CN102255259A - Transmission line tour inspection device suitable for unmanned aerial vehicle - Google Patents
Transmission line tour inspection device suitable for unmanned aerial vehicle Download PDFInfo
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- CN102255259A CN102255259A CN2011100762444A CN201110076244A CN102255259A CN 102255259 A CN102255259 A CN 102255259A CN 2011100762444 A CN2011100762444 A CN 2011100762444A CN 201110076244 A CN201110076244 A CN 201110076244A CN 102255259 A CN102255259 A CN 102255259A
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Abstract
The invention provides a transmission line tour inspection device suitable for unmanned aerial vehicle. The transmission line tour inspection device comprises an airborne detection platform and a ground control platform, wherein the airborne detection platform is arranged on the unmanned aerial vehicle, and comprises a stabilization holder and a data integration and control unit which are connected with each other; and the ground control platform comprises a ground wireless communication module and a ground control unit which are connected with each other. An airborne detection system can be arranged on various unmanned aerial vehicles, can acquire visible light, infrared and ultraviolet image information at the same time and output video images fusing information about the longitude and latitude, altitude, attitude, time and the like of the unmanned aerial vehicle by a caption card, and transmits three paths of images with caption information back to a ground control system in real time in a wireless communication way, and a ground operator can remotely control the airborne detection system by the ground control system according to the real-time images, timely discover faults and failures of transmission equipment and accurately position fault points according to a global positioning system (GPS).
Description
Technical field
The present invention relates to a kind of polling transmission line device, particularly a kind of polling transmission line device that is suitable for unmanned vehicle.
Background technology
Transmission line is the part of electric power networks maximum, for ensureing the normal operation of electric power system and circuit and facility, needs regularly power circuit and facility to be maked an inspection tour and detected.Yet transmission line has, and the overlay area is big, mileage is extremely long and characteristics such as wild environment complexity, has brought very big challenge to line inspection, has brought a lot of difficulties also for the detection of power circuit.Particularly pass through geological disasters such as the frequent many landslides of virgin forest border district, high height above sea level, the ice and snow area of coverage and existence along the line, mud-rock flow for power circuit, high slope, most of regional mountain is steep, when transport and communication is extremely undeveloped, how to solve the daily detection of power circuit, improve accuracy of detection and efficient, become a great difficult problem of puzzlement power industry.That traditional manual inspection method is taken time is long, human cost is high, difficulty is big, efficient is low, and some projects of patrolling and examining are difficult to finish by conventional method, totally unfavorable for the safe operation of assurance electrical network, and employee's life security has also been constituted serious threat.
The mode that substitutes artificial line walking at present mainly comprises several classes such as circuit robot line walking, satellite remote sensing and manned aircraft line walking.The robot line walking need on lead, hang and also efficient lower, satellite remote sensing is subjected to the influence that meteorological cloud layer covers and heavily visits the restriction and the expense in cycle higher.The mode of the wherein practical manned helicopter of employing realizes patrolling and examining of transmission line, generally adopts in American-European countries.Helicopter is patrolled and examined transmission line and is had and patrol and examine flexible and be not subjected to unique advantages such as high mountains and deep gullies restriction, detection that can multi-angle, can find indiscoverable hidden equipment deficiency in some manual patrols, thereby more fully detect the whole piece circuit, greatly improve the efficient of patrolling and examining.The trial that present China patrols and examines transmission line to manned helicopter is just at the early-stage, has obtained experience and the achievement of some.Although patrolling and examining greatly to have improved, aircraft patrols and examines efficient; but because China's air resource management is strict; rely on traditional manned fixed wing aircraft or helicopter to polling transmission line; need a large amount of preparations such as pilot's training, flight application before the flight; accent machine, shutdown need expense and time, be difficult to realize periodical inspection, and operation cost are higher; being subjected to the restriction of meteorology, geographical conditions more, also is very big challenge to personal security under adverse circumstances.
Summary of the invention
The object of the present invention is to provide a kind of flexible, rapidly and efficiently, the practical economic polling transmission line device that is suitable for unmanned vehicle.
