CN111580531B - Unmanned aerial vehicle electricity inspection method and device for power transmission line - Google Patents
Unmanned aerial vehicle electricity inspection method and device for power transmission line Download PDFInfo
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Abstract
The invention provides an unmanned aerial vehicle electricity inspection method for a power transmission line, which comprises the following steps: after preparation before electricity inspection is finished, remotely controlling the unmanned aerial vehicle to take off, and vertically lifting the unmanned aerial vehicle to a preset height and keeping a hovering state, wherein the preset height is set based on the voltage level of the power transmission line to be tested; performing machine head positioning operation on the unmanned aerial vehicle, wherein in the machine head positioning process, the machine head of the unmanned aerial vehicle swings left and right, and the linear distance between the machine head and a transmission line to be measured is measured in the process to obtain the machine head direction of the unmanned aerial vehicle; setting waypoints at fixed intervals by combining the machine head direction based on the voltage grade, the minimum flight safety distance and the linear distance between the power transmission line to be detected and the power transmission line to be detected, and generating a route; and the remote control unmanned aerial vehicle enters a route mode, hovers point by point according to waypoints in the route, and completes electricity testing operation of the power transmission line to be tested to obtain electricity testing data. The invention is suitable for the transmission lines to be tested with various voltage levels and suitable for electricity inspection sites with different terrain environments.
Description
Technical Field
The invention relates to the technical field of electricity inspection of transmission lines, in particular to an unmanned aerial vehicle electricity inspection method and device for a transmission line.
Background
The operation and maintenance work is an important means for grasping the operation condition of the power grid equipment and timely finding and processing the defects of the equipment. The national grid company power safety regulations (power line section) specify: before the ground wire is installed on the working area of the power failure line, the prior electricity is needed to verify that the line has no voltage. When electricity is tested, a qualified contact electroscope with corresponding voltage class is used. The direct electricity test can be performed on equipment which cannot perform direct electricity test, high-voltage direct-current transmission equipment and outdoor equipment in rainy and snowy weather. That is, the device is judged by the change of the mechanical indication position, the electrical indication, the electrified display device, the instrument, various remote measurement signals, remote signaling signals and the like. When judging, two or more indications are needed, and all the indications are correspondingly changed at the same time, so that the equipment can be confirmed to be unpowered. According to the actual use requirement, the related units develop and develop contact type and non-contact type electroscope, and form standards, and the details are as follows:
at present, the high/ultra-high voltage transmission lines in China are all tested by using a contact electroscope, and related standards (IEC 61243-1 electroscope for live working is used for a capacitor electroscope with the voltage of 1kV and above, DL/T740-2014 is used for standardizing the design, manufacturing and use rules and test methods of the contact electroscope, and the length of an insulating rod used by each voltage level contact electroscope is respectively 220kV of 3m, 330kV of 5m, 500kV of 7.2m,500kV and above, and if the contact electroscope is still used, the tower height of a circuit rod, the size of a tower head, the length of an insulator string, the operating parameters of the insulator string are high and the like; on the other hand, the longer insulating operating rod is easy to flex and inconvenient to operate.
Therefore, the invention provides an unmanned aerial vehicle electricity inspection method and device for a power transmission line.
Disclosure of Invention
In order to solve the problems, the invention provides an unmanned aerial vehicle electricity inspection method for a power transmission line, which comprises the following steps:
after preparation before electricity inspection is finished, remotely controlling the unmanned aerial vehicle to take off, and vertically rising the unmanned aerial vehicle to a preset height and keeping a hovering state, wherein the preset height is set based on the voltage level of a transmission line to be tested, and the preset height can be adjusted according to an actual environment;
performing machine head positioning operation on the unmanned aerial vehicle, wherein in the machine head positioning process, the machine head of the unmanned aerial vehicle swings left and right, and the linear distance between the machine head and the transmission line to be measured is measured in the process to obtain the machine head direction of the unmanned aerial vehicle;
setting waypoints at fixed intervals based on the voltage class of the transmission line to be detected, the minimum flight safety distance and the linear distance between the unmanned aerial vehicle and the transmission line to be detected, and generating a route;
and remotely controlling the unmanned aerial vehicle to enter a route mode, hovering point by point according to waypoints in the route, and finishing electricity testing operation on the power transmission line to be tested during hovering to obtain electricity testing data.
