CN113602512A - Airborne binocular type power transmission line crossing point monitoring device and monitoring method thereof - Google Patents
Airborne binocular type power transmission line crossing point monitoring device and monitoring method thereof Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
- B64D47/08—Arrangements of cameras
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
- B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F1/00—Ground or aircraft-carrier-deck installations
- B64F1/007—Helicopter portable landing pads
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/14—Measuring arrangements characterised by the use of optical techniques for measuring distance or clearance between spaced objects or spaced apertures
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- 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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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
- B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
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Abstract
The application discloses machine carries two mesh formula transmission line crossing point monitoring devices and monitoring method thereof relates to transmission line crossing distance measurement technical field, including shutting down rotatory test table, unmanned aerial vehicle and two mesh cameras, it sets up around transmission line crossing point to shut down rotatory test table distribution, two mesh cameras are fixed to be set up unmanned aerial vehicle is last, unmanned aerial vehicle can take two mesh cameras to descend and be in shut down rotatory test table is last to can shoot transmission line crossing point through two mesh cameras. The observation points can be flexibly set in such a mode, the distance between the observation points and the crossing points of the power transmission line can be close or far, and more or less observation points can be arranged. The whole device is simple in structure, low in cost and convenient to operate, assemble and overhaul.
Description
Technical Field
The application relates to the technical field of measurement of crossing distance of power transmission lines, in particular to an airborne binocular power transmission line crossing point monitoring device and a monitoring method thereof.
Background
The safety spacing of the wires of the power transmission line is one of the prerequisites of normal and safe operation of the line, in order to ensure the safe operation of the power transmission line, different requirements are imposed on the safety spacing of the wires of the lines with different voltage levels, and faults such as phase flashover, short circuit and the like are easy to occur when the spacing of the high-voltage power transmission line is too small. Therefore, it is important to measure the crossing distance. At present, the existing power transmission line crossing distance inspection basically depends on traditional manual inspection, the working strength is high, the efficiency is low, and misjudgment or missing judgment easily occurs in manual inspection. To solve this problem, solutions such as positioning by using laser ranging, detection by unmanned aerial vehicles, photogrammetry technologies, etc. have been developed and tested in various places, for example, CN104807449A discloses a power transmission line crossing measurement system based on stereo photogrammetry, which includes a camera control module, a verification module and a data processing module; the camera control module is used for controlling two stereo cameras in the binocular system to shoot images synchronously and exporting the shot images to a set directory; the calibration module completes the measurement of the target and the calibration of the binocular system and stores the parameters obtained by the calibration in a file; the data processing module is used for measuring the distance between the shot power lines or between the power lines and other crossed objects. When the device is used, the monitoring device is usually fixedly installed on a tower or other positions convenient for observation, and in areas with more cloud and fog, such as mountainous areas in the south or hills, the distance between crossing points of the power transmission line cannot be accurately measured due to too large cloud and fog.
Disclosure of Invention
In order to solve the problems, one of the applications provides an airborne binocular type power transmission line crossing point monitoring device, which comprises a shutdown rotary detection table, an unmanned aerial vehicle and a binocular camera;
the shutdown rotation detection tables are distributed around the crossed crossing point of the power transmission line;
the binocular camera is fixedly arranged on the unmanned aerial vehicle, the unmanned aerial vehicle can drive the binocular camera to land on the stopping rotary detection table, and the cross crossing points of the power transmission line can be shot through the binocular camera.
Preferably, the shutdown rotation detection table is arranged in a range with a radius of 300 meters by taking a crossing point of the power transmission line as a circle center. The situation of the crossing points of the power transmission lines can be well observed in the distance range, and a common camera can clearly shoot pictures.
Preferably, the number of the stop rotation detection tables is four, and the four stop rotation detection tables are respectively located on an included angle bisector formed by two adjacent power transmission lines on a top view of a power transmission line crossing point. Through a large amount of practice verification, image data obtained on an included angle bisector formed by two adjacent power transmission lines can reflect the real cross-over point-line distance more accurately, so that the detection accuracy can be ensured, and the purposes of accurate monitoring and early warning are finally achieved.
