CN110989672A - Unmanned aerial vehicle-based real-time power transmission line fault detection system and routing inspection method thereof - Google Patents
Unmanned aerial vehicle-based real-time power transmission line fault detection system and routing inspection method thereof Download PDFInfo
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Abstract
The invention relates to a real-time power transmission line fault detection system based on an unmanned aerial vehicle and a routing inspection method thereof, wherein the system comprises the following components: the flight terminal, the data communication terminal and the display terminal are electrically connected in sequence, so that the flight terminal and the display terminal realize wireless signal communication through the data communication terminal. The unmanned aerial vehicle can be realized patrolling and examining the processing in real time of aerial vehicle to aerial cable, improve and patrol and examine efficiency, obtain comprehensive and accurate fault point image, the real-time good, the accuracy is high, effectual intensity of labour who alleviates the personnel of patrolling and examining promotes equipment fortune dimension work efficiency and electric wire netting disaster prevention and reduction ability of reducing a disaster comprehensively. The inspection method is scientific and reasonable, high in applicability and good in effect.
Description
Technical Field
The invention relates to the technical field of power monitoring, in particular to a power transmission line fault real-time detection system based on an unmanned aerial vehicle and a routing inspection method thereof.
Background
In recent years, the unmanned aerial vehicle has the unique advantages of light body type, easiness in operation and the like, is widely applied to the fields of disaster detection, ecological environment assessment, rescue command, dangerous area detection and the like, and effectively reduces the cost and potential safety hazard of manual detection. The unmanned aerial vehicle is used for power inspection, and is a high and new technology which is widely applied at home and abroad in recent years. In order to ensure the safety of the power transmission line, a plurality of related technical researches are also carried out at home and abroad. At present, the electric power inspection of small and medium-sized unmanned aerial vehicles in China gradually reaches the practical level, but the following problems still exist:
(1) the automatic detection algorithm cannot perform on-site detection on the power transmission line. At present, the domestic automatic inspection mode based on the unmanned aerial vehicle needs to bring the image data of the power transmission line recorded by the unmanned aerial vehicle back to the detection center, and the computer of the detection center is utilized to carry out fault detection on the acquired image, so that the fault detection on site cannot be realized. Therefore, inspection personnel cannot form an inspection report in time, and the fault processing time is delayed;
(2) the fault detection of the field transmission line needs human participation. The on-site inspection mode based on the unmanned aerial vehicle needs to transmit the power transmission line image shot by the unmanned aerial vehicle to the ground station through a wireless network, and inspection personnel artificially judge line faults according to the image transmitted to the ground station. The inspection mode needs to be manually involved in the fault detection process, and the detection effect is easily influenced by personal experience, mental state and other human factors. In addition, images shot by the unmanned aerial vehicle need to be transmitted to a ground station for inspection by inspection personnel, the shot high-quality images generally need to be degraded and compressed and then transmitted to the ground station due to the limitation of real-time performance and wireless bandwidth, and the inspection personnel carry out fault detection according to the degraded images, so that the fault detection accuracy of the power transmission line is inevitably influenced;
(3) in recent years, although certain achievements are obtained in the research process in the technical field of power routing inspection in China, at present, domestic research mostly focuses on the aspects of control such as how to plan a routing inspection route and how to avoid obstacles, and the research on the aspect of subsequent image processing is mostly based on a computer platform rather than an embedded platform, and a power transmission line fault detection means capable of carrying out local processing is urgently needed in the current inspection work site.
Disclosure of Invention
The invention aims to provide a power transmission line fault real-time detection system based on an unmanned aerial vehicle, which can make up for the defects of misjudgment, low efficiency, complicated work and the like in the traditional power transmission line fault detection process, and effectively improve the detection efficiency, real-time performance and accuracy of the unmanned aerial vehicle in the routing inspection process. According to the system, a routing inspection method which is scientific and reasonable, strong in applicability and good in effect is provided.
The technical scheme adopted for realizing one of the purposes of the invention is as follows: the utility model provides a transmission line trouble real-time detection system based on unmanned aerial vehicle, characterized by, it includes: the flight terminal, the data communication terminal and the display terminal are electrically connected in sequence, so that the flight terminal and the display terminal realize wireless signal communication through the data communication terminal.
