CN118573809A - Dynamic inspection monitoring method and system for power transmission line - Google Patents

Abstract

The present invention is applicable to the field of power line inspection technology, and provides a method and system for dynamic inspection and monitoring of power transmission lines. The present invention selects inspection and monitoring drones and inspection guidance drones; controls the inspection and guidance drones to guide and detect the target power transmission lines; plans the inspection and monitoring routes in real time, controls the inspection and monitoring drones to conduct inspection and monitoring; performs flight control on the inspection and guidance drones; and performs line abnormality alarm when there is a line abnormality. It is possible to select inspection and monitoring drones and inspection guidance drones, control the inspection and guidance drones to conduct guidance and detection on the target power transmission lines, plan the inspection and monitoring routes in real time, control the inspection and monitoring drones to conduct inspection and monitoring, and keep the inspection and monitoring drones and inspection guidance drones at a flight guidance distance along the line, which can not only realize the accurate monitoring and observation of drones during power line inspection, but also avoid collisions between drones and power lines, thereby realizing safe dynamic inspection of power transmission lines.

Description

A method and system for dynamic inspection and monitoring of power transmission lines

Technical Field

The present invention belongs to the technical field of electric line inspection, and in particular relates to a method and system for dynamic inspection and monitoring of power transmission lines.

Background Art

Dynamic inspection of transmission lines is the regular or irregular inspection and maintenance of power lines, cables and their ancillary facilities. Its main purpose is to promptly discover and solve problems in the power lines, prevent accidents and ensure the stable operation of the power system.

Drone power line inspection has the tendency to replace manual power line inspection. In the prior art, drones need to maintain a relatively close distance during power line inspection to conduct accurate monitoring and observation. However, due to problems such as wind, vibration and the power lines themselves, the power lines will swing, resulting in the risk of collision between drones and power lines, making it impossible to achieve safe dynamic inspection of power transmission lines.

Summary of the invention

The purpose of the embodiments of the present invention is to provide a method and system for dynamic inspection and monitoring of power transmission lines, aiming to solve the technical problems existing in the prior art mentioned in the background technology.

The embodiment of the present invention is implemented as follows:

A method for dynamic inspection and monitoring of power transmission lines, the method specifically comprising the following steps:

Determine the target transmission line, obtain the basic line data of the target transmission line, obtain the drone status data, and select the inspection monitoring drone and the inspection guidance drone;

According to the basic line data, the inspection and guidance drone is controlled to perform guidance detection on the target transmission line, and guidance detection data is obtained in real time;

According to the guidance detection data, the inspection and monitoring route is planned in real time, the inspection and monitoring drone is controlled to perform inspection and monitoring, and the inspection and monitoring data and monitoring positioning data are obtained;

According to the monitoring and positioning data, the flight speed along the route is determined in real time, and the inspection and guidance UAV is controlled to accompany the flight according to the flight speed along the route and the preset accompanying flight guidance distance;

The inspection and monitoring data are analyzed to determine whether there is a line abnormality, and if there is a line abnormality, the line abnormality position is marked and a line abnormality alarm is issued.

As a further limitation of the technical solution of the embodiment of the present invention, the determining of the target transmission line, obtaining the basic line data of the target transmission line, obtaining the drone status data, and selecting the inspection and monitoring drone and the inspection and guidance drone specifically include the following steps:

Identify target transmission lines;

Acquiring basic line data of the target transmission line from preset line backup data;

Get the drone status data and select two standby drones;

Mark the standby drones with long battery life as inspection and surveillance drones, and mark the standby drones with short battery life as inspection and guidance drones.

As a further limitation of the technical solution of the embodiment of the present invention, controlling the inspection guidance drone to perform guidance detection on the target transmission line according to the line basic data and obtaining the guidance detection data in real time specifically includes the following steps:

Extracting route location data from the route basic data;

Determining a guidance detection direction according to the line position data;

Planning a guidance detection route according to the guidance detection direction and the preset guidance detection height;

The inspection and guidance UAV is controlled to perform guidance detection along the target power transmission line according to the guidance detection route, and guidance detection data is obtained in real time.

As a further limitation of the technical solution of the embodiment of the present invention, the real-time planning of the inspection and monitoring route according to the guidance detection data, controlling the inspection and monitoring drone to perform inspection and monitoring, and obtaining the inspection and monitoring data and monitoring positioning data specifically include the following steps:

Extracting line space data from the line basic data;

Analyze the guidance detection data to determine the current amplitude range in real time;

According to the line spatial data and the current amplitude fluctuation range, a line amplitude fluctuation model is constructed in real time;

According to the amplitude model along the line and the preset inspection and monitoring distance, the inspection and monitoring route is planned in real time;

According to the inspection and surveillance route, control the inspection and surveillance drone to perform inspection and surveillance, and obtain inspection and surveillance data;

Perform inspection and surveillance positioning on the inspection and surveillance drone to obtain surveillance positioning data.

