CN-122016803-A - Unmanned aerial vehicle-based cable duct acceptance method, system and equipment

CN122016803ACN 122016803 ACN122016803 ACN 122016803ACN-122016803-A

Abstract

The embodiment of the application provides a cable duct acceptance method, a system and equipment based on an unmanned aerial vehicle. The method comprises the steps that when a user performs cable inspection, a control device firstly sends a starting command to an unmanned aerial vehicle, when the unmanned aerial vehicle acquires a video image in a target cable duct in real time, the video image is transmitted to the control device, then, according to a second command of the user, the control command is sent to the unmanned aerial vehicle, and the unmanned aerial vehicle executes corresponding operation on the target cable duct according to the control command, so that inspection and acceptance of the condition in the target cable duct are achieved. By the method, rapid acceptance of the cable duct is realized, manual intervention is reduced, acceptance efficiency is improved, and operation safety is improved.

Inventors

LI CHENGKUN
QIAN JIMIN
ZHENG JIANRONG
CHEN YIGE
FAN BOQIAN
LIU YUNKAI
FU XUETING
ZHANG HUIRONG
ZHU SHUANG
HUANG WEI
CHEN JING
MA WEIQIANG
TAN JINGYU
ZHANG JIANFENG

Assignees

广东电网有限责任公司惠州供电局

Dates

Publication Date: 20260512
Application Date: 20260122

Claims (11)

1. An unmanned aerial vehicle-based cable duct acceptance method applied to control equipment, the method comprising: The method comprises the steps of receiving a first instruction input by a user, sending a starting command to the unmanned aerial vehicle, wherein the starting command comprises a hovering instruction and a first pose of control equipment, so that the unmanned aerial vehicle hovers at a target cable trench inlet according to the hovering instruction, and adjusts a second pose to be the same as the first pose; receiving a video image in the target cable trench transmitted by the unmanned aerial vehicle, wherein the video image is acquired in real time by the unmanned aerial vehicle following the control equipment in the flight process in the target cable trench; and sending a control command to the unmanned aerial vehicle according to a second instruction input by a user, wherein the control command is used for indicating the unmanned aerial vehicle to execute corresponding defect recording operation aiming at the target cable trench so as to realize acceptance of the internal condition of the target cable trench.
2. The method of claim 1, wherein the second command is a photographing record command, and wherein the sending a control command to the unmanned aerial vehicle according to the second command input by the user comprises: when the photographing record instruction is received, a control command containing a photographing instruction is generated; and sending the control command containing the photographing instruction to the unmanned aerial vehicle, so that the unmanned aerial vehicle captures a real-time image in the target cable trench according to the photographing instruction, and recording the current position.
3. The method of claim 1, wherein the second instruction is a zoom-in view instruction, and wherein the sending a control command to the drone according to the second instruction input by the user comprises: generating a control command containing a magnification view instruction when the magnification view instruction is received; And sending the control command containing the amplified viewing instruction to the unmanned aerial vehicle, so that the unmanned aerial vehicle amplifies the real-time image in the target cable trench in the display picture according to the amplified viewing instruction.
4. An unmanned aerial vehicle-based cable duct acceptance method applied to an unmanned aerial vehicle is characterized by comprising the following steps: Receiving a starting command sent by the control equipment, wherein the starting command comprises a hovering command and a first pose of the control equipment; Hovering at the entrance of the target cable trench according to the hovering instruction, and adjusting a second pose to be the same as the first pose, wherein the second pose is a real-time pose of the unmanned aerial vehicle; In the process of following the control equipment to fly in the target cable pit, acquiring video images in the target cable pit in real time and transmitting the video images to the control equipment; Receiving a control command sent by the control equipment; And executing corresponding operation on the target cable trench according to the control command so as to realize acceptance of the internal condition of the target cable trench.
5. The method of claim 4, wherein the control command includes a photographing instruction, and the performing, according to the control command, a corresponding operation on the target cable trench includes: receiving the control command sent by the control equipment; and according to a photographing instruction in the control command, capturing a real-time image in the target cable trench and recording the current position, wherein the control command is generated when the control equipment receives a photographing recording instruction, and the photographing recording instruction is the control command.
6. The method of claim 4, wherein the control command includes an enlarged view indication, and wherein the performing a corresponding operation on the target raceway according to the control command includes: receiving the control command sent by the control equipment; And amplifying the real-time image in the target cable duct in a display picture according to the amplifying and viewing instruction in the control command, wherein the control command is generated when the control equipment receives the amplifying and viewing instruction, and the amplifying and viewing instruction is the control command.
7. The method of claim 4, wherein the unmanned aerial vehicle houses a high-precision positioning module, the method further comprising: acquiring the first pose of the control equipment and the position information of the control equipment in real time; according to the first pose of the control equipment, adjusting the second pose of the machine body to be the same as the first pose; According to the position information of the control equipment, the relative position of the machine body and the control equipment is adjusted through a high-precision positioning module, so that the dynamic following flight of the control equipment is realized.
8. The method according to claim 4, wherein the method further comprises: in the flight process of following the control equipment, measuring the distance between the unmanned aerial vehicle and an object in the target cable trench in real time through distance measuring sensors arranged on the periphery of the unmanned aerial vehicle body; And when the distance between the unmanned aerial vehicle and the object in the target cable duct is judged to be smaller than the set threshold value, adjusting the distance between the unmanned aerial vehicle and the object in the target cable duct so as to realize obstacle avoidance.
9. A trench acceptance system based on an unmanned aerial vehicle, characterized in that the system comprises a control device for implementing the method according to any of claims 1 to 3, and an unmanned aerial vehicle for implementing the method according to any of claims 4 to 7.
10. The system of claim 9, wherein the control device is a smart glasses.
11. An electronic device is characterized by comprising a memory and a processor; The memory stores computer-executable instructions; The processor executing computer-executable instructions stored in the memory, causing the processor to perform the method of any one of claims 1-8.