Further, the flight terminal includes: unmanned aerial vehicle, at built-in core processing module, image acquisition module and the power module of unmanned aerial vehicle, core processing module is connected with unmanned aerial vehicle, information acquisition module, power module electricity respectively, and wherein unmanned aerial vehicle carries out wired one-way communication with core processing module, and image acquisition module carries out wired one-way communication with core processing module.
Preferably, unmanned aerial vehicle does unmanned aerial vehicle is for the unmanned aerial vehicle that can supply the secondary development, and the unmanned aerial vehicle that can supply the secondary development is connected with the USB interface of core processing module, accomplishes image acquisition, core processing work.
Preferably, the core processing module is a high-performance GPU development board. The high-performance GPU development board analyzes the images of the power transmission lines through a related algorithm, mainly distinguishes three types of line faults including line icing, hanging foreign matters and line broken strands, and sends a hovering instruction and an alarm signal to the ground station through wireless communication once the faults are found.
Preferably, the image acquisition module is a high-definition USB camera, and the high-definition USB camera is connected with a USB interface of the development board. And the system is responsible for acquiring and acquiring the image data of the field power transmission line and transmitting the acquired image to the high-performance GPU development board.
Preferably, the power supply module is an external power supply, and the external power supply is electrically connected with the 12V interface of the development board.
Further, the data communication terminal is 4G mobile wifi equipment including data transmitting part and receiving element, the data transmitting part of 4G mobile wifi equipment and the USB interface and the network interface connection of high performance development board, the data receiving part of 4G mobile wifi equipment with display terminal's USB interface and network interface connection, 4G mobile wifi equipment specifically provides the network for the unmanned aerial vehicle transmission line detecting system that can supply the secondary to develop.
Furthermore, the display terminal is a display device such as a notebook computer or a high-definition monocular display screen, and the 4G mobile wifi device receives the video stream of the high-definition camera and displays a high-definition image of a fault point.
The invention also discloses a real-time detection system for the transmission line fault based on the unmanned aerial vehicle, which is characterized in that the inspection method comprises the following steps:
1) planning a flight inspection line, and determining the starting position of a power transmission line of a cable tower pole in the inspection process of the unmanned aerial vehicle;
2) checking the integrity of the equipment, supplying power to a power supply module of the flight terminal, pressing a power key of the unmanned aerial vehicle, namely starting the unmanned aerial vehicle to enter a working state, and simultaneously opening the data communication terminal and the display terminal by an inspector, namely starting the 4G mobile wifi equipment and the display terminal equipment to enter the working state;
3) stopping the unmanned aerial vehicle at a flat ground position adjacent to the detection area section, checking current unmanned aerial vehicle parameters and starting to arrange an inspection system;
4) controlling the unmanned aerial vehicle to take off on the ground and fly to the starting endpoint of the detection power transmission line area section;
5) the unmanned aerial vehicle is controlled to horizontally move along the direction of the power transmission line, cable image information acquired in real time is transmitted to the ground station, and the core processing module processes image data acquired by the image acquisition module in real time; namely, the high-performance GPU development board processes image data acquired by a high-definition USB camera in real time;
6) judging the power state of the unmanned aerial vehicle, if the power state of the unmanned aerial vehicle is good, continuing flying along the line, if the power state of the unmanned aerial vehicle is not good, pausing the inspection and driving the unmanned aerial vehicle to return to the flight, and after the power supply of the unmanned aerial vehicle is changed, returning to 5) recovering the flight state of the unmanned aerial vehicle;
7) if the unmanned aerial vehicle moves to a fault point of icing, hanging foreign matters and line strand breakage of the power transmission line, the core processing module can position the fault point through a built-in image recognition algorithm, send a hovering instruction to the unmanned aerial vehicle, control the unmanned aerial vehicle to perform hovering action, and transmit a high-definition image and alarm information of the current fault point back to the ground station through the data communication terminal;
8) the polling personnel carries out secondary verification through the display terminal, records the fault point information and returns to step 6);
9) and continuously controlling the unmanned aerial vehicle to patrol, and when the unmanned aerial vehicle flies to the set patrol planning section terminal point, the patrol personnel controls the unmanned aerial vehicle to return to the air, the patrol process is finished, and a patrol report is written.