As a further limitation of the technical solution of the embodiment of the present invention, the real-time determination of the flight speed along the line according to the monitoring positioning data, and the accompanying flight control of the inspection guidance UAV according to the flight speed along the line and the preset accompanying flight guidance distance specifically include the following steps:

Constructing multiple line segment coordinate systems according to the line basic data;

According to the monitoring positioning data, a current coordinate system is selected from the plurality of line segment coordinate systems;

In the current coordinate system, the speed along the line is analyzed for the surveillance positioning data to determine the flight speed along the line in real time;

The inspection and guidance UAV is controlled to fly along the route according to the flight speed along the route and the preset flight guidance distance.

As a further limitation of the technical solution of the embodiment of the present invention, the analysis of the inspection and monitoring data to determine whether there is a line abnormality, and when there is a line abnormality, marking the line abnormality position, and issuing a line abnormality alarm specifically includes the following steps:

According to the preset standard image data, the inspection and monitoring data are compared and analyzed to determine whether there is any line abnormality;

When there is a line abnormality, an abnormality marking instruction is generated;

In response to the abnormal marking instruction, the line basic data and the monitoring positioning data are integrated to mark the abnormal position of the line;

According to the abnormal position of the line, an abnormal alarm signal is generated to perform a line abnormal alarm.

A dynamic inspection and monitoring system for power transmission lines, the system comprises a basic data acquisition module, a guidance detection control module, an inspection and monitoring control module, a companion flight control analysis module and a line abnormality alarm module, wherein:

A basic data acquisition module is used to determine the target transmission line, obtain the basic line data of the target transmission line, obtain the drone status data, and select the inspection monitoring drone and the inspection guidance drone;

A guidance detection control module is used to control the inspection guidance drone to perform guidance detection on the target power transmission line according to the line basic data, and obtain guidance detection data in real time;

The inspection and monitoring control module is used to plan the inspection and monitoring route in real time according to the guidance detection data, control the inspection and monitoring drone to perform inspection and monitoring, and obtain inspection and monitoring data and monitoring positioning data;

The accompanying flight control analysis module is used to determine the flight speed along the route in real time according to the monitoring positioning data, and to perform accompanying flight control on the inspection guidance UAV according to the flight speed along the route and the preset accompanying flight guidance distance;

The line abnormality alarm module is used to analyze the inspection and monitoring data to determine whether there is a line abnormality, and if there is a line abnormality, mark the line abnormality position and issue a line abnormality alarm.

As a further limitation of the technical solution of the embodiment of the present invention, the basic data acquisition module specifically includes:

A line determination unit, used for determining a target transmission line;

A data acquisition unit, used to acquire basic line data of the target power transmission line from preset line backup data;

A drone selection unit is used to obtain drone status data and select two standby drones;

The drone marking unit is used to mark a standby drone with a long battery life as an inspection and surveillance drone, and to mark a standby drone with a short battery life as an inspection and guidance drone.

As a further limitation of the technical solution of the embodiment of the present invention, the inspection and monitoring control module specifically includes:

A data extraction unit, used for extracting line space data from the line basic data;

An amplitude analysis unit, used to analyze the guidance detection data and determine the current amplitude range in real time;

A model building unit, used for building a line amplitude fluctuation model in real time according to the line spatial data and the current amplitude fluctuation range;

A route planning unit, used to plan the inspection and monitoring route in real time according to the amplitude movement model along the route and the preset inspection and monitoring distance;

A patrol inspection and monitoring control unit, used to control the patrol inspection and monitoring drone to perform patrol inspection and monitoring according to the patrol inspection and monitoring route, and obtain patrol inspection and monitoring data;

The inspection, monitoring and filming positioning unit is used to perform inspection, monitoring and filming positioning on the inspection, monitoring and filming drone and obtain monitoring and filming positioning data.

As a further limitation of the technical solution of the embodiment of the present invention, the accompanying flight control analysis module specifically includes:

A coordinate system construction unit, used to construct multiple line segment coordinate systems according to the line basic data;

A coordinate system selection unit, used for selecting a current coordinate system from the plurality of line segment coordinate systems according to the monitoring positioning data;

A line speed analysis unit, used to perform line speed analysis on the monitoring and positioning data in the current coordinate system, and determine the line flight speed in real time;

The accompanying flight control unit is used to control the accompanying flight of the inspection and guidance UAV according to the flight speed along the line and the preset accompanying flight guidance distance.

