adjusting route inspection lines of the unmanned aerial vehicle cluster in inspection by utilizing the composite compensation parameters, and controlling the unmanned aerial vehicle cluster to finish inspection on each inspection point based on the adjustment and control result.
8. The power transmission line-based cluster unmanned aerial vehicle inspection equipment is characterized by comprising a memory and at least one processor, wherein instructions are stored in the memory; The at least one processor invokes the instructions in the memory to cause the transmission line based clustered unmanned aerial vehicle inspection device to perform the steps of the transmission line based clustered unmanned aerial vehicle inspection method of any of claims 1-6.
9. A computer readable storage medium having instructions stored thereon, which when executed by a processor, implement the steps of the transmission line based clustered unmanned aerial vehicle inspection method of any of claims 1-6.

Description

Cluster unmanned aerial vehicle inspection method based on power transmission line and related equipment Technical Field The invention relates to the technical field of power inspection, in particular to a clustered unmanned aerial vehicle inspection method based on a power transmission line and related equipment. Background Along with the rapid development of the economy in China, the power transmission grid has increasingly large and complex scale and structure, and the power transmission lines with high grade, long distance and large transformation capacity have increasingly increased. Because the transmission line is wide in distribution range, most of the transmission line is far away from towns, the environment is generally severe, the transmission line cannot be damaged, and if the problems cannot be found and handled in time, great hidden danger can be brought to the stable operation of the transmission line. Therefore, the conventional inspection is required to be carried out on the power transmission line, wherein the unmanned aerial vehicle is used for inspection, so that the inspection cost can be reduced, the loss caused by line faults is reduced to the greatest extent, and the normal operation of the power transmission line is ensured. At present, the unmanned aerial vehicle power inspection method is simpler, and still mainly relies on personnel to manually operate the unmanned aerial vehicle to carry out inspection, thereby guarantee the operation safety of transmission line, but this kind of inspection mode is influenced by factors such as personnel's operation experience, skill level, environment mutation greatly, has the problem that inspection control mode is single, control signal is disturbed greatly and the operating efficiency is lower, and current unmanned aerial vehicle is relatively poor to transmission line's automatic inspection effect promptly. Disclosure of Invention The invention mainly aims to solve the problem that the automatic inspection effect of the existing unmanned aerial vehicle on a power transmission line is poor. The first aspect of the invention provides a power transmission line-based clustered unmanned aerial vehicle inspection method, which comprises the following steps: The method comprises the steps of obtaining a three-dimensional laser point cloud model of a target power transmission line and sensing parameters of each unmanned aerial vehicle, extracting all inspection space information and a plurality of inspection points in the three-dimensional laser point cloud model, generating an inspection tower directory tree, carrying out geographic coordinate conversion on each inspection point in the inspection tower directory tree to obtain a plurality of inspection point coordinates, calculating a sensing value of each unmanned aerial vehicle based on the sensing parameters of each unmanned aerial vehicle, matching the corresponding inspection point coordinates based on the sensing values, generating an air line inspection line corresponding to each unmanned aerial vehicle according to the matching result, and controlling each unmanned aerial vehicle to form an unmanned aerial vehicle cluster to inspect each inspection point according to the air line inspection line, so as to obtain inspection data. Optionally, in a first implementation manner of the first aspect of the present invention, the extracting each inspection space information and a plurality of inspection points in the three-dimensional laser point cloud model to generate an inspection tower directory tree includes extracting laser point cloud data, line coordinate data, a plurality of inspection tower information and a plurality of inspection points in the three-dimensional laser point cloud model, classifying the laser point cloud data based on each inspection tower information, matching corresponding line coordinate data according to the classified laser point cloud data, and generating an inspection tower directory tree according to a matching result and an inspection priority in the inspection tower information. Optionally, in a second implementation manner of the first aspect of the present invention, performing geographic coordinate transformation on each inspection point in the inspection tower directory tree to obtain a plurality of inspection point coordinates, and calculating a sensing value of each unmanned aerial vehicle based on a sensing parameter of each unmanned aerial vehicle, where the method includes extracting a plurality of inspection item information in the inspection tower directory tree, performing coordinate transformation on each inspection item information according to the inspection tower directory tree to obtain an initial inspection coordinate, performing adaptive coordinate optimization on the initial inspection coordinate to obtain a plurality of inspection point coordinates, performing sensing type classification on a sensing parameter of each unmanned aerial vehicl