By adopting the technical scheme, the real-time transmission line fault detection system based on the unmanned aerial vehicle can overcome the defects of misjudgment, low efficiency, complex work and the like in the traditional transmission line fault detection process, realizes the real-time routing inspection treatment of the unmanned aerial vehicle on the overhead cable, improves the routing inspection efficiency, obtains comprehensive and accurate fault point images, has good real-time performance and high accuracy, effectively lightens the labor intensity of routing inspection personnel, and comprehensively improves the operation and maintenance work efficiency of equipment and the disaster prevention and reduction capability of a power grid. The inspection method is scientific and reasonable, high in applicability and good in effect.
Drawings
Fig. 1 is a block diagram of a real-time power transmission line fault detection system based on an unmanned aerial vehicle;
FIG. 2 is a structural block diagram of the flight terminal of FIG. 1 in an expanded state;
fig. 3 is a flowchart of a routing inspection method of a real-time power transmission line fault detection system based on an unmanned aerial vehicle.
Detailed Description
The invention will now be described more fully hereinafter with reference to the accompanying drawings. It will be readily apparent that the components illustrated and described in the figures may be designed and arranged in a wide variety of different configurations. That is, the embodiments of the present invention are not intended to be exhaustive or to limit the scope of the claims, and those skilled in the art can conceive other substantially equivalent alternatives without inventive step in light of the teachings of the embodiments of the present invention.
The invention has the basic idea that the embedded platform carried by the unmanned aerial vehicle directly carries out local processing on the image shot in the inspection process, the detection of the power transmission line can be finished without reducing the image quality transmission, once the embedded platform detects the fault types of ice coating, hanging foreign matters, broken strands of the line and the like of the power transmission line, the embedded platform can rapidly control the unmanned aerial vehicle to hover and precisely hover at the fault point, and the fault image and the alarm information are sent to the ground station through the wireless transmission equipment.
Referring to fig. 1, the invention relates to a real-time power transmission line fault detection system based on an unmanned aerial vehicle, which comprises: flight terminal 1, data communication terminal 2, display terminal 3. The flight terminal 1, the data communication terminal 2 and the display terminal 3 are electrically connected in sequence, so that the flight terminal 1 and the display terminal 3 realize wireless signal communication through the data communication terminal 2.
Referring to fig. 2, further, the flight terminal 1 includes an unmanned aerial vehicle 11, and there are a core processing module 12, an image acquisition module 13 and a power supply module 14 built in the unmanned aerial vehicle 11, the core processing module 12 is connected with the unmanned aerial vehicle 11, the image acquisition module 13, the power supply module 14 electricity respectively, wherein, the unmanned aerial vehicle 11 carries out wired one-way communication with the core processing module 12, and the image acquisition module 13 carries out wired one-way communication with the core processing module 12.
In detail, the drone 11 of the specific example is a drone of model M100 of the majiang company. The TTL interface of the unmanned aerial vehicle 11 is connected to the USB interface of the core processing module 12 through a TTL-to-USB connection line, so as to complete image acquisition and core processing.
In detail, the core processing module 12 of the specific example employs a Jetson TX2 development board of NVIDIA corporation. The Jetson TX2 development board is a high-performance GPU development board, the high-performance GPU development board analyzes images of the power transmission line through a related algorithm, three types of line faults including line icing, hanging foreign matters and line breakage are mainly distinguished, and once the faults are found, the high-performance GPU development board sends out a hovering instruction and sends out an alarm signal to a ground station through wireless communication.
In detail, the image acquisition module 13 is a high-definition USB camera, and the high-definition USB camera is connected to a USB interface of the Jetson TX2 development board, and is responsible for acquiring and acquiring image data of the on-site power transmission line, and transmitting the acquired image to the Jetson TX2 development board.
In detail, the power supply module 14 in the specific example directly adopts the power supply of the drone, and a 24V-to-12V voltage reducer is used, so that the 24V power interface of the drone is electrically connected with the 12V power interface of the Jetson TX2 development board.