According to one embodiment of the invention, the preparation work specifically comprises the following steps:
and selecting a placement point of the unmanned aerial vehicle based on the topographic features near the transmission line to be tested in the maximum electricity testing range of the unmanned aerial vehicle, wherein the placement posture of the unmanned aerial vehicle keeps the machine head direction of the unmanned aerial vehicle vertical to the transmission line to be tested.
According to an embodiment of the present invention, the step of obtaining the direction of the nose of the unmanned aerial vehicle specifically includes the following steps:
under different aircraft nose swing angles, measuring the linear distance between the unmanned aerial vehicle and the transmission line to be measured, and simultaneously recording the deflection angle to obtain ranging data;
screening the ranging data based on a preset angle to obtain reliable data, wherein the preset angle is an included angle between a horizontal plane where the unmanned aerial vehicle is located and a connecting line between the transmission line to be tested and the unmanned aerial vehicle;
and calculating the machine head direction based on the reliable data.
According to one embodiment of the invention, the preset angle is set based on the minimum safe flight distance, the initial placement position of the unmanned aerial vehicle, and the preset height.
According to one embodiment of the invention, the distance measurement data outside the preset angle are filtered to obtain sample data, any two groups of data in the sample data are subjected to difference, and two groups of data with the smallest difference value are taken as the reliable data.
According to one embodiment of the present invention, the step of obtaining electricity test data after completing the electricity test operation on the transmission line to be tested during the hovering period specifically includes the following steps:
and acquiring temperature data, humidity data, electromagnetic field information and distance data of the power transmission line to be tested based on the electricity inspection equipment arranged on the unmanned aerial vehicle.
According to one embodiment of the invention, the method further comprises:
and respectively drawing a temperature curve, a humidity curve and an electromagnetic field curve which change along with the distance by taking the distance data as a horizontal axis and the temperature data, the humidity data and the electromagnetic field information as vertical axes.
According to one embodiment of the invention, the method further comprises:
screening all data points in the temperature curve, the humidity curve and the electromagnetic field curve, and sending out an alarm when the existing data points exceed a preset threshold value.
According to one embodiment of the invention, the method further comprises:
before generating the route, identifying and pushing a historical route in the current area, and if the historical route is selected, completing the electricity testing operation by the unmanned aerial vehicle according to the historical route.
According to another aspect of the present invention, there is also provided an unmanned aerial vehicle electricity inspection device for a power transmission line, the device comprising:
the system comprises an uplink module, a power transmission line detection module and a power transmission line detection module, wherein the uplink module is used for remotely controlling the unmanned aerial vehicle to take off after the preparation work before electricity inspection is completed, and the unmanned aerial vehicle is vertically lifted to a preset height and kept in a hovering state, wherein the preset height is set based on the voltage level of the power transmission line to be detected, and the preset height can be adjusted according to an actual environment;
the positioning module is used for performing machine head positioning operation on the unmanned aerial vehicle, and in the machine head positioning process, the machine head of the unmanned aerial vehicle swings left and right, and the linear distance between the machine head and the transmission line to be measured is measured in the process to obtain the machine head direction of the unmanned aerial vehicle;
the route module is used for setting a route point at a fixed interval based on the voltage grade of the power transmission line to be detected, the minimum flight safety distance and the linear distance between the unmanned aerial vehicle and the power transmission line to be detected, and generating a route;
and the electricity testing module is used for remotely controlling the unmanned aerial vehicle to enter a route mode, hovering point by point according to waypoints in the route, and finishing electricity testing operation on the power transmission line to be tested during hovering to obtain electricity testing data.