For solving the problems of the technologies described above, the present invention is suitable for the polling transmission line device of unmanned vehicle, comprising: airborne detection platform is arranged on the unmanned vehicle; Described airborne detection platform comprises interconnective steady The Cloud Terrace and data integration and the control unit of increasing; The Ground Control platform; Described Ground Control platform comprises terrestrial wireless communication module and the terrestrial contr that intercouples, and described Ground Control platform is by described terrestrial wireless communication module and described airborne detection platform communication.
Describedly increase steady The Cloud Terrace and be provided with visible light camera, thermal infrared imager and ultraviolet imagery instrument, described visible light camera, described thermal infrared imager and described ultraviolet imagery instrument are independent respectively mutually to be provided with; Described data are integrated video compression card module, title insert module, airborne wireless communication module and the storage module that comprises embedded type control module and coupling with it with control unit; Described visible light camera, described thermal infrared imager and described ultraviolet imagery instrument are connected with described embedded type control module, described video compression card module and described title insert module respectively.
Described increasing also is provided with a cradle head control interface on the steady The Cloud Terrace, describedly increase steady The Cloud Terrace and be connected with described embedded type control module by described cradle head control interface; Described data are integrated with control unit and also are provided with an Ethernet data download interface; Described airborne detection platform also further comprises an airborne power supply, and described airborne power supply increases steady The Cloud Terrace and integrates with described data and be connected with control unit with described respectively; Described Ground Control platform also further comprises a video-frequency monitor, and described video-frequency monitor is connected with described terrestrial wireless communication module; Described storage module is the built-in industrial control machine hard disk; It is described that to increase steady The Cloud Terrace be that gyro increases steady The Cloud Terrace.
The polling transmission line device that the present invention is suitable for unmanned vehicle is the new technology of a multidisciplinary intersection, have flexible, rapidly and efficiently, practical economic dispatch characteristics, for ensureing the circuit safe operation and realizing that the informationization of transmission of electricity link, intellectuality provide new effective means.Airborne detection system can be installed on various unmanned vehicles, can gather visible light, infrared light, ultraviolet light image information simultaneously, and output video image has merged information such as unmanned plane longitude and latitude, height above sea level, aspect and time through title insert.Pass three tunnel images that have caption information back ground control system in real time by wireless communication mode, the terrestrial operation personnel are according to realtime graphic, can pass through the airborne detection system of ground control system Long-distance Control on the one hand, can in time find transmission facility defective and fault on the other hand and according to the global positioning system accurate fault location points of information such as (GPS, Global Positioning System).
Description of drawings
Fig. 1 is suitable for the airborne detection platform schematic diagram of polling transmission line device of unmanned vehicle for the present invention.
Fig. 2 is suitable for the polling transmission line device Ground Control platform schematic diagram of unmanned vehicle for the present invention.
Embodiment
Below in conjunction with accompanying drawing the polling transmission line device that the present invention is suitable for unmanned vehicle is described in further detail.
As shown in Figure 1 and Figure 2, the present invention is suitable for the polling transmission line device of unmanned vehicle, comprising: airborne detection platform is arranged on the unmanned vehicle; Airborne detection platform comprises that interconnective gyro increases steady The Cloud Terrace and data are integrated and control unit; The Ground Control platform; The Ground Control platform comprises terrestrial wireless communication module and the terrestrial contr that intercouples.
Gyro increases steady The Cloud Terrace and is provided with visible light camera, thermal infrared imager and ultraviolet imagery instrument, and visible light camera, thermal infrared imager and ultraviolet imagery instrument are independent respectively mutually to be provided with; Data are integrated video compression card module, title insert module, airborne wireless communication module and the built-in industrial control machine hard disk that comprises embedded type control module and coupling with it with control unit; Visible light camera, thermal infrared imager and ultraviolet imagery instrument are connected with embedded type control module, video compression card module and title insert module respectively.