Compared with the prior art, the present invention has the following beneficial effects:

The embodiment of the present invention selects inspection and monitoring drones and inspection and guidance drones; controls the inspection and guidance drones to guide and detect the target transmission line; plans the inspection and monitoring route in real time, controls the inspection and monitoring drones to inspect and monitor; controls the inspection and guidance drones to fly with them; and issues an alarm for line abnormalities when there are line abnormalities. Inspection and monitoring drones and inspection and guidance drones can be selected, and the inspection and guidance drones can be controlled to guide and detect the target transmission line, and the inspection and monitoring route can be planned in real time, and the inspection and monitoring drones can be controlled to inspect and monitor, and the inspection and monitoring drones and inspection and guidance drones can be kept at a flying with them and guidance distance along the line. This can not only realize accurate monitoring and observation of drones during power line inspection, but also avoid collisions between drones and power lines, thereby realizing safe dynamic inspection of power transmission lines.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG1 shows a flow chart of a method for dynamic inspection and monitoring of power transmission lines provided by an embodiment of the present invention;

FIG2 shows a flow chart of obtaining line basic data in a method provided in an embodiment of the present invention;

FIG3 shows a flow chart of obtaining guidance detection data in a method provided by an embodiment of the present invention;

FIG4 shows a flow chart of obtaining patrol inspection and surveillance data in a method provided in an embodiment of the present invention;

FIG5 shows a flow chart of the accompanying flight control of the inspection and guidance UAV in the method provided by an embodiment of the present invention;

FIG6 shows a flow chart of performing line abnormality alarm in the method provided by an embodiment of the present invention;

FIG7 shows an application architecture diagram of a dynamic inspection and monitoring system for power transmission lines provided by an embodiment of the present invention;

FIG8 shows an application architecture diagram of a basic data acquisition module in a system provided by an embodiment of the present invention;

FIG9 shows an application architecture diagram of the inspection and monitoring control module in the system provided by an embodiment of the present invention;

FIG. 10 shows an application architecture diagram of a companion flight control analysis module in a system provided by an embodiment of the present invention.

DETAILED DESCRIPTION

In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

It is understandable that drone power line inspection has the tendency to replace manual power line inspection. In the prior art, drones need to maintain a relatively close distance during power line inspection to conduct accurate monitoring and observation. However, due to problems such as wind, vibration and the power lines themselves, the power lines will swing, resulting in the risk of collision between drones and power lines, making it impossible to achieve safe dynamic inspection of power transmission lines.

To solve the above problems, an embodiment of the present invention discloses a method and system for dynamic inspection and monitoring of power transmission lines. The method comprises the following steps: determining a target transmission line, obtaining basic line data of the target transmission line, obtaining drone status data, selecting an inspection and monitoring drone and an inspection guidance drone; controlling the inspection and guidance drone to perform guidance detection on the target transmission line according to the basic line data, and obtaining guidance detection data in real time; planning the inspection and monitoring route in real time according to the guidance detection data, controlling the inspection and monitoring drone to perform inspection and monitoring, and obtaining inspection and monitoring data and monitoring positioning data; determining the flight speed along the line in real time according to the monitoring positioning data, and controlling the inspection and guidance drone to perform accompanying flight according to the flight speed along the line and a preset accompanying flight guidance distance; analyzing the inspection and monitoring data to determine whether there is a line abnormality, and marking the line abnormality position when there is a line abnormality, and issuing a line abnormality alarm. It is possible to select inspection and monitoring drones and inspection and guidance drones, control the inspection and guidance drones to guide and detect the target transmission lines, plan the inspection and monitoring routes in real time, control the inspection and monitoring drones to conduct inspection and monitoring, and keep the inspection and monitoring drones and inspection and guidance drones at a flying companion and guidance distance along the line. This can not only achieve accurate monitoring and observation of drones during power line inspections, but also avoid collisions between drones and power lines, thereby achieving safe dynamic inspections of transmission lines.

Specifically, FIG1 shows a flow chart of a method for dynamic inspection and monitoring of power transmission lines provided in an embodiment of the present invention.

In a preferred embodiment of the present invention, a method for dynamic inspection and monitoring of power transmission lines is provided, and the method specifically comprises the following steps:

Step S101: determine the target transmission line, obtain the basic line data of the target transmission line, obtain the drone status data, and select the inspection monitoring drone and the inspection guidance drone.

In an embodiment of the present invention, a target transmission line that needs to be dynamically inspected and monitored is determined, and then basic line data of the target transmission line is obtained from preset line backup data, and drone status data is obtained. Two standby drones are selected from multiple idle drones, and the standby endurance data of the two standby drones are extracted from the drone status data. According to the standby endurance data of the two standby drones, the standby drone with a long endurance is marked as an inspection and monitoring drone, and the standby drone with a short endurance is marked as an inspection guidance drone.

It can be understood that in the embodiment of the present invention, the inspection and guidance drone only needs to fly in a straight line along the target transmission line while maintaining a constant altitude, while the inspection and monitoring drone needs to fly in a complex curve according to the specific line ups and downs and the number of parallel lines of the target transmission line. Therefore, the total flight distance of the inspection and monitoring drone is greater than that of the inspection and guidance drone, and a longer endurance is required.

Specifically, FIG2 shows a flow chart of obtaining basic line data in the method provided in an embodiment of the present invention.

Among them, in the preferred embodiment provided by the present invention, the determining of the target transmission line, obtaining the line basic data of the target transmission line, obtaining the drone status data, and selecting the inspection and monitoring drone and the inspection and guidance drone specifically include the following steps:

Step S1011: determine the target transmission line.