According to the unmanned aerial vehicle electricity test method and device for the power transmission line, through presetting the flight height and combining with on-site actual measurement, the unmanned aerial vehicle electricity test flight height is accurately positioned; according to different voltage classes and minimum flight safety distances, the aircraft nose direction and the distance between the aircraft nose direction and the transmission line to be tested can be combined to generate electricity-testing avionics and a route; and when electricity is tested in the same area, the historical route can be automatically matched, and the electricity test is completed through one-key operation. The invention can be suitable for the transmission lines to be tested with various voltage levels, can also be suitable for the electricity inspection sites with different terrain environments, and can cover wider electricity inspection scenes.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
Drawings
The accompanying drawings are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate the invention and together with the embodiments of the invention, serve to explain the invention, without limitation to the invention. In the drawings:
fig. 1 shows a flowchart of a drone electricity verification method for a transmission line according to one embodiment of the present invention;
FIG. 2 shows a flow chart for determining the orientation of a handpiece in accordance with one embodiment of the present invention;
FIG. 3 shows a schematic ranging diagram according to one embodiment of the invention;
FIG. 4 shows a schematic view of a preset angle according to one embodiment of the invention;
FIG. 5 shows a schematic diagram of the orientation of a handpiece in accordance with one embodiment of the present invention;
FIG. 6 shows a schematic view of perpendicular lines in a triangle according to one embodiment of the invention;
FIG. 7 shows a schematic view of a vertical line on the right of a triangle according to one embodiment of the invention;
FIG. 8 shows a schematic view of a vertical line on the left of a triangle according to one embodiment of the invention;
FIG. 9 shows a schematic diagram of an electroscope system according to one embodiment of the invention;
FIG. 10 shows a schematic diagram of a handpiece positioning in accordance with an embodiment of the present invention;
FIG. 11 shows an electromagnetic field profile as a function of distance in accordance with an embodiment of the present invention; and
fig. 12 shows a block diagram of a drone electroscope for a transmission line according to one embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the following embodiments of the present invention will be described in further detail with reference to the accompanying drawings.
Fig. 1 shows a flowchart of a drone electricity test method for a transmission line according to one embodiment of the present invention.
As shown in fig. 1, in step S101, after the preparation before electricity test is completed, the unmanned aerial vehicle is remotely controlled to take off, and the unmanned aerial vehicle is vertically lifted to a preset height and kept in a hovering state, wherein the preset height is set based on a voltage level of the power transmission line to be tested, and the preset height can be adjusted according to an actual environment.
Specifically, the power transmission lines with different voltage levels have different heights, for example, the ground-off height of a 500KV line is about 25m, and for the 500KV power transmission line, the preset height should be set to 25m when the unmanned aerial vehicle tests electricity.
In one embodiment, the preparation work before the take-off of the unmanned aerial vehicle specifically comprises the following steps: and selecting a placement point of the unmanned aerial vehicle based on the topographic features near the transmission line to be tested in the maximum electricity testing range of the unmanned aerial vehicle, and keeping the head direction of the unmanned aerial vehicle perpendicular to the transmission line to be tested in the placement posture of the unmanned aerial vehicle.
Further, unmanned aerial vehicle's biggest electricity test scope is unmanned aerial vehicle's biggest flight scope generally, because the transmission line that the electricity can not be tested on site to topography reason, this application can realize that non-contact tests the electricity, and unmanned aerial vehicle need set up the point of putting before taking off, and in an embodiment, unmanned aerial vehicle puts at 20m-30m from transmission line ground projection distance.
As shown in fig. 1, in step S102, a nose positioning operation is performed on the unmanned aerial vehicle, and during the nose positioning process, the nose of the unmanned aerial vehicle swings left and right, and during that, the linear distance between the unmanned aerial vehicle and the transmission line to be measured is measured, so as to obtain the nose direction of the unmanned aerial vehicle.
Specifically, the remote mobile phone app end triggers the machine head to position, the unmanned plane machine head swings left and right and ranges, and the machine head direction is determined through a machine head positioning algorithm under an 84 coordinate system.
As shown in fig. 1, in step S103, based on the voltage level of the transmission line to be measured, the minimum flight safety distance, and the linear distance between the unmanned aerial vehicle and the transmission line to be measured, the aircraft nose direction is combined, the waypoints are set at a fixed interval, and the route is generated.
Specifically, the minimum flight safety distances required by the power transmission lines with different voltage levels are different, and taking 500KV power transmission lines as an example, the theoretical minimum flight safety distance is 3m and the flight safety distance is 5m in the following table 1.
Table 1 500kv transmission line safety distance
| AC voltage class (kV) | Theoretical minimum safe distance (m) | Flight safety distance (m) |
| 500 | 3.0 | 5 |
Specifically, according to the linear distance between the positioning point of the unmanned aerial vehicle head and the power transmission line, a waypoint (waypoint) is set at a fixed interval (for example, 1 m), and a route is generated. In one embodiment, the flight range of the unmanned aerial vehicle is 15m-5m away from the line, and the waypoints are 15m, 14m, 13m … m away from the line.