Gyro increases and also is provided with a cradle head control interface on the steady The Cloud Terrace, increases steady The Cloud Terrace and is connected with embedded type control module by the cradle head control interface; Data are integrated with control unit and also are provided with an Ethernet data download interface; Airborne detection platform also further comprises an airborne power supply, and airborne power supply increases steady The Cloud Terrace with gyro respectively, and integration is connected with control unit with data; The Ground Control platform also further comprises a video-frequency monitor, and video-frequency monitor is connected with the terrestrial wireless communication module.
Increase steady The Cloud Terrace and mainly be responsible for carrying infrared instrument, ultraviolet device and visible light camera, and possess gyro and increase steady function, can improve the output quality of detected image; The level of The Cloud Terrace and luffing angle can be adjusted automatically according to the position and the attitude of aircraft and the position of patrolling and examining object, also can manually be controlled by software by the terrestrial operation personnel.
Data integrate with control unit according to the predefined style of shooting of program or the Ground Control order that receives to thermal infrared imager, ultraviolet imagery instrument, visible light camera, increase equipment such as steady The Cloud Terrace and control.Infrared, the ultraviolet of taking, visible light video image one tunnel be through the video compression card module, by high performance video coding and decoding technology H.264() deposit the built-in industrial control machine hard disk in after the standard compression; Another road is through title insert module, incorporate information such as unmanned plane GPS, time, aspect with the form of captions after, pass the Ground Control platform in real time back by the airborne wireless communication module.In addition, the captured still image of visible light camera, infrared instrument and ultraviolet device will deposit the built-in industrial control machine hard disk in.
Can pass through the Ethernet data download interface after the end of job to be inspected, in the data importing backstage analysis management software in the industrial computer.Visible light, infrared, ultraviolet 3 road videos and still image can pass through the multimedia player playback, for the manual observation analysis.Each of taking visible light photo all can correspondingly be noted unmanned plane longitude and latitude, height above sea level, the aspect information when taking, the image measurement technology of utilizing first to mention, can measure the actual range of lead and vegetation and building in the photo, the actual range between line and the line.Infrared image and ultraviolet image can also be further processed by specialty analysis software, to determine the operation troubles of transmission line.
The realtime graphic that the terrestrial wireless communication module receives that the airborne power transmission line detection system passes back is infrared, ultraviolet, visible light three tunnel have information such as unmanned plane longitude and latitude, height above sea level, aspect and time; Three tunnel image synchronization can be presented on the video-frequency monitor, the terrestrial operation personnel are according to this three road image, the control command of equipment such as camera, The Cloud Terrace can be sent on the one hand by the Ground Control platform software, transmission facility defective and fault can be in time found on the other hand and according to the accurate fault location point of information such as longitude and latitude.
Claims (10)
1. be suitable for the polling transmission line device of unmanned vehicle, it is characterized in that, comprising:
Airborne detection platform is arranged on the unmanned vehicle;
Described airborne detection platform comprises interconnective steady The Cloud Terrace and data integration and the control unit of increasing;
The Ground Control platform;
Described Ground Control platform comprises terrestrial wireless communication module and the terrestrial contr that intercouples, and described Ground Control platform is by described terrestrial wireless communication module and described airborne detection platform communication.
2. the polling transmission line device that is suitable for unmanned vehicle according to claim 1, it is characterized in that, describedly increase steady The Cloud Terrace and be provided with visible light camera, thermal infrared imager and ultraviolet imagery instrument, described visible light camera, described thermal infrared imager and described ultraviolet imagery instrument are independent respectively mutually to be provided with.
3.. the polling transmission line device that is suitable for unmanned vehicle according to claim 2, it is characterized in that described data are integrated video compression card module, title insert module, airborne wireless communication module and the storage module that comprises embedded type control module and coupling with it with control unit.
4. the polling transmission line device that is suitable for unmanned vehicle according to claim 3, it is characterized in that described visible light camera, described thermal infrared imager and described ultraviolet imagery instrument are connected with described embedded type control module, described video compression card module and described title insert module respectively.