Step S1012: Acquire basic line data of the target transmission line from preset line backup data.

Step S1013: Obtain drone status data and select two standby drones.

Step S1014: mark the standby drone with long battery life as an inspection and monitoring drone, and mark the standby drone with short battery life as an inspection and guidance drone.

Furthermore, the transmission line dynamic inspection and monitoring method further comprises the following steps:

Step S102: According to the basic line data, control the inspection and guidance drone to perform guidance detection on the target transmission line, and obtain guidance detection data in real time.

In an embodiment of the present invention, the line location data is extracted from the line basic data, and the guidance detection direction is determined based on the line location data. Then, according to the guidance detection direction and the preset guidance detection height, the flight route of the inspection and guidance UAV is planned to generate a guidance detection route. Then, according to the guidance detection route, the inspection and guidance UAV is controlled to fly, and guidance detection is performed along the target transmission line along the guidance detection direction and the guidance detection height, so as to obtain guidance detection data in real time.

It can be understood that the guidance detection along the line is to detect and record the vibration amplitude of the target transmission line at different locations to generate guidance detection data.

Specifically, FIG3 shows a flow chart of obtaining guidance detection data in the method provided in an embodiment of the present invention.

Among them, in the preferred embodiment provided by the present invention, the control of the inspection guidance drone to perform guidance detection on the target transmission line according to the line basic data and the real-time acquisition of guidance detection data specifically include the following steps:

Step S1021: extracting route location data from the route basic data.

Step S1022: Determine a guidance detection direction according to the line position data.

Step S1023: planning a guidance detection route according to the guidance detection direction and the preset guidance detection height.

Step S1024: Control the inspection guidance drone to perform guidance detection along the target power transmission line according to the guidance detection route, and obtain guidance detection data in real time.

Furthermore, the transmission line dynamic inspection and monitoring method further comprises the following steps:

Step S103: According to the guidance detection data, the inspection and monitoring route is planned in real time, the inspection and monitoring drone is controlled to perform inspection and monitoring, and the inspection and monitoring data and monitoring positioning data are obtained.

In an embodiment of the present invention, by extracting line space data from line basic data and identifying and analyzing the vibration amplitude of the guidance detection data, the current amplitude range of different positions of the target transmission line is determined in real time, and then based on the line space data and combined with the current amplitude range, an amplitude model along the target transmission line is constructed in real time, and then according to the amplitude model along the line and the preset inspection and monitoring distance, the inspection and monitoring route of the inspection and monitoring drone is planned in real time, and then according to the inspection and monitoring route, the inspection and monitoring drone is controlled to perform inspection and monitoring flight, and during the inspection and monitoring flight, different positions of the target transmission line are inspected and monitored to obtain inspection and monitoring data, and the inspection and monitoring drone is positioned in real time to obtain monitoring positioning data.

It can be understood that the line space data refers to data such as the height of the tower, the line distance between the towers, the specific line undulations of the transmission line, and the number of parallel lines.

It can be understood that patrol inspection and filming involves monitoring and filming the target transmission line's wires for broken strands, looseness, wear, corrosion, bird damage, hanging foreign objects, etc., as well as monitoring and filming the target transmission line's insulators for cleaning, damage, and flashover signs.

Specifically, FIG4 shows a flow chart of obtaining patrol inspection and surveillance data in the method provided in an embodiment of the present invention.

Among them, in the preferred embodiment provided by the present invention, the real-time planning of the inspection and monitoring route according to the guidance detection data, the control of the inspection and monitoring drone to perform inspection and monitoring, and the acquisition of inspection and monitoring data and monitoring positioning data specifically include the following steps:

Step S1031: extracting line space data from the line basic data.

Step S1032: Analyze the guidance detection data to determine the current amplitude range in real time.

Step S1033: constructing an amplitude fluctuation model along the line in real time according to the line spatial data and the current amplitude fluctuation range.

Step S1034: planning the inspection and surveillance route in real time according to the amplitude motion model along the line and the preset inspection and surveillance distance.

Step S1035: control the inspection and monitoring drone to perform inspection and monitoring according to the inspection and monitoring route, and obtain inspection and monitoring data.

Step S1036: perform inspection and surveillance positioning on the inspection and surveillance drone to obtain surveillance positioning data.

Furthermore, the transmission line dynamic inspection and monitoring method further comprises the following steps:

Step S104: determine the flight speed along the route in real time according to the monitoring and positioning data, and control the accompanying flight of the inspection and guidance UAV according to the flight speed along the route and the preset accompanying flight guidance distance.