Referring to fig. 1, in step S104, the remote control unmanned aerial vehicle enters a route mode, hovers point by point according to waypoints in the route, and completes an electricity test operation on a transmission line to be tested during hovering to obtain electricity test data.
In one embodiment, temperature data, humidity data, electromagnetic field information and distance data of a transmission line to be measured are collected based on an electroscope device arranged on the unmanned aerial vehicle.
In one embodiment, the temperature curve, the humidity curve and the electromagnetic field curve which are respectively changed along with the distance are respectively drawn by taking the distance data as a horizontal axis and taking the temperature data, the humidity data and the electromagnetic field information as vertical axes.
In one embodiment, all data points in the temperature curve, the humidity curve, and the electromagnetic field curve are screened, and an alarm is issued when the presence data point exceeds a preset threshold.
Specifically, after determining the route, the route mode is triggered by a remote mobile phone app (generally, the flight mode of the unmanned aerial vehicle comprises a stability augmentation mode, a GPS mode and an autonomous mode, which are also called route modes), the unmanned aerial vehicle flies point by point according to the generated route, when each avionic hovers, the electricity testing equipment completes temperature and humidity, distance measurement and electromagnetic field information acquisition, and sends the temperature and humidity, distance measurement and electromagnetic field information acquisition to the mobile phone app end to generate a change curve, and when the temperature and the distance exceed a threshold value, an acousto-optic alarm is sent.
In one embodiment, before generating the route, the historical route in the current area is identified and pushed, and if the historical route is selected, the unmanned aerial vehicle completes the electricity verification operation according to the historical route.
Specifically, the same area is repeatedly tested, the mobile phone app automatically identifies and pushes the route, reminds an operator whether to use the historical route for operation, if so, the unmanned aerial vehicle is switched to the route mode after taking off, and the unmanned aerial vehicle completes the test operation according to the historical route.
According to the invention, the electricity testing operation of the power transmission line is realized in a non-contact mode, and the non-contact electricity testing can be completed in the area where the power transmission line spans rivers, valleys and other operators cannot reach; and the electricity inspection operation of the power transmission line can be realized by lifting the height of the tower or the line, and the blank in the field is filled.
FIG. 2 shows a flow chart for determining the heading direction according to one embodiment of the invention.
As shown in fig. 2, in step S201, under different nose swing angles, the linear distance between the unmanned aerial vehicle and the transmission line to be measured is measured, and the yaw angle is recorded at the same time, so as to obtain ranging data.
As shown in fig. 3, the linear distance between the power transmission line and the unmanned aerial vehicle is measured by a laser ranging mode. Although the unmanned aerial vehicle is set to hover to a preset height which is higher than the power transmission line after taking off, in actual operation, the unmanned aerial vehicle cannot be guaranteed to be on the same plane as the power transmission line, so that the distance between the unmanned aerial vehicle and the power transmission line is the slant distance from the unmanned aerial vehicle to the power transmission line as shown in fig. 3.
Specifically, ranging data is obtained by:
1) Triggering laser ranging after the aircraft reaches a specified height (preset height);
2) The aircraft nose rotates 15 degrees to the left for ranging, rotates 10 degrees to the right, and rotates 5 degrees to the right for three times continuously;
3) Taking the first aircraft nose direction as the center, the aircraft nose direction is 15 degrees rightwards, 10 degrees leftwards and 5 degrees leftwards for 3 times continuously;
4) The direction of the aircraft nose turns to the left for 30 degrees for ranging, turns to the right for 25 degrees, and turns to the right for 20 degrees three times continuously;
5) Turning 30 degrees to the right, 25 degrees to the left and 20 degrees to the left for 3 times by taking the direction of the first handpiece as the center;
6) The distance value and the declination angle in the above process are recorded.
As shown in fig. 2, in step S202, ranging data is screened based on a preset angle, so as to obtain reliable data, where the preset angle is an included angle between a horizontal plane where the unmanned aerial vehicle is located and a connecting line between the power transmission line to be tested and the unmanned aerial vehicle.