Description

Unmanned aerial vehicle-based cable duct acceptance method, system and equipment Technical Field The application relates to the field of cable acceptance, in particular to a cable duct acceptance method, system and equipment based on an unmanned aerial vehicle. Background With the continuous development of social productivity and the continuous acceleration of urban design, the number of power cable operation is continuously increased, and a cable trench is an important form of cable laying and plays an important role in a power cable channel. After the construction of the power cable trench is completed and the cabling is completed, operation and maintenance personnel often need to go to the cable trench to carry out full cable trench acceptance in order to ensure the construction quality and the cabling quality of the civil engineering, and how to ensure the acceptance efficiency of the operation and maintenance personnel is a problem which needs to be solved at present. In the prior art, two operation and maintenance personnel are generally required to enter the cable trench for checking and accepting the cable trench with lower depth, the cable trench needs to be subjected to semi-squatting and advancing for checking and accepting, photographing and retaining the existing problems or important nodes, and recording in a checking and accepting record table, wherein the recording comprises problem description, position number, recommended correction measures and the like. However, the acceptance method in the prior art has collision risk to operation and maintenance personnel, and cannot record clear problems, and has low acceptance efficiency. Disclosure of Invention The embodiment of the application provides a cable duct acceptance method, a system and equipment based on an unmanned aerial vehicle, which are used for solving the problems that in the prior art, collision risks exist for operation and maintenance personnel, clear problems cannot be recorded and acceptance efficiency is low. In a first aspect, an embodiment of the present application provides an unmanned aerial vehicle-based cable duct acceptance method, which is applied to a control device, and includes: The method comprises the steps of receiving a first instruction input by a user, sending a starting command to the unmanned aerial vehicle, wherein the starting command comprises a hovering instruction and a first pose of control equipment, so that the unmanned aerial vehicle hovers at a target cable trench inlet according to the hovering instruction, and adjusts a second pose to be the same as the first pose; receiving a video image in the target cable trench transmitted by the unmanned aerial vehicle, wherein the video image is acquired in real time by the unmanned aerial vehicle following the control equipment in the flight process in the target cable trench; and sending a control command to the unmanned aerial vehicle according to a second instruction input by a user, wherein the control command is used for indicating the unmanned aerial vehicle to execute corresponding defect recording operation aiming at the target cable trench so as to realize acceptance of the internal condition of the target cable trench. In one possible implementation manner, the second instruction is a photographing recording instruction, and the sending a control command to the unmanned aerial vehicle according to the second instruction input by the user includes: when the photographing record instruction is received, a control command containing a photographing instruction is generated; and sending the control command containing the photographing instruction to the unmanned aerial vehicle, so that the unmanned aerial vehicle captures a real-time image in the target cable trench according to the photographing instruction, and recording the current position. In one possible implementation manner, the second instruction is a zoom-in view instruction, and the sending a control command to the unmanned aerial vehicle according to the second instruction input by the user includes: generating a control command containing a magnification view instruction when the magnification view instruction is received; And sending the control command containing the amplified viewing instruction to the unmanned aerial vehicle, so that the unmanned aerial vehicle amplifies the real-time image in the target cable trench in the display picture according to the amplified viewing instruction. In a second aspect, an embodiment of the present application provides a cable duct acceptance method based on an unmanned aerial vehicle, which is applied to the unmanned aerial vehicle, and includes: Receiving a starting command sent by the control equipment, wherein the starting command comprises a hovering command and a first pose of the control equipment; hovering at the entrance of the target cable trench according to the hovering instruction, and adjusting a second pose which is the same as th