5. the polling transmission line device that is suitable for unmanned vehicle according to claim 3, it is characterized in that, described increasing also is provided with a cradle head control interface on the steady The Cloud Terrace, describedly increase steady The Cloud Terrace and be connected with described embedded type control module by described cradle head control interface.
6. the polling transmission line device that is suitable for unmanned vehicle according to claim 3 is characterized in that, described data are integrated with control unit and also are provided with an Ethernet data download interface.
7. the polling transmission line device that is suitable for unmanned vehicle according to claim 1, it is characterized in that, described airborne detection platform also further comprises an airborne power supply, and described airborne power supply increases steady The Cloud Terrace and integrates with described data and be connected with control unit with described respectively.
8. the polling transmission line device that is suitable for unmanned vehicle according to claim 1 is characterized in that described Ground Control platform also further comprises a video-frequency monitor, and described video-frequency monitor is connected with described terrestrial wireless communication module.
9. the polling transmission line device that is suitable for unmanned vehicle according to claim 3 is characterized in that described storage module is the built-in industrial control machine hard disk.
10. the polling transmission line device that is suitable for unmanned vehicle according to claim 1 is characterized in that, described to increase steady The Cloud Terrace be that gyro increases steady The Cloud Terrace.
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| CN2011100762444A CN102255259A (en) | 2011-03-29 | 2011-03-29 | Transmission line tour inspection device suitable for unmanned aerial vehicle |
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| CN2011100762444A CN102255259A (en) | 2011-03-29 | 2011-03-29 | Transmission line tour inspection device suitable for unmanned aerial vehicle |
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Cited By (25)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103135554A (en) * | 2011-11-25 | 2013-06-05 | 中国科学院沈阳自动化研究所 | Unmanned helicopter ground control system applied to electric transmission line routing inspection |
| CN103163881A (en) * | 2011-12-16 | 2013-06-19 | 国家电网公司 | Power transmission line inspection system based on fixed-wing unmanned aerial vehicle |
| CN103941746A (en) * | 2014-03-29 | 2014-07-23 | 国家电网公司 | System and method for processing unmanned aerial vehicle polling image |
| CN103941750A (en) * | 2014-04-30 | 2014-07-23 | 东北大学 | Device and method for composition based on small quad-rotor unmanned aerial vehicle |
| CN104539905A (en) * | 2015-01-06 | 2015-04-22 | 山东鲁能智能技术有限公司 | Visible light accurate detection system for electric unmanned helicopter |
| CN104538899A (en) * | 2015-01-19 | 2015-04-22 | 中兴长天信息技术(北京)有限公司 | Wireless-transmission-based unmanned aerial vehicle platform for power line inspection |
| CN104751145A (en) * | 2015-04-10 | 2015-07-01 | 西安电子科技大学 | Local Hough transform and morphological optimization SAR (synthetic aperture radar) image power line detection method |
| CN105263000A (en) * | 2015-10-16 | 2016-01-20 | 广西大学 | Large-scale photovoltaic power station inspection device based on double cameras carried on unmanned aerial vehicle |
| CN105866626A (en) * | 2016-04-01 | 2016-08-17 | 湖北省超能超高压电力科技开发有限公司 | Unmanned plane-mounted UV detection system for power transmission and transformation equipment |
| CN106027982A (en) * | 2016-06-25 | 2016-10-12 | 广东容祺智能科技有限公司 | Power line inspection multi-channel display system and use method thereof |