In one embodiment, the preset angle is set based on a minimum safe flight distance, an initial placement position of the unmanned aerial vehicle, and a preset altitude.
Specifically, the preset angle is set manually, the deviation of the unmanned aerial vehicle and the line in height is generally positive and negative 5m when the electroscope is carried out, the safety distance between the unmanned aerial vehicle and the line is 6-14m according to different voltage levels, the furthest placement position of the unmanned aerial vehicle is considered to be 30m, the power transmission line can be accurately scanned when the swing range of the laser range finder is set by comprehensive calculation, and interference data in other ranges can be filtered (as shown in fig. 4).
In one embodiment, the distance measurement data outside the preset angle is filtered to obtain sample data, any two groups of data in the sample data are subjected to difference, and the two groups of data with the smallest difference value are taken as reliable data.
Further, the data are filtered for the first time in the range of-25 DEG to +25 DEG, and ranging data outside-25 DEG to +25 DEG are filtered out, so that sample data are obtained. Specifically, when the unmanned aerial vehicle swings in the machine head direction, the laser range finder measures the distance (inclined distance) between the unmanned aerial vehicle and the power transmission line, the distance is used as sample data after being filtered by +/-25 degrees, any two of the sample data are subjected to difference, and two points with the smallest difference value are taken as points (called an effective point 1 and an effective point 2) in the machine head direction of a computer, namely the data.
As shown in fig. 2, in step S203, the head direction is calculated based on the reliable data.
As shown in FIG. 5, d 1 Or d 2 (i.e., d1 or d2 in fig. 5) is a distance between the unmanned aerial vehicle and the power transmission line measured by laser ranging, the unmanned aerial vehicle and the power transmission line are not in the same plane, and the distance is an inclined distance. In fig. 5, the unmanned plane is located at a lower height than the transmission line, so that the laser rangefinder forms an included angle, i.e., α, when measuring the transmission line 1 Or alpha 2 (i.e., α1 or α2 in fig. 5). D (D) 1 、D 2 (namely, D1 and D2 in fig. 5) are projection distances from the unmanned aerial vehicle to the power transmission line on the altitude plane of the unmanned aerial vehicle.
Specifically, effective point 1 is on the left and effective point 2 is on the right; d, d 1 Representing the distance between the unmanned aerial vehicle and the effective point 1 of the power transmission line; d, d 2 Representing the distance between the unmanned aerial vehicle and the effective point 2 of the power transmission line; d (D) 1 The projection distance of the effective point 1, which is the distance between the unmanned aerial vehicle and the power transmission line, in the horizontal direction of the machine head is represented; d (D) 2 Representing the projection distance of the effective point 2 of the distance between the unmanned aerial vehicle and the power transmission line in the horizontal direction of the machine head; alpha 1 Indicating the included angle between the position of the effective point 1 of the laser range finder and the horizontal direction; alpha 2 The included angle between the position of the effective point 2 of the laser range finder and the horizontal direction is shown.
Specifically, angle A represents the angle of rotation of the handpiece between effective point 1 and effective point 2, D 1 、D 2 、d 1 、d 2 、α 1 、α 2 The relationship between these is as follows:
D 1 ＝d 1 ×cosα 1
D 2 ＝d 2 ×cosα 2
the included angle between the direction of the unmanned aerial vehicle head and the direction of the effective point 1 is B:
the included angle between the direction of the unmanned aerial vehicle head and the direction of the effective point 2 is C:
as shown in fig. 6, when the perpendicular lines are in triangles (a > B A > C):
namely, the direction of the unmanned aerial vehicle head (vertical direction) is as follows: the recorded effective point 1 is deflected by B DEG to the right on the basis of the deflection angle corresponding to the effective point or deflected by C DEG to the left on the basis of the deflection angle corresponding to the effective point 2. Theoretically, the angles a, B, C satisfy: b° +c° =a (high in: within the triangle).
As shown in fig. 7, when the vertical line is on the right side of the triangle (B > a):
namely, the direction of the unmanned aerial vehicle head is as follows: the recorded point 1 is deflected to the right by B DEG based on the corresponding deflection angle or the recorded point 2 is deflected to the right by C DEG based on the corresponding deflection angle, and the two angles are selected from one.
