CN105892485A - Overhead line inspection system - Google Patents
Overhead line inspection system Download PDFInfo
- Publication number
- CN105892485A CN105892485A CN201610228202.0A CN201610228202A CN105892485A CN 105892485 A CN105892485 A CN 105892485A CN 201610228202 A CN201610228202 A CN 201610228202A CN 105892485 A CN105892485 A CN 105892485A
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- Prior art keywords
- unmanned plane
- image
- gcu
- airborne computer
- aerial line
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- 238000007689 inspection Methods 0.000 title claims abstract description 22
- 238000004891 communication Methods 0.000 claims abstract description 5
- 230000005540 biological transmission Effects 0.000 claims description 17
- 230000035939 shock Effects 0.000 claims description 13
- 241000272165 Charadriidae Species 0.000 claims description 3
- 230000004888 barrier function Effects 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims description 2
- 238000005516 engineering process Methods 0.000 abstract description 2
- 230000007797 corrosion Effects 0.000 description 3
- 238000005260 corrosion Methods 0.000 description 3
- 206010014357 Electric shock Diseases 0.000 description 2
- PCHJSUWPFVWCPO-UHFFFAOYSA-N gold Chemical compound [Au] PCHJSUWPFVWCPO-UHFFFAOYSA-N 0.000 description 2
- 239000010931 gold Substances 0.000 description 2
- 229910052737 gold Inorganic materials 0.000 description 2
- 239000012212 insulator Substances 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 208000031481 Pathologic Constriction Diseases 0.000 description 1
- 210000004556 brain Anatomy 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000003628 erosive effect Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 210000001215 vagina Anatomy 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)
Abstract
The invention relates to the power technology field, and discloses an overhead line inspection system comprising an unmanned plane and a ground control device. The unmanned plane is provided with an image acquisition device, a wireless communication device, and an on-board computer. The on-board computer is respectively connected with the image acquisition device and the wireless communication device, and is connected with the ground control device by the wireless communication device. The overhead line inspection system is advantageous in that by adopting the way of combining the unmanned plane and the ground control device, the unmanned plane can fly according to the designated route under the control of the ground control device, and the ground control device is used to receive the fault image, the potential fault image, and the coordinates thereof acquired by the unmanned plane, and therefore the position of the fault or the potential fault can be located accurately.
Description
Technical field
The present invention relates to technical field of electric power, particularly to a kind of aerial line inspection tour system.
Background technology
For the maintenance of overhead transmission line, present stage typically uses to set up an office garrisons tour, and tour project includes:
Wire, connection gold utensil, insulator, shaft tower body, infrastructure and passage.Whether main tour wire becomes rusty
Erosion or disconnected stock；Connect gold utensil whether corrosion, breakage, insulator are struck by lightning and hard defects；Shaft tower itself is with or without splitting
Stricture of vagina, corrosion situation, with or without deformation, situation antitheft, lightning-arrest, pole wire has non-loosening, corrosion, quantity
(stolen)；Infrastructure with or without collapsing, drainage situation, dangerous with or without landslide；Passage with or without building,
Trees situation.Each is garrisoned personnel a little and makes an inspection tour the distance specified, and labor intensity is big and inefficiency；Especially
It is sleety weather, and geographical environment is severe and night, and the difficulty of tour and intensity are bigger, and cost expenses is big.
And it is likely to be due to human negligence, make an inspection tour effect and can not reflect the practical situation of overhead transmission line completely.
Summary of the invention
The present invention proposes a kind of aerial line inspection tour system, solves in prior art and aerial line is maked an inspection tour difficulty greatly,
The problem that cost of labor is high.
The aerial line inspection tour system of the present invention, including: unmanned plane and GCU, on described unmanned plane
Being provided with: image acquisition device, wireless communicator and airborne computer, described airborne computer connects described image respectively
Harvester and wireless communicator, and be connected with described GCU by wireless communicator；
Described airborne computer includes flight by described wireless communicator reception described GCU transmission
The control instruction in path, and control described unmanned plane and fly along described flight path, described image acquisition device will
The circuit image transmission gathered along flight path stores to described airborne computer, described airborne computer record simultaneously
The coordinate position of circuit image, and by the circuit image gathered and the fault picture of wherein pre-stored or potential event
Barrier images match, if the match is successful, by the coordinate position of circuit image and correspondence thereof by described radio communication
Device transmits to GCU.
Wherein, described image acquisition device determines the frequency of image acquisition according to flight speed and field range,
Making is stitched together the circuit image of all collections can constitute the image of omnidistance circuit.