Further, a specific example of the data communication terminal 2 is a 4G mobile wifi device of hua shi corporation. The device comprises a data transmitting part and a receiving part, the data transmitting part of the 4G mobile wifi device is connected with a USB interface and a network interface of a Jetson TX2 development board, the data receiving part of the 4G mobile wifi device is connected with the USB interface and the network interface of a display terminal, and the 4G mobile wifi device specifically provides a network for an unmanned aerial vehicle power transmission line detection system capable of being developed secondarily.
Further, the specific example of the display terminal 3 is a MacBook Pro notebook computer of apple inc, and receives a video stream of a high-definition camera and displays a high-definition image of a fault point through the 4G mobile wifi device.
Referring to fig. 1 to 3, the inspection method of the real-time power transmission line fault detection system based on the unmanned aerial vehicle provided by the invention comprises the following steps:
1) planning a flight inspection line, and determining the starting position of a power transmission line of a cable tower pole in the inspection process of the unmanned aerial vehicle;
2) checking the integrity of the equipment, supplying power to a power supply module of the flight terminal 1, pressing a power key of the unmanned aerial vehicle, namely starting the unmanned aerial vehicle to enter a working state, and simultaneously opening the data communication terminal 2 and the display terminal 3 by the inspection personnel, namely starting the 4G mobile wifi equipment and the display terminal equipment to enter the working state;
3) stopping the unmanned aerial vehicle at a flat ground position adjacent to the detection area section, checking current unmanned aerial vehicle parameters and starting to arrange an inspection system;
4) controlling the unmanned aerial vehicle to take off on the ground and fly to the starting endpoint of the detection power transmission line area section;
5) the unmanned aerial vehicle is controlled to horizontally move along the direction of the power transmission line, cable image information acquired in real time is transmitted to the ground station, and the core processing module processes image data acquired by the image acquisition module in real time; namely, the high-performance GPU development board processes image data acquired by a high-definition USB camera in real time;
6) judging the power state of the unmanned aerial vehicle, if the power state of the unmanned aerial vehicle is good, continuing flying along the line, if the power state of the unmanned aerial vehicle is not good, pausing the inspection and driving the unmanned aerial vehicle to return to the flight, and after the power supply of the unmanned aerial vehicle is changed, returning to 5) recovering the flight state of the unmanned aerial vehicle;
7) if the unmanned aerial vehicle moves to a fault point of icing, hanging foreign matters and line strand breakage of the power transmission line, the core processing module can position the fault point through a built-in image recognition algorithm, send a hovering instruction to the unmanned aerial vehicle, control the unmanned aerial vehicle to perform hovering action, and transmit a high-definition image and alarm information of the current fault point back to the ground station through the data communication terminal 2;
8) the polling personnel carries out secondary verification through the display terminal 3, records the fault point information and returns to the step 6);
9) and continuously controlling the unmanned aerial vehicle to patrol, and when the unmanned aerial vehicle flies to the set patrol planning section terminal point, the patrol personnel controls the unmanned aerial vehicle to return to the air, the patrol process is finished, and a patrol report is written.
The hardware of the invention is easy to obtain and is the product of the prior art, and the invention adopts the organic combination of the products of the prior art according to the invention purpose, thereby providing an innovative system and a routing inspection method for the field, solving the difficult problems of the prior art and providing a new technical means for the fault detection of the high-voltage transmission line.
Claims (9)
1. The utility model provides a transmission line trouble real-time detection system based on unmanned aerial vehicle, characterized by, it includes: the flight terminal, the data communication terminal and the display terminal are electrically connected in sequence, so that the flight terminal and the display terminal realize wireless signal communication through the data communication terminal.
2. The real-time transmission line fault detection system based on the unmanned aerial vehicle as claimed in claim 1, wherein the flight terminal comprises: unmanned aerial vehicle, at built-in core processing module, image acquisition module and the power module of unmanned aerial vehicle, core processing module is connected with unmanned aerial vehicle, image acquisition module, power module electricity respectively, and wherein unmanned aerial vehicle carries out wired one-way communication with core processing module, and image acquisition module carries out wired one-way communication with core processing module.
3. The real-time transmission line fault detection system based on the unmanned aerial vehicle as claimed in claim 2, wherein the unmanned aerial vehicle is an unmanned aerial vehicle for secondary development, and the unmanned aerial vehicle for secondary development is connected with a USB interface of the core processing module to complete image acquisition and core processing.