As shown in fig. 8, when the vertical line is on the left side of the triangle (C > a):
namely, the direction of the unmanned aerial vehicle head is as follows: the recorded point 1 is deflected to the left by B DEG based on the corresponding deflection angle or the recorded point 2 is deflected to the left by C DEG based on the corresponding deflection angle, and the two angles are selected from one.
In view of the defects of the prior art, the applicant develops a ground non-contact alternating current and direct current electroscope, namely, the electroscope is completed under the condition of not contacting with electrified equipment or circuits, so that the labor intensity of workers is greatly reduced, and the operation safety is ensured. On the basis, the standard DL/T1183-2012 1000kV non-contact electroscope of the power industry is formulated, and the research, the production, the use and the test of the 1000kV non-contact electroscope are effectively standardized. The electroscope of this type is not limited in use in plain areas.
FIG. 9 shows a schematic diagram of an electroscope system according to one embodiment of the invention. As shown in fig. 9, the electricity inspection system includes an unmanned aerial vehicle 1, an electricity inspection device 2, an unmanned aerial vehicle ground station 3, and a mobile phone 4.
Specifically, the unmanned aerial vehicle 1 and the electroscope 2 are connected by hardware, and communicate data with each other by urat.
The electricity testing equipment 2 and the unmanned aerial vehicle ground station 3 communicate through an airplane link, data transmitted between the electricity testing equipment 2 and the unmanned aerial vehicle ground station 3 comprise temperature data, humidity data, electromagnetic field data, distance data and the like, and data acquired by the electricity testing equipment 2 are transmitted to the unmanned aerial vehicle ground station 3 through the airplane link. Control instructions for the ground are sent by the unmanned ground station 3 to the electroscope 2 via the aircraft link.
In the application, the data transmission mode between the electricity inspection device 2 and the unmanned aerial vehicle ground station 3 is an unmanned aerial vehicle link, and is a unique data transmission mode in the electricity inspection method.
Unmanned aerial vehicle ground station 3 is connected through wifi or other wireless communication mode with cell-phone 4, transmits data and the control command of electricity test collection between the two, and control command is by cell-phone 4 to unmanned aerial vehicle ground station 3 transmission, and the data of gathering is by unmanned aerial vehicle ground station 3 to cell-phone 4 transmission, and the purpose is unmanned aerial vehicle data acquisition and control all independent unmanned aerial vehicle 1, ensures flight and operation safety.
In one embodiment, a 500KV ac transmission line is taken as an example:
and the unmanned aerial vehicle is placed at the position 20-30m away from the ground projection distance of the power transmission line, and the direction of the head of the unmanned aerial vehicle is perpendicular to the power transmission line.
And secondly, setting the height, namely remotely controlling the unmanned aerial vehicle to take off by a mobile phone, and according to design specifications and statistics, setting the 500kV line to be about 25m from the ground (preset in a system), if crossing or other factor towers are heightened on site, setting according to the actual height on site, triggering the height by an app end of the mobile phone, and vertically lifting the aircraft to the preset height of 25m and hovering.
And thirdly, performing machine head positioning, triggering the machine head positioning by the app end of the mobile phone, swinging the machine head of the unmanned aerial vehicle for 12 times left and right, ranging, and determining the machine head direction by a machine head positioning algorithm (as shown in figure 10).
And fourthly, generating a route, and after the machine head direction is acquired in the third step, setting waypoints at fixed intervals (for example, 0.5 m) and generating the route by combining the voltage level and the flight safety distance of the power transmission line.
And fifth step of electricity testing operation, namely triggering a route mode by the mobile phone app, enabling the unmanned aerial vehicle to fly point by point according to the generated route, finishing temperature, humidity, distance measurement and electromagnetic field information acquisition by the electricity testing equipment when each waypoint hovers, sending to the mobile phone app end to generate a curve, and sending out an acousto-optic alarm when the threshold value is exceeded.
The collected electroscopic data are shown in table 2 below:
finally, a curve as shown in fig. 11 is drawn according to the electroscopic data in table 2, and the change of the electroscopic data with distance is reflected.
In addition, if the second electricity test is to be performed in the same area, the mobile phone app automatically identifies and pushes the route, reminds an operator whether to use the historical route for operation, and if the historical route is used, the unmanned aerial vehicle is switched to the route mode after taking off, and the unmanned aerial vehicle completes the electricity test operation according to the historical route.