Preferably, the bottom of the machine halt rotation detection table is fixedly provided with fixed support legs, the fixed support legs are made of angle steel, and the bottom of the angle steel is designed into a sharp shape so as to be conveniently inserted into the ground to realize fixation of the machine halt rotation detection table. Because transmission line crossing point is mostly in the field, for the convenience of fixed mounting halt the rotation and detect the platform, in the below welding many angle irons of halting the rotation and detecting the platform, then will halt the rotation and detect the platform and the angle iron is impressed ground and just can realize quick fixed at the scene, such simple structure makes easily, easy to assemble moreover, dismantles. Because its belly of unmanned aerial vehicle is from taking the camera of flight observation usefulness, can utilize this camera to often observe the state of shutting down the rotatory test table that detects, if the discovery has the deformation or just send people in time to handle when having the trouble.
Preferably, the shutdown rotation detection table comprises a detection table body, a rotating motor and a turntable;
the detection table body is of a cylindrical structure, a turntable placing groove is formed in the middle of the detection table body, the turntable placing groove is a cylindrical groove body, the rotating motor is fixedly arranged in the turntable placing groove, an output rotating shaft of the rotating motor faces upwards, and the output rotating shaft of the rotating motor is fixedly connected with the turntable;
the rotating motor can drive the turntable to rotate for 360 degrees.
Preferably, the shutdown rotation detection table is further provided with a control unit, and the control unit is arranged in the turntable placing groove;
the control unit comprises a power supply unit, a controller unit, a motor driving unit, a wireless communication unit and an unmanned aerial vehicle detection unit;
the power supply unit comprises a storage battery, is electrically connected with the controller unit, the motor driving unit, the wireless communication unit and the unmanned aerial vehicle detection unit respectively, and is used for providing electric energy for each unit;
the controller unit is respectively electrically connected with the motor driving unit, the wireless communication unit and the unmanned aerial vehicle detection unit, wherein the output end of the motor driving unit is electrically connected with the rotating motor; the wireless communication unit is communicated with the control terminal through radio waves and used for sending and receiving control instructions of the control center; the unmanned aerial vehicle detecting unit comprises an infrared detecting sensor and is used for detecting whether the unmanned aerial vehicle lands or not. The whole control of stopping the rotatory platform that detects carries out remote control by control center, cooperates the flight of unmanned aerial vehicle self to observe and stops the rotatory platform that detects with camera adjustment. For example, when the unmanned aerial vehicle lands on the A-stop rotary detection table, the landing position is judged according to the camera of the unmanned aerial vehicle, then the unmanned aerial vehicle is controlled to descend, whether the unmanned aerial vehicle stops on the A-stop rotary detection table or not is judged through the infrared detection sensor after descending, if stopping is completed, the rotating motor is remotely controlled to rotate at the same time by observing images collected by the binocular camera, and therefore the most suitable angle of the binocular camera is achieved. The whole observation process is remotely controlled, personnel do not need to go to the site for operation, the working intensity of operators is reduced, and the labor cost is saved.
Preferably, the angle steel is provided with 3 altogether, and its length is 1~2 meters, and the interval 120 degrees welding setting of difference is in the bottom of stopping rotatory detection platform. The mechanism is more reliable and stable when being used as a support for fixing relative to one angle steel.
Preferably, camera supports are fixedly arranged on two sides of an undercarriage of the unmanned aerial vehicle respectively, and the binocular cameras are fixedly arranged on the camera supports. The landing gear both sides of unmanned aerial vehicle are equallyd divide and are fixed respectively to be provided with the camera support, and such structure can guarantee that unmanned aerial vehicle's focus is located central point, is unlikely to because the focus leads to the flight unstability at the center. In addition, a battery and a control circuit for the camera are arranged on the camera bracket. The control circuit should include an image transceiving communication module for the control center to remotely receive the image information.