In an embodiment of the present invention, according to the basic line data, different line segment coordinate systems are constructed between different towers with the vertical direction corresponding to the tower as the y-axis and the horizontal direction as the x-axis, and then according to the monitoring and shooting positioning data, the current coordinate system corresponding to the current position is selected from multiple line segment coordinate systems, and then in the current coordinate system, the monitoring and shooting positioning data is analyzed for the line speed in the x-axis direction, and the flight speed along the line is determined in real time. According to the flight speed along the line and the preset accompanying flight guidance distance, the inspection and guidance UAV is controlled to accompany the flight, so that in the x-axis direction of the current coordinate system, the inspection and guidance UAV always performs inspection and guidance flight in front of the inspection and monitoring UAV, and the x-axis direction between the inspection and guidance UAV and the inspection and monitoring UAV maintains a stable accompanying flight guidance distance, which can not only ensure the safety between the inspection and guidance UAV and the inspection and monitoring UAV, but also enable the inspection and guidance UAV to obtain inspection and monitoring data, which is consistent with the situation faced by the inspection and monitoring UAV, thereby providing effective data for the inspection and monitoring route planning of the inspection and monitoring UAV.

Specifically, FIG5 shows a flow chart of the accompanying flight control of the inspection and guidance UAV in the method provided by an embodiment of the present invention.

Among them, in the preferred embodiment provided by the present invention, the flight speed along the line is determined in real time according to the monitoring positioning data, and the accompanying flight control of the inspection guidance drone according to the flight speed along the line and the preset accompanying flight guidance distance specifically includes the following steps:

Step S1041: construct multiple line segment coordinate systems according to the line basic data.

Step S1042: select a current coordinate system from the plurality of line segment coordinate systems according to the monitoring positioning data.

Step S1043: In the current coordinate system, perform speed analysis on the surveillance positioning data along the line to determine the flight speed along the line in real time.

Step S1044: Control the inspection and guidance UAV to fly along the route according to the flight speed along the route and the preset flight guidance distance.

Furthermore, the transmission line dynamic inspection and monitoring method further comprises the following steps:

Step S105: Analyze the inspection and monitoring data to determine whether there is a line abnormality, and if there is a line abnormality, mark the line abnormality position and issue a line abnormality alarm.

In an embodiment of the present invention, a comparative analysis is performed on the inspection and monitoring data according to preset standard image data to determine whether there is a line abnormality. In the case of a line abnormality, an abnormal marking instruction is generated, and then in response to the abnormal marking instruction, a specific line abnormality position is marked on the target transmission line by integrating the line basic data and the monitoring positioning data, and then an abnormal alarm signal is generated according to the line abnormality position, and the abnormal alarm signal is sent to the corresponding responsible department to perform a line abnormality alarm.

Specifically, FIG6 shows a flow chart of performing line abnormality alarm in the method provided in an embodiment of the present invention.

Among them, in the preferred embodiment provided by the present invention, the analysis of the inspection and monitoring data to determine whether there is a line abnormality, and when there is a line abnormality, marking the line abnormality position, and issuing a line abnormality alarm specifically includes the following steps:

Step S1051: Compare and analyze the inspection and monitoring data according to preset standard image data to determine whether there is any line abnormality.

Step S1052: When there is a line abnormality, generate an abnormality marking instruction.

Step S1053, responding to the abnormal marking instruction, integrating the line basic data and the monitoring positioning data, and marking the abnormal position of the line.

Step S1054: Generate an abnormal alarm signal according to the abnormal position of the line and issue a line abnormal alarm.

Furthermore, FIG7 shows an application architecture diagram of a dynamic inspection and monitoring system for power transmission lines provided in an embodiment of the present invention.

Among them, in another preferred embodiment provided by the present invention, a transmission line dynamic inspection and monitoring system includes:

The basic data acquisition module 101 is used to determine the target transmission line, obtain the basic line data of the target transmission line, obtain the drone status data, and select the inspection monitoring drone and the inspection guidance drone.

In an embodiment of the present invention, the basic data acquisition module 101 determines the target transmission line that needs to be dynamically inspected and monitored, and then obtains the basic line data of the target transmission line from the preset line backup data, and obtains the drone status data, selects two standby drones from multiple idle drones, and extracts the standby endurance data of the two standby drones from the drone status data, and according to the standby endurance data of the two standby drones, the standby drone with a long endurance is marked as an inspection and monitoring drone, and the standby drone with a short endurance is marked as an inspection guidance drone.

Specifically, FIG8 shows an application architecture diagram of the basic data acquisition module 101 in the system provided by an embodiment of the present invention.

Among them, in the preferred embodiment provided by the present invention, the basic data acquisition module 101 specifically includes:

The line determination unit 1011 is used to determine the target transmission line.

The data acquisition unit 1012 is used to acquire the basic line data of the target transmission line from the preset line backup data.

The drone selection unit 1013 is used to obtain drone status data and select two standby drones.

The drone marking unit 1014 is used to mark a standby drone with a long battery life as an inspection and monitoring drone, and to mark a standby drone with a short battery life as an inspection and guidance drone.

Furthermore, the transmission line dynamic inspection and monitoring system also includes:

The guidance detection control module 102 is used to control the inspection guidance drone to perform guidance detection on the target transmission line according to the line basic data, and obtain guidance detection data in real time.