In summary, the invention realizes the accurate positioning of the unmanned aerial vehicle electroscopic flying height (if no special condition exists, the unmanned aerial vehicle flies according to the preset flying height, if the special environment flies according to the measured data height) by the preset flying height (such as the flying height of a 500kV line of 20m, the flying height of a 800kV line of 30m and the like) and combining with the on-site actual measurement (the situation that an actual line possibly spans a valley and a river).
And according to the safe distance values of the unmanned aerial vehicle and the circuit with different voltage levels, the invention combines the calculated machine head direction and the distance between the unmanned aerial vehicle and the circuit to generate an electricity testing navigation point and a navigation line. (such as 500kV flight safety distance 6m, 800kV flight safety distance 9m, 1100kV flight safety distance 14m, etc., and generating a route by combining the actual measured aircraft nose direction on site and the actual distance between the unmanned aerial vehicle and the route).
In addition, the invention can automatically match the historical route when the electricity is tested in the same area, and the electricity test is completed by one-key operation. Because the unmanned aerial vehicle ground station has recorded the flight route after the first time operation, when the operation at the back, unmanned aerial vehicle directly flies according to historical route and accomplishes and test the electricity.
Fig. 12 shows a block diagram of a drone electroscope for a transmission line according to one embodiment of the present invention. As shown in fig. 12, the electroscope 1200 includes: an uplink module 1201, a positioning module 1202, an airline module 1203, and an electricity test module 1204.
The uplink module 1201 is used for remotely controlling the unmanned aerial vehicle to take off after the preparation work before electricity inspection is completed, and the unmanned aerial vehicle vertically rises to a preset height and maintains a hovering state, wherein the preset height is set based on the voltage level of the power transmission line to be tested, and the preset height can be adjusted according to an actual environment.
The positioning module 1202 is used for performing a head positioning operation on the unmanned aerial vehicle, and in the head positioning process, the head of the unmanned aerial vehicle swings left and right, and the linear distance between the unmanned aerial vehicle and the transmission line to be measured is measured in the process, so that the head direction of the unmanned aerial vehicle is obtained.
The route module 1203 is configured to set a waypoint at a fixed distance based on a voltage class of the transmission line to be measured, a minimum flight safety distance, and a linear distance between the unmanned aerial vehicle and the transmission line to be measured, and generate a route.
The electricity testing module 1204 is used for remotely controlling the unmanned aerial vehicle to enter a route mode, hovering point by point according to waypoints in the route, and finishing electricity testing operation on the power transmission line to be tested during hovering to obtain electricity testing data.
In summary, the unmanned aerial vehicle electricity test method and device for the power transmission line provided by the invention realize accurate positioning of the unmanned aerial vehicle electricity test flying height by presetting the flying height and combining with on-site actual measurement; according to different voltage classes and minimum flight safety distances, the aircraft nose direction and the distance between the aircraft nose direction and the transmission line to be tested can be combined to generate electricity-testing avionics and a route; and when electricity is tested in the same area, the historical route can be automatically matched, and the electricity test is completed through one-key operation. The invention can be suitable for the transmission lines to be tested with various voltage levels, can also be suitable for the electricity inspection sites with different terrain environments, and can cover wider electricity inspection scenes.
It is to be understood that the disclosed embodiments are not limited to the specific structures, process steps, or materials disclosed herein, but are intended to extend to equivalents of these features as would be understood by one of ordinary skill in the relevant arts. It is also to be understood that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting.
Reference in the specification to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the invention. Thus, the appearances of the phrase "one embodiment" or "an embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment.
Although the embodiments of the present invention are disclosed above, the embodiments are only used for the convenience of understanding the present invention, and are not intended to limit the present invention. Any person skilled in the art can make any modification and variation in form and detail without departing from the spirit and scope of the present disclosure, but the scope of the present disclosure is still subject to the scope of the appended claims.