The second application provides a monitoring method based on the airborne binocular power transmission line crossing point monitoring device, which comprises the following steps:
s1, mounting and fixing a stop rotation detection table; and respectively fixedly arranging 4 stopping rotary detection tables on an included angle bisector formed by two adjacent power transmission lines on a top view of the power transmission line crossing point, and ensuring that the linear distance between each stopping rotary detection table and the power transmission line crossing point is not more than 300 meters.
S2, the remote control unmanned aerial vehicle conveys the binocular camera to a stop rotary detection table; according to conventional remote control mode, the unmanned aerial vehicle is remotely controlled to fly and land on a fixed stop rotation detection table.
S3, adjusting the stop rotary detection table to enable the binocular camera to be aligned to the crossing point of the tested power transmission line; after the unmanned aerial vehicle finishes falling, the image of the binocular camera is started and received, the rotating motor on the rotating detection table is stopped and rotated according to image control, and the rotating motor drives the turntable and the unmanned aerial vehicle to rotate until the tested power transmission line crossing point is aligned.
S4, starting to shoot the crossing points of the tested power transmission line by using the binocular camera and sending the image data to the control center for operation to obtain result values, and then storing the result values for comparison;
s5, after the test of one test point is finished, observing the next test point again according to the steps S1-S4 until the observation of all the test points is finished;
and S6, comparing the test results of all the test points, summing and calculating an average value, wherein the average value is the distance between crossing points of the tested power transmission line.
And S7, completing the test and controlling the unmanned aerial vehicle to return.
The monitoring method of the airborne binocular power transmission line crossing point monitoring device according to claim 9, wherein:
the shutdown rotation detection platform is provided with 4 test points A, B, C and D which are all positioned on an included angle bisector formed by two adjacent power transmission lines on a top view of the power transmission line crossing point.
The application discloses machine carries two mesh formula transmission line crossing point monitoring devices of mesh, including shutting down rotatory test table, unmanned aerial vehicle and two mesh cameras of examining, it sets up around transmission line crossing point to shut down rotatory test table distribution, two mesh cameras are fixed to be set up unmanned aerial vehicle is last, unmanned aerial vehicle can take two mesh cameras to descend and be in shut down rotatory test table is last to can shoot transmission line crossing point through two mesh cameras. The observation points can be flexibly set in such a mode, the distance between the observation points and the crossing points of the power transmission line can be close or far, and more or less observation points can be arranged. The whole device is simple in structure, low in cost and convenient to operate, assemble and overhaul.
Drawings
FIG. 1 is a schematic view of a distribution of observation points of a rotating inspection table during on-site shutdown according to an embodiment of the present disclosure;
FIG. 2 is a schematic structural diagram of a shutdown rotation detection table in an embodiment provided in the present application;
FIG. 3 is an exploded view of a shutdown rotational inspection station in an embodiment provided herein;
fig. 4 is a schematic position diagram of the drone and the binocular camera in the embodiment provided by the present application;
fig. 5 is a schematic diagram of an unmanned aerial vehicle landing on a stop rotation detection table in the embodiment provided by the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the embodiments of the present application will be described clearly and completely with reference to fig. 1 to 5 of the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments obtained by a person of ordinary skill in the art without any inventive work based on the embodiments in the present application are within the scope of protection of the present application. Thus, the following detailed description of the embodiments of the present application, as presented in the figures, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. In the description of the present application, it is to be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the present application and for simplicity in description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed in a particular orientation, and be operated in a particular manner, and are not to be construed as limiting the present application.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.
In this application, unless expressly stated or limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can include, for example, fixed connections, removable connections, or integral parts; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.
In this application, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may comprise direct contact of the first and second features, or may comprise contact of the first and second features not directly but through another feature in between. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.