In an embodiment of the present invention, the guidance detection control module 102 extracts the line position data from the line basic data, and then determines the guidance detection direction according to the line position data, and then plans the flight route of the inspection guidance UAV according to the guidance detection direction and the preset guidance detection height, generates a guidance detection route, and then controls the inspection guidance UAV to fly according to the guidance detection route, performs guidance detection along the target transmission line along the guidance detection direction and the guidance detection height, and obtains guidance detection data in real time.

The inspection and monitoring control module 103 is used to plan the inspection and monitoring route in real time according to the guidance detection data, control the inspection and monitoring drone to perform inspection and monitoring, and obtain inspection and monitoring data and monitoring positioning data.

In an embodiment of the present invention, the inspection and monitoring control module 103 extracts line space data from the line basic data, and identifies and analyzes the vibration amplitude of the guidance detection data to determine the current amplitude range of different positions of the target transmission line in real time, and then builds an amplitude model along the target transmission line in real time based on the line space data and the current amplitude range, and then plans the inspection and monitoring route of the inspection and monitoring drone in real time according to the amplitude model along the line and the preset inspection and monitoring distance, and then controls the inspection and monitoring drone to perform inspection and monitoring flight according to the inspection and monitoring route, and during the inspection and monitoring flight, inspects and monitors different positions of the target transmission line to obtain inspection and monitoring data, and performs real-time inspection and monitoring positioning of the inspection and monitoring drone to obtain monitoring positioning data.

Specifically, FIG9 shows an application architecture diagram of the inspection and monitoring control module 103 in the system provided in an embodiment of the present invention.

Among them, in the preferred embodiment provided by the present invention, the inspection and monitoring control module 103 specifically includes:

The data extraction unit 1031 is used to extract the line space data from the line basic data.

The amplitude analysis unit 1032 is used to analyze the guidance detection data and determine the current amplitude range in real time.

The model building unit 1033 is used to build a line amplitude fluctuation model in real time according to the line spatial data and the current amplitude fluctuation range.

The route planning unit 1034 is used to plan the inspection and surveillance route in real time according to the amplitude motion model along the route and the preset inspection and surveillance distance.

The inspection and monitoring control unit 1035 is used to control the inspection and monitoring drone to perform inspection and monitoring according to the inspection and monitoring route and obtain inspection and monitoring data.

The inspection, monitoring and filming positioning unit 1036 is used to perform inspection, monitoring and filming positioning on the inspection, monitoring and filming drone and obtain monitoring and filming positioning data.

Furthermore, the transmission line dynamic inspection and monitoring system also includes:

The accompanying flight control analysis module 104 is used to determine the flight speed along the line in real time according to the monitoring positioning data, and to perform accompanying flight control on the inspection guidance UAV according to the flight speed along the line and the preset accompanying flight guidance distance.

In an embodiment of the present invention, the companion flight control analysis module 104 constructs different line segment coordinate systems between different towers according to the line basic data, with the vertical direction corresponding to the tower as the y-axis and the horizontal direction as the x-axis, and then selects the current coordinate system corresponding to the current position from multiple line segment coordinate systems according to the monitoring and shooting positioning data, and then in the current coordinate system, performs along-line speed analysis on the monitoring and shooting positioning data in the x-axis direction, determines the flight speed along the line in real time, and performs companion flight control on the inspection and guidance UAV according to the flight speed along the line and the preset companion flight guidance distance, so that in the x-axis direction of the current coordinate system, the inspection and guidance UAV always performs inspection and guidance flight in front of the inspection and monitoring UAV, and maintains a stable companion flight guidance distance between the inspection and guidance UAV and the inspection and monitoring UAV in the x-axis direction, which can not only ensure the safety between the inspection and guidance UAV and the inspection and monitoring UAV, but also enable the inspection and guidance UAV to obtain inspection and monitoring data, which is consistent with the situation faced by the inspection and monitoring UAV, thereby providing effective data for the inspection and monitoring route planning of the inspection and monitoring UAV.

Specifically, FIG10 shows an application architecture diagram of the accompanying flight control analysis module 104 in the system provided in an embodiment of the present invention.

Among them, in the preferred embodiment provided by the present invention, the accompanying flight control analysis module 104 specifically includes:

The coordinate system construction unit 1041 is used to construct multiple line segment coordinate systems according to the line basic data.

The coordinate system selection unit 1042 is used to select a current coordinate system from the multiple line segment coordinate systems according to the monitoring positioning data.

The along-line speed analysis unit 1043 is used to perform along-line speed analysis on the monitoring positioning data in the current coordinate system to determine the along-line flight speed in real time.

The accompanying flight control unit 1044 is used to control the accompanying flight of the inspection guidance UAV according to the flight speed along the line and the preset accompanying flight guidance distance.

Furthermore, the transmission line dynamic inspection and monitoring system also includes:

The line abnormality alarm module 105 is used to analyze the inspection and monitoring data to determine whether there is a line abnormality, and if there is a line abnormality, mark the line abnormality position and issue a line abnormality alarm.