4. The unmanned aerial vehicle-based real-time power transmission line fault detection system of claim 2, wherein the core processing module is a high-performance GPU development board, the high-performance GPU development board analyzes power transmission line images through related algorithms, three types of line faults including line icing, hanging foreign matters and line breakage are mainly distinguished, and once a fault is found, the high-performance GPU development board sends a hovering instruction and sends an alarm signal to a ground station through wireless communication.
5. The real-time transmission line fault detection system based on the unmanned aerial vehicle as claimed in claim 2 or 4, wherein the image acquisition module is a high definition USB camera, the high definition USB camera is connected with a USB interface of the high performance GPU development board, and is responsible for acquiring and acquiring image data of the field transmission line and transmitting the acquired image to the high performance GPU development board.
6. The real-time transmission line fault detection system based on the unmanned aerial vehicle as claimed in claim 2, wherein the power supply module is an external power supply.
7. The real-time transmission line fault detection system based on the unmanned aerial vehicle as claimed in claim 1, 2 or 4, wherein the data communication terminal is a 4G mobile wifi device comprising a data transmitting part and a receiving part, the data transmitting part of the 4G mobile wifi device is connected with a USB interface and a network interface of a high-performance development board, the data receiving part of the 4G mobile wifi device is connected with the USB interface and the network interface of the display terminal, and the 4G mobile wifi device specifically provides a network for the unmanned aerial vehicle transmission line detection system for secondary development.
8. The real-time transmission line fault detection system based on the unmanned aerial vehicle as claimed in claim 1 or 5, wherein the display terminal is a notebook computer or a high-definition monocular display screen, and receives a video stream of a high-definition camera and displays a high-definition image of a fault point through the 4G mobile wifi device.
9. The real-time detection system for the transmission line fault based on the unmanned aerial vehicle as claimed in claim 1 or 2, wherein the routing inspection method comprises the following steps:
1) planning a flight inspection line, and determining the starting position of a power transmission line of a cable tower pole in the inspection process of the unmanned aerial vehicle;
2) checking the integrity of the equipment, supplying power to a power supply module of the flight terminal, pressing a power key of the unmanned aerial vehicle, namely starting the unmanned aerial vehicle to enter a working state, and simultaneously opening the data communication terminal and the display terminal by an inspector, namely starting the 4G mobile wifi equipment and the display terminal equipment to enter the working state;
3) stopping the unmanned aerial vehicle at a flat ground position adjacent to the detection area section, checking current unmanned aerial vehicle parameters and starting to arrange an inspection system;
4) controlling the unmanned aerial vehicle to take off on the ground and fly to the starting endpoint of the detection power transmission line area section;
5) the unmanned aerial vehicle is controlled to horizontally move along the direction of the power transmission line, cable image information acquired in real time is transmitted to the ground station, and the core processing module processes image data acquired by the image acquisition module in real time; namely, the high-performance GPU development board processes image data acquired by a high-definition USB camera in real time;
6) judging the power state of the unmanned aerial vehicle, if the power state of the unmanned aerial vehicle is good, continuing flying along the line, if the power state of the unmanned aerial vehicle is not good, pausing inspection and driving the unmanned aerial vehicle to return to the ground for landing, and returning to 5 after the power supply of the unmanned aerial vehicle is replaced), and recovering the flying state of the unmanned aerial vehicle;
7) if the unmanned aerial vehicle moves to a fault point of icing, hanging foreign matters and line strand breakage of the power transmission line, the core processing module can position the fault point through a built-in image recognition algorithm, send a hovering instruction to the unmanned aerial vehicle, control the unmanned aerial vehicle to perform hovering action, and transmit a high-definition image and alarm information of the current fault point back to the ground station through the data communication terminal;
8) the polling personnel carries out secondary verification through the display terminal, records the fault point information and returns to step 6);
9) and continuously controlling the unmanned aerial vehicle to patrol, and when the unmanned aerial vehicle flies to the set patrol planning section terminal point, the patrol personnel controls the unmanned aerial vehicle to return to the air, the patrol process is finished, and a patrol report is written.
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Application publication date: 20200410 |