As shown in figures 1-5, an airborne binocular type power transmission line crossing point monitoring device comprises a shutdown rotary detection platform 1, an unmanned aerial vehicle 3 and a binocular camera 4. The shutdown rotary detection tables 1 are distributed around the crossing points of the power transmission lines. The shutdown rotation detection platform 1 is arranged in a range with the radius of 300 meters by taking a power transmission line crossing point as a circle center. The situation of the crossing points of the power transmission lines can be well observed in the distance range, and a common camera can clearly shoot pictures. In this embodiment, four shutdown rotation detection tables 1 are provided, and as shown in fig. 1, the four shutdown rotation detection tables are respectively marked with reference number A, B, C, D and are respectively located on an included angle bisector formed by two adjacent power transmission lines on a top view of a power transmission line crossing point. Through a large amount of practice verification, image data obtained on an included angle bisector formed by two adjacent power transmission lines can reflect the real cross-over point-line distance more accurately, so that the detection accuracy can be ensured, and the purposes of accurate monitoring and early warning are finally achieved. The fixed landing leg 2 that is provided with in bottom of shutting down rotation detection platform 1, fixed landing leg 2 adopts the angle steel to make, and the bottom of angle steel is established into sharp-pointed shape to insert ground and realize shutting down the fixed of rotation detection platform 1. The angle steel is provided with 3 altogether and follows, and its length is 1~2 meters, and the interval 120 degrees welding setting is in the bottom of shutting down rotatory detection platform 1 respectively. The mechanism is more reliable and stable when being used as a support for fixing relative to one angle steel. Because transmission line crossing point is mostly in the field, for the convenience of fixed mounting halt rotation detection platform 1, a plurality of angle steels are welded below halt rotation detection platform 1, and then halt rotation detection platform 1 and angle steels are pressed into the ground on the spot to realize quick fixation. Because its belly of unmanned aerial vehicle 3 is from taking the camera of flight observation usefulness, can utilize this camera to often observe the state of shutting down rotatory test table 1, if the discovery has the deformation or just send people in time to handle when having the trouble.
Because the binocular cameras are expensive, one observation point is provided with two cameras and is matched with corresponding hardware circuits and software, so that the cost is high, in order to reduce the cost, an unmanned aerial vehicle is adopted to carry the two cameras to carry out circular observation so as to reduce the hardware cost, the observation points can be flexibly set in such a way, the observation points can be close to or far away from the cross crossing point of the power transmission line, more or less observation points can be obtained, the control can be carried out conveniently as long as the interval data of the cables can be accurately obtained, and the operation is very convenient.
In one embodiment, the stop-and-rotation inspection table 1 includes an inspection table body 10, a rotating motor 11, and a turntable 12. The detection table body 10 is of a cylindrical structure, a rotary table placing groove 100 is formed in the middle of the detection table body, the rotary table placing groove 100 is a cylindrical groove body, a rotating motor 11 is fixedly arranged in the rotary table placing groove 100, an output rotating shaft of the rotating motor 11 faces upwards, and the output rotating shaft of the rotating motor 11 is fixedly connected with a rotary table 12. The rotary motor 11 can rotate the turntable 123 by 60 degrees.
The shutdown rotation detection table 1 is further provided with a control unit, and the control unit is disposed in the turntable placement groove 100. The control unit comprises a power supply unit, a controller unit, a motor driving unit, a wireless communication unit and an unmanned aerial vehicle detection unit. The power supply unit comprises a storage battery, and the storage battery is respectively electrically connected with the controller unit, the motor driving unit, the wireless communication unit and the unmanned aerial vehicle detection unit and is used for providing electric energy for each unit. The controller unit is connected with motor drive unit, wireless communication unit and unmanned aerial vehicle detecting element electricity respectively, and wherein motor drive unit's output is connected with rotating electrical machines 11 electricity. The wireless communication unit communicates with the control terminal through radio waves and is used for sending and receiving control instructions of the control center. The unmanned aerial vehicle detecting unit comprises an infrared detecting sensor and is used for detecting whether the unmanned aerial vehicle lands or not. The whole control of halting the rotatory platform of examining test 1 carries out remote control by control center, cooperates unmanned aerial vehicle self for the flight observation camera adjustment to halt rotatory platform of examining test 1. For example, when the unmanned aerial vehicle lands on the A-stop rotary detection table 1, the landing position is judged according to the camera of the unmanned aerial vehicle, then the unmanned aerial vehicle is controlled to descend, whether the unmanned aerial vehicle stops on the A-stop rotary detection table 1 or not is judged through the infrared detection sensor after descending, if stopping is completed, the rotating motor 11 is remotely controlled to rotate at the same time by observing the images collected by the binocular camera 4, and therefore the optimal angle of the binocular camera 4 is achieved. The whole observation process is remotely controlled, personnel do not need to go to the site for operation, the working intensity of operators is reduced, and the labor cost is saved.