In an embodiment of the present invention, the line abnormality alarm module 105 compares and analyzes the inspection and monitoring data according to the preset standard image data to determine whether there is a line abnormality. If there is a line abnormality, an abnormal marking instruction is generated, and then the abnormal marking instruction is responded to. By integrating the basic line data and the monitoring positioning data, the specific line abnormality position is marked on the target transmission line, and then according to the line abnormality position, an abnormal alarm signal is generated, and the abnormal alarm signal is sent to the corresponding responsible department to perform a line abnormality alarm.

It should be understood that, although each step in the flow chart of each embodiment of the present invention is shown in sequence according to the indication of the arrow, these steps are not necessarily performed in sequence according to the order indicated by the arrow. Unless there is a clear explanation in this article, the execution of these steps does not have strict order restrictions, and these steps can be performed in other orders. Moreover, at least a portion of the steps in each embodiment may include a plurality of sub-steps or a plurality of stages, and these sub-steps or stages are not necessarily performed at the same time, but can be performed at different times, and the execution order of these sub-steps or stages is not necessarily performed in sequence, but can be performed in turn or alternately with at least a portion of other steps or sub-steps or stages of other steps.

Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the program can be stored in a non-volatile computer-readable storage medium. When the program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application can include non-volatile and/or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

The above-mentioned embodiments only express several implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the patent of the present invention. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims (10)

1. The dynamic inspection and monitoring method for the power transmission line is characterized by comprising the following steps of:

Determining a target power transmission line, acquiring line basic data of the target power transmission line, acquiring unmanned aerial vehicle state data, and selecting an inspection monitoring unmanned aerial vehicle and an inspection guiding unmanned aerial vehicle;

According to the line basic data, controlling the inspection guiding unmanned aerial vehicle to conduct guiding detection on the target power transmission line, and acquiring guiding detection data in real time;

According to the guiding detection data, planning a patrol monitoring shooting route in real time, and controlling the patrol monitoring shooting unmanned aerial vehicle to carry out patrol monitoring shooting to obtain patrol monitoring shooting data and monitoring shooting positioning data;

determining the flying speed along the line in real time according to the monitoring and shooting positioning data, and carrying out accompanying control on the inspection guiding unmanned aerial vehicle according to the flying speed along the line and a preset accompanying guiding distance;

analyzing the inspection monitoring data, judging whether the line is abnormal, and marking the abnormal position of the line when the line is abnormal, and carrying out line abnormality alarm.

2. The method for dynamically inspecting and monitoring the power transmission line according to claim 1, wherein the steps of determining a target power transmission line, acquiring line base data of the target power transmission line, acquiring unmanned aerial vehicle state data, and selecting an inspection and monitoring unmanned aerial vehicle and an inspection guiding unmanned aerial vehicle include the following steps:

Determining a target power transmission line;

acquiring line basic data of the target power transmission line from preset line backup data;

acquiring unmanned aerial vehicle state data, and selecting two standby unmanned aerial vehicles;

and marking the standby unmanned aerial vehicle with long endurance as a patrol inspection and photographing unmanned aerial vehicle, and marking the standby unmanned aerial vehicle with short endurance as a patrol inspection and guiding unmanned aerial vehicle.

3. The method for dynamically inspecting and monitoring the transmission line according to claim 1, wherein the step of controlling the inspection guiding unmanned aerial vehicle to conduct guiding detection on the target transmission line according to the line basic data, and the step of obtaining guiding detection data in real time specifically comprises the following steps:

extracting line position data from the line base data;

Determining a guiding detection direction according to the line position data;

Planning a guiding detection route according to the guiding detection direction and the preset guiding detection height;

and controlling the inspection guiding unmanned aerial vehicle to conduct line guiding detection on the target power transmission line according to the guiding detection route, and acquiring guiding detection data in real time.

4. The method for dynamically inspecting and monitoring the transmission line according to claim 1, wherein the step of planning the inspection and monitoring route in real time according to the guiding detection data, controlling the inspection and monitoring unmanned aerial vehicle to inspect and monitor, and obtaining inspection and monitoring data and monitoring positioning data specifically comprises the following steps:

extracting line space data from the line basic data;

analyzing the guiding detection data, and determining the current amplitude range in real time;

Constructing a line amplitude motion model in real time according to the line space data and the current amplitude motion range;

planning a patrol monitoring shooting route in real time according to the line amplitude moving model and a preset patrol monitoring shooting distance;

Controlling the inspection monitoring unmanned aerial vehicle to carry out inspection monitoring according to the inspection monitoring shooting route to acquire inspection monitoring shooting data;

and carrying out inspection monitoring and shooting positioning on the inspection monitoring and shooting unmanned aerial vehicle to acquire monitoring and shooting positioning data.