Wherein, described airborne computer is additionally operable to obtain the real-time distance of unmanned plane and aerial line from image acquisition device,
And keep described real-time distance more than electrical shock safety distance.
Wherein, described airborne computer is additionally operable to control unmanned plane and is remained above described peace of getting an electric shock with described aerial line
The preset distance of full distance.
Wherein, described GCU is used for the weather condition of real-time query overhead transmission line region completely,
And the current electrical shock safety distance calculated according to air humidity is transmitted to the most described by described wireless communicator
Airborne computer.
Wherein, described GCU is used for obtaining the coordinate of each built on stilts transmission tower according to aerial line map,
And be arranged in order to form described flight path by predetermined starting point and terminating point.
Wherein, described GCU is fixed for being sent to described airborne computer by described wireless communicator
Point acquisition instructions, airborne computer controls unmanned plane and flies to the fault picture specified or incipient fault image is corresponding
Coordinate points, GCU controls unmanned plane during flying in real time, and controls described image acquisition device adjusting focal length
To shoot detail pictures.
Wherein, described image acquisition device includes: infrared camera or thermal camera.
The aerial line inspection tour system of the present invention uses the mode that unmanned plane and GCU combine, and ground is controlled
Control equipment controls unmanned plane and press given line and fly, and receives fault picture that unmanned plane collection returns, potential
Fault picture and coordinate thereof, thus it is accurately positioned fault or incipient fault generation position.
Accompanying drawing explanation
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to enforcement
In example or description of the prior art, the required accompanying drawing used is briefly described, it should be apparent that, describe below
In accompanying drawing be only some embodiments of the present invention, for those of ordinary skill in the art, do not paying
On the premise of going out creative work, it is also possible to obtain other accompanying drawing according to these accompanying drawings.
Fig. 1 is one aerial line inspection tour system structural representation of the present invention；
Fig. 2 is that image acquisition device collection picture frequency determines schematic diagram.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clearly
Chu, be fully described by, it is clear that described embodiment be only a part of embodiment of the present invention rather than
Whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art are not making creation
The every other embodiment obtained under property work premise, broadly falls into the scope of protection of the invention.
As it is shown in figure 1, the aerial line inspection tour system of the present embodiment, including: unmanned plane 1 and ground control to set
Standby 2, unmanned plane 1 is provided with: image acquisition device 11, wireless communicator 12 and airborne computer 13.Airborne electricity
Brain 13 connects image acquisition device 11 and wireless communicator 12 respectively, and is controlled with ground by wireless communicator 12
Control equipment 2 connects, and the airborne computer 13 for unmanned plane 1 communicates with GCU 2.Wherein, nothing
Line communicator 12 uses 4G signal processing.
Airborne computer 13 includes flight path by what wireless communicator 12 received GCU 2 transmission
Control instruction, and control unmanned plane 1 along flight path fly.In flight course, image acquisition device 11 will
Circuit image along flight path collection transmits extremely airborne computer 13 and stores.Airborne computer 13 call wire simultaneously
The coordinate position of road image, and by the fault picture of the circuit image that gathers and wherein pre-stored or incipient fault
Images match, if the match is successful, is passed the coordinate position of circuit image and correspondence thereof by wireless communicator 12
Transport to GCU 2.Wherein, images match can be in the way of using similarity mode, and similarity reaches
More than 80% i.e. thinks to break down or incipient fault in position corresponding to this circuit image, and is passed by this circuit image
Transport to GCU 2.
The aerial line inspection tour system of the present embodiment uses the mode that unmanned plane 1 and GCU 2 combine,
GCU 2 controls unmanned plane 1 and flies by given line, and receives the event that unmanned plane 1 collection is returned
Barrier image, incipient fault image and coordinate thereof, thus it is accurately positioned fault or incipient fault generation position.And
And determine whether that the work of fault and incipient fault is performed by the airborne computer 13 of unmanned plane 1, it is not necessary to people
Work checks each frame circuit image before GCU 2 one by one, significantly reduces cost of labor.
In the present embodiment, image acquisition device 11 determines the frequency of image acquisition according to flight speed and field range
Rate so that the circuit image of all collections is stitched together and can constitute the image of omnidistance circuit.As in figure 2 it is shown,
Field range is d, and after flying distance s, field range just covers another section of circuit, s/v=t, image acquisition
Device 11 t interval time gathers a width circuit image, and wherein v is flight speed, in order to ensure all collections
Circuit image is stitched together and can constitute the image of omnidistance circuit, and s is less than or equal to d so that adjacent twice collection
Circuit image has one section of circuit overlap.Wherein interval t gathers a width circuit image can be t bat interval time
Taking the photograph a photo, it is also possible to be high-definition camera, interval time, t extracted a two field picture.