The monitoring method of the airborne binocular power transmission line crossing point monitoring device is as follows:
and S1, mounting and fixing the stop rotation detection table 1. And respectively fixedly arranging the 4 stopping rotary detection tables 1 on an included angle bisector formed by two adjacent power transmission lines on a top view of a power transmission line crossing point, and ensuring that the distance between each stopping rotary detection table 1 and the power transmission line crossing point is not more than 300 meters.
S2, the remote control unmanned aerial vehicle 3 conveys the binocular camera 4 to the stop rotation detection table 1. According to the conventional remote control mode, the unmanned aerial vehicle 3 is remotely controlled to fly and land on the fixed stop rotating detection table 1.
And S3, adjusting the halt rotation detection table 1 to enable the binocular camera 4 to be aligned to the crossing point of the tested power transmission line. After the unmanned aerial vehicle finishes falling, the unmanned aerial vehicle starts and receives the image of the binocular camera 4, the rotating motor 11 on the rotary detection table 1 is stopped and rotated according to image control, and the rotating motor 11 drives the turntable 12 and the unmanned aerial vehicle to rotate until the tested power transmission line crossing point is aligned.
And S4, starting to shoot the crossing points of the tested power transmission line by using the binocular camera 4, sending the image data to the control center for operation to obtain result values, and then storing the result values for comparison.
And S5, after the test of one test point is finished, observing the next test point again according to the steps S1-S4 until the observation of all the test points is finished.
And S6, comparing the test results of all the test points, summing and calculating an average value, wherein the average value is the distance between crossing points of the tested power transmission line.
And S7, completing the test and controlling the unmanned aerial vehicle to return.
The application discloses machine carries two mesh formula transmission line crossing point monitoring devices of mesh, including shutting down rotatory test table 1, unmanned aerial vehicle 3 and two mesh cameras 4, shut down rotatory test table 1 and distribute and set up around transmission line crossing point, two mesh cameras 4 are fixed to be set up on unmanned aerial vehicle 3, unmanned aerial vehicle 3 can take two mesh cameras 4 to descend and shut down rotatory test table 1 on to can shoot transmission line crossing point through two mesh cameras 4. The observation points can be flexibly set in such a mode, the distance between the observation points and the crossing points of the power transmission line can be close or far, and more or less observation points can be arranged. The whole device is simple in structure, low in cost and convenient to operate, assemble and overhaul.
Claims (10)
1. An airborne binocular type power transmission line crossing point monitoring device is characterized by comprising a stop rotating detection table (1), an unmanned aerial vehicle (3) and a binocular camera (4);
the shutdown rotary detection tables (1) are distributed around the crossing points of the power transmission line;
binocular camera (4) are fixed to be set up on unmanned aerial vehicle (3), unmanned aerial vehicle (3) can take binocular camera (4) to descend and be in shut down on the rotatory platform (1) that detects to can shoot transmission line crossing point through binocular camera (4).
2. The airborne binocular power transmission line crossing point monitoring device according to claim 1, wherein:
the shutdown rotation detection platform (1) is arranged in a range with the radius of 300 meters by taking a crossing point of the power transmission line as a circle center.
3. The airborne binocular power transmission line crossing point monitoring device according to claim 2, wherein:
the four shutdown rotation detection tables (1) are respectively positioned on an included angle bisector formed by two adjacent power transmission lines on a top view of a power transmission line crossing point.