5. The method for dynamically inspecting and monitoring the transmission line according to claim 1, wherein the step of determining the flying speed along the line in real time according to the monitoring positioning data and performing accompanying control on the inspection guiding unmanned aerial vehicle according to the flying speed along the line and a preset accompanying guiding distance specifically comprises the following steps:

constructing a plurality of line segment coordinate systems according to the line basic data;

Selecting a current coordinate system from a plurality of line segment coordinate systems according to the monitoring positioning data;

in the current coordinate system, analyzing the line speed of the monitoring and shooting positioning data, and determining the flying speed along the line in real time;

and carrying out accompanying control on the inspection guiding unmanned aerial vehicle according to the flying speed along the line and a preset accompanying guiding distance.

6. The method for dynamically inspecting and monitoring the transmission line according to claim 1, wherein the analyzing the inspecting and monitoring data to determine whether the transmission line is abnormal, and marking the abnormal position of the transmission line when the transmission line is abnormal, and performing the transmission line abnormality alarm specifically comprises the following steps:

comparing and analyzing the inspection monitoring data according to preset standard image data, and judging whether the line is abnormal or not;

generating an abnormality marking instruction when the line is abnormal;

responding to the abnormal marking instruction, synthesizing the line basic data and the monitoring and positioning data, and marking the abnormal position of the line;

Generating an abnormality alarm signal according to the abnormal position of the line, and carrying out line abnormality alarm.

7. The utility model provides a transmission line developments inspection prison clapping system, its characterized in that, the system includes basic data acquisition module, guides and surveys control module, inspection prison clapping control module, companion flight control analysis module and line abnormality alarm module, wherein:

the system comprises a basic data acquisition module, a control module and a control module, wherein the basic data acquisition module is used for determining a target power transmission line, acquiring line basic data of the target power transmission line, acquiring unmanned aerial vehicle state data and selecting an inspection and shooting unmanned aerial vehicle and an inspection and guidance unmanned aerial vehicle;

The guiding detection control module is used for controlling the inspection guiding unmanned aerial vehicle to conduct guiding detection on the target power transmission line according to the line basic data, and acquiring guiding detection data in real time;

The inspection monitoring and shooting control module is used for planning an inspection monitoring and shooting route in real time according to the guiding detection data, controlling the inspection monitoring and shooting unmanned aerial vehicle to carry out inspection monitoring and shooting, and obtaining inspection monitoring and shooting data and monitoring and shooting positioning data;

The accompanying flight control analysis module is used for determining the flying speed along the line in real time according to the monitoring and shooting positioning data and carrying out accompanying flight control on the inspection guiding unmanned aerial vehicle according to the flying speed along the line and a preset accompanying flight guiding distance;

And the line abnormality alarming module is used for analyzing the inspection monitoring data, judging whether the line abnormality exists or not, marking the line abnormality position when the line abnormality exists, and alarming the line abnormality.

8. The power transmission line dynamic patrol monitoring system according to claim 7, wherein the basic data acquisition module specifically comprises:

a line determining unit for determining a target transmission line;

the data acquisition unit is used for acquiring line basic data of the target power transmission line from preset line backup data;

the unmanned aerial vehicle selection unit is used for acquiring unmanned aerial vehicle state data and selecting two standby unmanned aerial vehicles;

the unmanned aerial vehicle marking unit is used for marking the standby unmanned aerial vehicle with long endurance as a patrol inspection and photographing unmanned aerial vehicle and marking the standby unmanned aerial vehicle with short endurance as a patrol inspection and guiding unmanned aerial vehicle.

9. The power transmission line dynamic inspection and monitoring system according to claim 7, wherein the inspection and monitoring control module specifically comprises:

A data extraction unit, configured to extract line space data from the line base data;

The amplitude and movement analysis unit is used for analyzing the guiding detection data and determining the current amplitude and movement range in real time;

the model construction unit is used for constructing a line amplitude motion model in real time according to the line space data and the current amplitude motion range;

The route planning unit is used for planning a patrol monitoring shooting route in real time according to the line amplitude dynamic model and a preset patrol monitoring shooting distance;

The inspection monitoring and shooting control unit is used for controlling the inspection monitoring and shooting unmanned aerial vehicle to conduct inspection monitoring and shooting according to the inspection monitoring and shooting route to acquire inspection monitoring and shooting data;

And the inspection monitoring and shooting positioning unit is used for performing inspection monitoring and shooting positioning on the inspection monitoring and shooting unmanned aerial vehicle to acquire monitoring and shooting positioning data.

10. The power transmission line dynamic patrol monitoring system according to claim 7, wherein the accompanying flight control analysis module specifically comprises:

The coordinate system construction unit is used for constructing a plurality of line segment coordinate systems according to the line basic data;

The coordinate system selection unit is used for selecting a current coordinate system from a plurality of line segment coordinate systems according to the monitoring positioning data;

the line speed analysis unit is used for analyzing the line speed of the monitoring and shooting positioning data in the current coordinate system and determining the line flight speed in real time;

And the accompanying control unit is used for carrying out accompanying control on the inspection guiding unmanned aerial vehicle according to the flying speed along the line and the preset accompanying guiding distance.