| CN106291169A (en) * | 2016-07-27 | 2017-01-04 | 潘燕 | High pressure overhead power line line walking UAV system photoelectric detection system |
| CN106331655A (en) * | 2016-10-19 | 2017-01-11 | 广东容祺智能科技有限公司 | Infrared thermal imaging monitoring system for airborne network of unmanned aerial vehicle |
| CN106657885A (en) * | 2016-10-19 | 2017-05-10 | 广东容祺智能科技有限公司 | Intelligent airborne dual-optical inspection system |
| CN106959294A (en) * | 2017-02-14 | 2017-07-18 | 国网天津市电力公司检修公司 | A kind of transmission tower defect analysis device and method based on unmanned plane inspection |
| CN108039067A (en) * | 2017-12-07 | 2018-05-15 | 长沙准光里电子科技有限公司 | A kind of unmanned vehicle urban air management system |
| CN108134820A (en) * | 2017-12-12 | 2018-06-08 | 天津津航计算技术研究所 | A kind of aircraft floor maintenance system based on portable hand-held operation terminal |
| CN108449572A (en) * | 2018-02-05 | 2018-08-24 | 华南农业大学 | One kind being based on Embedded unmanned aerial vehicle remote sensing image-pickup method |
| CN109283940A (en) * | 2018-11-05 | 2019-01-29 | 国网上海市电力公司 | A kind of power transmission line unmanned machine night routing inspection system |
| CN109506132A (en) * | 2018-07-09 | 2019-03-22 | 天津市津能滨海热电有限公司 | A kind of heat distribution pipeline detection system based on visible light and infrared thermal imaging |
| CN110537365A (en) * | 2017-04-28 | 2019-12-03 | 索尼公司 | Information processing unit, information processing method, message handling program, image processing apparatus and image processing system |
| CN111049058A (en) * | 2019-11-22 | 2020-04-21 | 国网江苏省电力有限公司盐城供电分公司 | Unmanned aerial vehicle for deicing of overhead transmission line and control method thereof |
| CN112313596A (en) * | 2019-08-31 | 2021-02-02 | 深圳市大疆创新科技有限公司 | Inspection method, equipment and storage medium based on aircraft |
| CN112911217A (en) * | 2021-01-14 | 2021-06-04 | 北京华新创科信息技术有限公司 | Multiband multi-angle synchronous measurement nacelle and system thereof |
| CN113013785A (en) * | 2021-04-21 | 2021-06-22 | 石河子大学 | Power grid maintenance and unmanned patrol integrated operation platform |
| CN114397901A (en) * | 2021-11-30 | 2022-04-26 | 国网北京市电力公司 | Unmanned aerial vehicle and unmanned aerial vehicle inspection method |
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| CN103135554A (en) * | 2011-11-25 | 2013-06-05 | 中国科学院沈阳自动化研究所 | Unmanned helicopter ground control system applied to electric transmission line routing inspection |
| CN103163881A (en) * | 2011-12-16 | 2013-06-19 | 国家电网公司 | Power transmission line inspection system based on fixed-wing unmanned aerial vehicle |
| CN103941746A (en) * | 2014-03-29 | 2014-07-23 | 国家电网公司 | System and method for processing unmanned aerial vehicle polling image |
| CN103941746B (en) * | 2014-03-29 | 2016-06-01 | 国家电网公司 | Image processing system and method is patrolled and examined without man-machine |
| CN103941750B (en) * | 2014-04-30 | 2016-08-31 | 东北大学 | Patterning apparatus based on small-sized four rotor wing unmanned aerial vehicles and method |
| CN103941750A (en) * | 2014-04-30 | 2014-07-23 | 东北大学 | Device and method for composition based on small quad-rotor unmanned aerial vehicle |
| CN104539905A (en) * | 2015-01-06 | 2015-04-22 | 山东鲁能智能技术有限公司 | Visible light accurate detection system for electric unmanned helicopter |
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| CN104538899A (en) * | 2015-01-19 | 2015-04-22 | 中兴长天信息技术(北京)有限公司 | Wireless-transmission-based unmanned aerial vehicle platform for power line inspection |
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| CN104751145A (en) * | 2015-04-10 | 2015-07-01 | 西安电子科技大学 | Local Hough transform and morphological optimization SAR (synthetic aperture radar) image power line detection method |