Claims (9)
1. An unmanned aerial vehicle electricity test method for a power transmission line, characterized in that the method comprises the following steps:
after preparation before electricity inspection is finished, remotely controlling the unmanned aerial vehicle to take off, and vertically rising the unmanned aerial vehicle to a preset height and keeping a hovering state, wherein the preset height is set based on the voltage level of a transmission line to be tested, and the preset height can be adjusted according to an actual environment;
performing machine head positioning operation on the unmanned aerial vehicle, wherein in the machine head positioning process, the machine head of the unmanned aerial vehicle swings left and right, and the linear distance between the machine head and the transmission line to be measured is measured in the process to obtain the machine head direction of the unmanned aerial vehicle;
setting waypoints at fixed intervals by combining the machine head direction based on the voltage grade of the power transmission line to be tested, the minimum flight safety distance and the linear distance between the unmanned aerial vehicle and the power transmission line to be tested, and generating a route;
remotely controlling the unmanned aerial vehicle to enter a route mode, hovering point by point according to waypoints in the route, and finishing electricity testing operation on the power transmission line to be tested during hovering to obtain electricity testing data;
the step of obtaining the machine head direction of the unmanned aerial vehicle specifically comprises the following steps: under different aircraft nose swing angles, measuring the linear distance between the unmanned aerial vehicle and the transmission line to be measured, and simultaneously recording the deflection angle to obtain ranging data; screening the ranging data based on a preset angle to obtain reliable data, wherein the preset angle is an included angle between a horizontal plane where the unmanned aerial vehicle is located and a connecting line between the transmission line to be tested and the unmanned aerial vehicle; and calculating the machine head direction based on the reliable data.
2. The method according to claim 1, wherein the preparation comprises the steps of:
and selecting a placement point of the unmanned aerial vehicle based on the topographic features near the transmission line to be tested in the maximum electricity testing range of the unmanned aerial vehicle, wherein the placement posture of the unmanned aerial vehicle keeps the machine head direction of the unmanned aerial vehicle vertical to the transmission line to be tested.
3. The method of claim 1, wherein the preset angle is set based on a minimum safe flight distance, an initial placement position of the drone, and the preset altitude.
4. A method according to any one of claims 1 or 3, wherein the ranging data outside the preset angle is filtered to obtain sample data, any two sets of data in the sample data are subjected to difference, and two sets of data with the smallest difference are taken as the reliable data.
5. The method of claim 1, wherein the step of obtaining the electricity test data after completing the electricity test operation on the transmission line under test during the hovering period comprises the steps of:
and acquiring temperature data, humidity data, electromagnetic field information and distance data of the power transmission line to be tested based on the electricity inspection equipment arranged on the unmanned aerial vehicle.
6. The method of claim 5, wherein the method further comprises:
and respectively drawing a temperature curve, a humidity curve and an electromagnetic field curve which change along with the distance by taking the distance data as a horizontal axis and the temperature data, the humidity data and the electromagnetic field information as vertical axes.
7. The method of claim 6, wherein the method further comprises:
screening all data points in the temperature curve, the humidity curve and the electromagnetic field curve, and sending out an alarm when the existing data points exceed a preset threshold value.
8. The method of claim 1, wherein the method further comprises:
before generating the route, identifying and pushing a historical route in the current area, and if the historical route is selected, completing the electricity testing operation by the unmanned aerial vehicle according to the historical route.
9. An unmanned aerial vehicle electroscopic device for a power transmission line, wherein a method according to any of the claims 1-8 is performed, the device comprising:
the system comprises an uplink module, a power transmission line detection module and a power transmission line detection module, wherein the uplink module is used for remotely controlling the unmanned aerial vehicle to take off after the preparation work before electricity inspection is completed, and the unmanned aerial vehicle is vertically lifted to a preset height and kept in a hovering state, wherein the preset height is set based on the voltage level of the power transmission line to be detected, and the preset height can be adjusted according to an actual environment;
the positioning module is used for performing machine head positioning operation on the unmanned aerial vehicle, and in the machine head positioning process, the machine head of the unmanned aerial vehicle swings left and right, and the linear distance between the machine head and the transmission line to be measured is measured in the process to obtain the machine head direction of the unmanned aerial vehicle;
the route module is used for setting a route point at a fixed interval based on the voltage grade of the power transmission line to be tested, the minimum flight safety distance and the linear distance between the unmanned aerial vehicle and the power transmission line to be tested, and generating a route;
and the electricity testing module is used for remotely controlling the unmanned aerial vehicle to enter a route mode, hovering point by point according to waypoints in the route, and finishing electricity testing operation on the power transmission line to be tested during hovering to obtain electricity testing data.
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