In the present embodiment, airborne computer 13 is additionally operable to obtain unmanned plane 1 and aerial line from image acquisition device 11
Real-time distance, and keep real-time distance more than electrical shock safety distance.Specifically, the taking the photograph of image acquisition device 11
Shadow or the focus process essence taken pictures are exactly the process of range finding, can measure between aerial line and unmanned plane 1
Distance, when airborne computer 13 is asked, this distance is sent to airborne computer 13.Electrical shock safety distance just like
Lower standard: not less than 5m during voltage 500KV under air normal humidity (40%), during voltage 220KV
Not less than 3m, not less than 1.5m during voltage 110KV.
Airborne computer 13 is provided with a preset distance more than above-mentioned electrical shock safety distance, to control unmanned plane
1 is remained above this preset distance with aerial line, so will not cause unmanned plane at certain because of the fluctuating of aerial line at a moment
The distance with aerial line of 1 is less than electrical shock safety distance, thus avoids unmanned plane 1 Danger Electric shock risk.
Due to weather, such as: sleety weather, air humidity is relatively big, and air is easier to puncture, therefore
GCU 2 is used for the weather condition of real-time query overhead transmission line region completely, and according to air
The current electrical shock safety distance that humidity calculates, and by the electrical shock safety distance of calculating by wireless communicator 12
Transmission is to airborne computer 13.Electrical shock safety distance increases with the increase of air humidity, and concrete calculation can
Identical percentage ratio is increased, such as: humidity increases to 60% from 40% with the percentage ratio that increases by humidity,
Add 20%, then current electrical shock safety distance the most at least increases the electrical shock safety distance under standard humidity
20%.
In the present embodiment, GCU 2 for obtaining the seat of each built on stilts transmission tower according to aerial line map
Mark, and be arranged in order to form flight path by predetermined starting point and terminating point.Unmanned plane 1 aloft flies
Straight line, the aerial line between 2 is also straight line, so can guarantee that unmanned plane 1 can fly along overhead transmission line.
In the present embodiment, GCU 2 is for sending to airborne computer 13 by wireless communicator 12
Fixed point acquisition instructions, airborne computer 13 controls fault picture or the incipient fault image that unmanned plane 1 flies to specify
Corresponding coordinate points, GCU 2 controls unmanned plane 1 in real time and flies, and controls image acquisition device 11
Adjusting focal length is to shoot detail pictures.Image acquisition device 11 adjusting focal length is controlled especially by airborne computer 13,
So can obtain fault picture or the detail of incipient fault image, in order to manually make the most precisely
Judgement.
In the present embodiment, image acquisition device 11 includes: infrared camera or thermal camera, can clap at night
Take the photograph.
The foregoing is only presently preferred embodiments of the present invention, not in order to limit the present invention, all the present invention's
Within spirit and principle, any modification, equivalent substitution and improvement etc. made, should be included in the present invention's
Within protection domain.
Claims (8)
1. an aerial line inspection tour system, it is characterised in that including: unmanned plane and GCU, institute
Stating unmanned plane to be provided with: image acquisition device, wireless communicator and airborne computer, described airborne computer connects respectively
Connect described image acquisition device and wireless communicator, and be connected with described GCU by wireless communicator；
Described airborne computer includes flight by described wireless communicator reception described GCU transmission
The control instruction in path, and control described unmanned plane and fly along described flight path, described image acquisition device will
The circuit image transmission gathered along flight path stores to described airborne computer, described airborne computer record simultaneously
The coordinate position of circuit image, and by the circuit image gathered and the fault picture of wherein pre-stored or potential event
Barrier images match, if the match is successful, by the coordinate position of circuit image and correspondence thereof by described radio communication
Device transmission is to described GCU.
2. aerial line inspection tour system as claimed in claim 1, it is characterised in that described image acquisition device root
The frequency of image acquisition is determined so that spelled by the circuit image of all collections according to flight speed and field range
Pick up the image that can constitute omnidistance circuit.
3. aerial line inspection tour system as claimed in claim 1, it is characterised in that described airborne computer is also used
In the real-time distance from image acquisition device acquisition unmanned plane with aerial line, and keep described real-time distance more than touching
Electricity safe distance.
4. aerial line inspection tour system as claimed in claim 3, it is characterised in that described airborne computer is also used
The preset distance of described electrical shock safety distance it is remained above in control unmanned plane and described aerial line.