| CN105263000A (en) * | 2015-10-16 | 2016-01-20 | 广西大学 | Large-scale photovoltaic power station inspection device based on double cameras carried on unmanned aerial vehicle |
| CN105866626A (en) * | 2016-04-01 | 2016-08-17 | 湖北省超能超高压电力科技开发有限公司 | Unmanned plane-mounted UV detection system for power transmission and transformation equipment |
| CN106027982A (en) * | 2016-06-25 | 2016-10-12 | 广东容祺智能科技有限公司 | Power line inspection multi-channel display system and use method thereof |
| CN106291169A (en) * | 2016-07-27 | 2017-01-04 | 潘燕 | High pressure overhead power line line walking UAV system photoelectric detection system |
| CN106657885A (en) * | 2016-10-19 | 2017-05-10 | 广东容祺智能科技有限公司 | Intelligent airborne dual-optical inspection system |
| CN106331655A (en) * | 2016-10-19 | 2017-01-11 | 广东容祺智能科技有限公司 | Infrared thermal imaging monitoring system for airborne network of unmanned aerial vehicle |
| CN106959294A (en) * | 2017-02-14 | 2017-07-18 | 国网天津市电力公司检修公司 | A kind of transmission tower defect analysis device and method based on unmanned plane inspection |
| CN106959294B (en) * | 2017-02-14 | 2019-11-29 | 国网天津市电力公司检修公司 | A kind of transmission tower defect analysis device and method based on unmanned plane inspection |
| US11341608B2 (en) | 2017-04-28 | 2022-05-24 | Sony Corporation | Information processing device, information processing method, information processing program, image processing device, and image processing system for associating position information with captured images |
| US11756158B2 (en) | 2017-04-28 | 2023-09-12 | Sony Group Corporation | Information processing device, information processing method, information processing program, image processing device, and image processing system for associating position information with captured images |
| CN110537365A (en) * | 2017-04-28 | 2019-12-03 | 索尼公司 | Information processing unit, information processing method, message handling program, image processing apparatus and image processing system |
| CN110537365B (en) * | 2017-04-28 | 2022-09-02 | 索尼公司 | Information processing device, information processing method, information processing program, image processing device, and image processing system |
| CN108039067A (en) * | 2017-12-07 | 2018-05-15 | 长沙准光里电子科技有限公司 | A kind of unmanned vehicle urban air management system |
| CN108134820A (en) * | 2017-12-12 | 2018-06-08 | 天津津航计算技术研究所 | A kind of aircraft floor maintenance system based on portable hand-held operation terminal |
| CN108449572A (en) * | 2018-02-05 | 2018-08-24 | 华南农业大学 | One kind being based on Embedded unmanned aerial vehicle remote sensing image-pickup method |
| CN109506132A (en) * | 2018-07-09 | 2019-03-22 | 天津市津能滨海热电有限公司 | A kind of heat distribution pipeline detection system based on visible light and infrared thermal imaging |
| CN109283940A (en) * | 2018-11-05 | 2019-01-29 | 国网上海市电力公司 | A kind of power transmission line unmanned machine night routing inspection system |
| CN112313596A (en) * | 2019-08-31 | 2021-02-02 | 深圳市大疆创新科技有限公司 | Inspection method, equipment and storage medium based on aircraft |
| CN111049058B (en) * | 2019-11-22 | 2022-02-15 | 国网江苏省电力有限公司盐城供电分公司 | Unmanned aerial vehicle for deicing of overhead transmission line and control method thereof |
| CN111049058A (en) * | 2019-11-22 | 2020-04-21 | 国网江苏省电力有限公司盐城供电分公司 | Unmanned aerial vehicle for deicing of overhead transmission line and control method thereof |
| CN112911217A (en) * | 2021-01-14 | 2021-06-04 | 北京华新创科信息技术有限公司 | Multiband multi-angle synchronous measurement nacelle and system thereof |
| CN113013785A (en) * | 2021-04-21 | 2021-06-22 | 石河子大学 | Power grid maintenance and unmanned patrol integrated operation platform |
| CN114397901A (en) * | 2021-11-30 | 2022-04-26 | 国网北京市电力公司 | Unmanned aerial vehicle and unmanned aerial vehicle inspection method |
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Application publication date: 20111123 |