4. The airborne binocular power transmission line crossing point monitoring device according to claim 3, wherein:
the fixed landing leg (2) that is provided with in bottom of stopping rotatory test table (1), fixed landing leg (2) adopt the angle steel to make, the bottom of angle steel is established into sharp-pointed shape to insert the fixed of rotatory test table (1) of realizing stopping of ground.
5. The airborne binocular power transmission line crossing point monitoring device according to claim 4, wherein:
the shutdown rotation detection table (1) comprises a detection table body (10), a rotating motor (11) and a turntable (12);
the detection table body (10) is of a cylindrical structure, a turntable placing groove (100) is formed in the middle of the detection table body, the turntable placing groove (100) is a cylindrical groove body, the rotating motor (11) is fixedly arranged in the turntable placing groove (100), an output rotating shaft of the rotating motor (11) faces upwards, and the output rotating shaft of the rotating motor (11) is fixedly connected with the turntable (12);
the rotating motor (11) can drive the turntable (12) to rotate 360 degrees.
6. The airborne binocular power transmission line crossing point monitoring device according to claim 5, wherein:
the shutdown rotation detection table (1) is further provided with a control unit, and the control unit is arranged in the turntable placing groove (100);
the control unit comprises a power supply unit, a controller unit, a motor driving unit, a wireless communication unit and an unmanned aerial vehicle detection unit;
the power supply unit comprises a storage battery, is electrically connected with the controller unit, the motor driving unit, the wireless communication unit and the unmanned aerial vehicle detection unit respectively, and is used for providing electric energy for each unit;
the controller unit is respectively and electrically connected with the motor driving unit, the wireless communication unit and the unmanned aerial vehicle detection unit, wherein the output end of the motor driving unit is electrically connected with the rotating motor (11); the wireless communication unit is communicated with the control terminal through radio waves and used for sending and receiving control instructions of the control center; the unmanned aerial vehicle detecting unit comprises an infrared detecting sensor and is used for detecting whether the unmanned aerial vehicle lands or not.
7. The airborne binocular power transmission line crossing point monitoring device according to claim 4, wherein:
the angle steel is provided with 3 altogether, and its length is 1~2 meters, and the interval 120 degrees welding setting is in respectively the rotatory bottom of examining test table (1) of shutting down.
8. The airborne binocular power transmission line crossing point monitoring device according to claim 1, wherein:
the unmanned aerial vehicle (3) landing gear both sides are fixed respectively and are provided with camera support (30), fixed being provided with above camera support (30) binocular camera (4).
9. The monitoring method of the airborne binocular power transmission line crossing point monitoring device according to claim 6, comprising the following steps:
s1, mounting and fixing the stop rotation detection table (1);
s2, the remote control unmanned aerial vehicle (3) conveys the binocular camera (4) to the stop rotation detection table (1);
s3, adjusting the stop rotation detection table (1) to enable the binocular camera (4) to be aligned to the crossing point of the tested power transmission line;
s4, starting to shoot the crossing points of the tested power transmission line by using the binocular camera (4), sending the image data to the control center for operation to obtain result values, and then storing the result values for comparison;
s5, after the test of one test point is finished, observing the next test point again according to the steps S1-S4 until the observation of all the test points is finished;
s6, comparing the test results of all the test points, summing and calculating an average value, wherein the average value is the distance between crossing points of the tested power transmission line;
and S7, completing the test and controlling the unmanned aerial vehicle to return.
10. The monitoring method of the airborne binocular power transmission line crossing point monitoring device according to claim 9, wherein:
4 stopping rotary detection tables (1) are arranged.
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| CN202110868886.1A CN113602512A (en) | 2021-07-30 | 2021-07-30 | Airborne binocular type power transmission line crossing point monitoring device and monitoring method thereof |
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| CN202110868886.1A CN113602512A (en) | 2021-07-30 | 2021-07-30 | Airborne binocular type power transmission line crossing point monitoring device and monitoring method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
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Application publication date: 20211105 |