5. aerial line inspection tour system as claimed in claim 3, it is characterised in that described GCU
For the weather condition of real-time query overhead transmission line region completely, and by working as of calculating according to air humidity
Front electrical shock safety distance is by described wireless communicator transmission extremely described airborne computer.
6. aerial line inspection tour system as claimed in claim 1, it is characterised in that described GCU
For obtaining the coordinate of each built on stilts transmission tower according to aerial line map, and depend on by predetermined starting point and terminating point
Secondary arrangement is to form described flight path.
7. aerial line inspection tour system as claimed in claim 1, it is characterised in that described GCU
For sending fixed point acquisition instructions by described wireless communicator to described airborne computer, airborne computer controls nothing
The man-machine fault picture flying to specify or coordinate points corresponding to incipient fault image, GCU is controlled in real time
Unmanned plane during flying processed, and control described image acquisition device adjusting focal length to shoot detail pictures.
8. the aerial line inspection tour system as according to any one of claim 1～7, it is characterised in that described
Image acquisition device includes: infrared camera or thermal camera.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610228202.0A CN105892485A (en) | 2016-04-13 | 2016-04-13 | Overhead line inspection system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610228202.0A CN105892485A (en) | 2016-04-13 | 2016-04-13 | Overhead line inspection system |
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| Publication Number | Publication Date |
|---|---|
| CN105892485A true CN105892485A (en) | 2016-08-24 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610228202.0A Pending CN105892485A (en) | 2016-04-13 | 2016-04-13 | Overhead line inspection system |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106839999A (en) * | 2016-11-22 | 2017-06-13 | 云南电网有限责任公司电力科学研究院 | A kind of powerline ice-covering detection method based on unmanned plane infrared image |
| CN109073762A (en) * | 2017-09-28 | 2018-12-21 | 深圳市大疆创新科技有限公司 | Method, equipment and the unmanned plane of positioning failure photovoltaic panel |
| CN109936080A (en) * | 2019-03-28 | 2019-06-25 | 郑州大学 | A kind of method of unmanned plane inspection transmission line of electricity |
| CN109946564A (en) * | 2019-03-15 | 2019-06-28 | 山东鲁能智能技术有限公司 | A kind of distribution network overhead line inspection data collection method and cruising inspection system |
| CN109990767A (en) * | 2019-03-15 | 2019-07-09 | 山东鲁能智能技术有限公司 | Inspection data acquiring frequency setting method and system suitable for vehicle-mounted Distribution itineration check |
| CN111583200A (en) * | 2020-04-26 | 2020-08-25 | 国网浙江省电力有限公司宁波供电公司 | Large-span power transmission line early warning system and method |
| CN114035606A (en) * | 2021-11-05 | 2022-02-11 | 中国南方电网有限责任公司超高压输电公司广州局 | Pole tower inspection system, pole tower inspection method, control device and storage medium |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106839999A (en) * | 2016-11-22 | 2017-06-13 | 云南电网有限责任公司电力科学研究院 | A kind of powerline ice-covering detection method based on unmanned plane infrared image |
| CN109073762A (en) * | 2017-09-28 | 2018-12-21 | 深圳市大疆创新科技有限公司 | Method, equipment and the unmanned plane of positioning failure photovoltaic panel |
| US11334077B2 (en) | 2017-09-28 | 2022-05-17 | SZ DJI Technology Co., Ltd. | Method and device for locating faulty photovoltaic panel, and unmanned aerial vehicle |
| CN109946564A (en) * | 2019-03-15 | 2019-06-28 | 山东鲁能智能技术有限公司 | A kind of distribution network overhead line inspection data collection method and cruising inspection system |
| CN109990767A (en) * | 2019-03-15 | 2019-07-09 | 山东鲁能智能技术有限公司 | Inspection data acquiring frequency setting method and system suitable for vehicle-mounted Distribution itineration check |
| CN109936080A (en) * | 2019-03-28 | 2019-06-25 | 郑州大学 | A kind of method of unmanned plane inspection transmission line of electricity |
| CN109936080B (en) * | 2019-03-28 | 2020-05-22 | 郑州大学 | Method for inspecting power transmission line by unmanned aerial vehicle |
| CN111583200A (en) * | 2020-04-26 | 2020-08-25 | 国网浙江省电力有限公司宁波供电公司 | Large-span power transmission line early warning system and method |
| CN114035606A (en) * | 2021-11-05 | 2022-02-11 | 中国南方电网有限责任公司超高压输电公司广州局 | Pole tower inspection system, pole tower inspection method, control device and storage medium |
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Application publication date: 20160824 |
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