CN108872819A - Isolator detecting unmanned plane and method based on infrared thermal imagery and visible light - Google Patents
Isolator detecting unmanned plane and method based on infrared thermal imagery and visible light Download PDFInfo
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- CN108872819A CN108872819A CN201810850846.2A CN201810850846A CN108872819A CN 108872819 A CN108872819 A CN 108872819A CN 201810850846 A CN201810850846 A CN 201810850846A CN 108872819 A CN108872819 A CN 108872819A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/12—Testing dielectric strength or breakdown voltage ; Testing or monitoring effectiveness or level of insulation, e.g. of a cable or of an apparatus, for example using partial discharge measurements; Electrostatic testing
- G01R31/1218—Testing dielectric strength or breakdown voltage ; Testing or monitoring effectiveness or level of insulation, e.g. of a cable or of an apparatus, for example using partial discharge measurements; Electrostatic testing using optical methods; using charged particle, e.g. electron, beams or X-rays
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/94—Investigating contamination, e.g. dust
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/12—Testing dielectric strength or breakdown voltage ; Testing or monitoring effectiveness or level of insulation, e.g. of a cable or of an apparatus, for example using partial discharge measurements; Electrostatic testing
- G01R31/1227—Testing dielectric strength or breakdown voltage ; Testing or monitoring effectiveness or level of insulation, e.g. of a cable or of an apparatus, for example using partial discharge measurements; Electrostatic testing of components, parts or materials
- G01R31/1245—Testing dielectric strength or breakdown voltage ; Testing or monitoring effectiveness or level of insulation, e.g. of a cable or of an apparatus, for example using partial discharge measurements; Electrostatic testing of components, parts or materials of line insulators or spacers, e.g. ceramic overhead line cap insulators; of insulators in HV bushings
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Abstract
The invention discloses a kind of isolator detecting unmanned plane and method based on infrared thermal imagery and visible light, is related to power transmission and transformation line repair and maintenance equipment technical field, including unmanned plane, detection module, wireless transport module, earth station.Wherein unmanned plane does aerial mobile around insulator chain for controlling detection module；Detection module, including thermal infrared imager and visible camera；Wireless transport module includes day dead end wireless transmit/receive units and ground surface end wireless transmit/receive units.Earth station is connected with ground surface end wireless transmit/receive units, includes deterioration analysis unit, failure analysis (FA) unit and gradation for surface pollution recognition unit, and analysis insulator chain identifies insulator contamination grade with the presence or absence of internal deterioration and external breakage.The present invention, which can be realized, carries out remote contactless live detection to the deterioration of insulator chain inside, external damaged and gradation for surface pollution, improves the efficiency and accuracy rate of detection, and promote the safety of testing staff, reduces working strength.
Description
Technical field
The present invention relates to power transmission and transformation line repair and maintenance equipment technical field, be specifically related to it is a kind of based on infrared thermal imagery and
The isolator detecting unmanned plane and method of visible light.
Background technique
Insulator be quantity at most, running environment by atmosphere, contamination etc. influenced most apparent power transmission and transforming equipment, in power transmission and transformation
In route, insulation and suspension fixed function are played.And transmission line of electricity is set up in field mostly, the working environment of insulator is severe, absolutely
The probability that edge will appear situations such as icing, filth and insulator is caused to break down greatly increases.And as insulator is run
The increase of time, is acted on by electromechanical combination, and the insulation performance and mechanical performance of insulator can decline, to generate aging or deterioration
Insulator, or even there is the major accident that string in turn results in large-area power-cuts, lead to serious financial consequences and undesirable society
It will affect.Therefore, periodic detection is carried out to power transmission and transformation line insulator, to guarantee power transmission and transformation line safety and stability reliability service tool
There is important realistic meaning.
In order to detect Faulty insulator, researchers at home and abroad have carried out a large amount of research, and propose some useful
Detection method, mainly include spark fork method, voltage's distribiuting method, Leakage Current method, pulse current method, laser-Doppler vibratory drilling method,
Ultraviolet image method, infrared thermal imagery method etc..These detection methods respectively have the advantages that it is respective, but all come with some shortcomings place.Such as electricity
Pressure distribution, spark gap method need manually steps on tower have a power failure detection, there are security risk and efficiency it is lower；Leakage Current method needs
The a large amount of highly sensitive current sensor of installation, cost are larger；Pulse current method is easy by electromagnetic interference, and accuracy is poor；Swash
Equipment instrument used in light Doppler's vibratory drilling method is excessive, expensive, is unfavorable for operation and maintenance.
Infrared thermal imagery method with respect to the methods of spark gap method, have it is non-contact, without step on tower, it is safe and efficient, can be with electric-examination
The characteristics of survey, is rapidly developed in the work of status of electric power.But traditional infrared imaging method is because of ultra-high-tension power transmission line
Insulator distributed point is more, area is wide, and locating with a varied topography, natural environment is severe, manually utilizes thermal infrared imager shot detection side
Method Detection accuracy is difficult to ensure, can not adapt to the development need of modern power network.
In the past in order to detect the outer damage of insulator, testing staff's line walking is usually relied on, it is big but there are detection difficulties,
Working efficiency is low, great work intensity, is especially in the transmission line of electricity of complicated landform, and detection difficulty greatly increases, and unmanned plane
Application in isolator detecting field can effectively overcome these difficulties.
Currently, proposing a variety of effective ways to detection insulator contamination grade both at home and abroad, more commonly used is filthy
Insulator disassembles, and measures that its salt is close and ash is close to obtain the gradation for surface pollution of insulator, but this method need to power off and
It is complicated for operation.Still an alternative is that judging gradation for surface pollution, but this method by detection insulator surface maximum conductivity
It needs to be embedded in electrode in insulator surface, it is complicated for operation.
In contrast, the insulator contamination level detection method merged using insulator visible light and infrared thermal imagery is then more
It is accurate convenient, and can be with hot line job.Pollution severity of insulators can change the COLOR COMPOSITION THROUGH DISTRIBUTION of insulator surface, can be by mentioning
Take surface color feature as basis of characterization, and insulator surface leakage current will lead to the raising of insulator surface temperature, it can be with
By its temperature rise of IR thermal imaging inspection, and the characteristic quantities such as ambient temperature, relative humidity are combined, utilizes radial base probability mind
Through Network Recognition insulator contamination grade.
Summary of the invention
The invention mainly solves the technical problem of providing a kind of isolator detecting based on infrared thermal imagery and visible light without
Man-machine and method can be realized to the remote of the deterioration of insulator chain inside, external breakage and the identification of insulator contamination grade
Apart from contactless live detection, the efficiency and accuracy rate of detection are improved, and promotes the safety of testing staff, it is strong to reduce work
Degree.
In order to solve the above technical problems, the present invention adopts the following technical scheme that：
A kind of isolator detecting unmanned plane based on infrared thermal imagery and visible light, for detecting insulator chain with the presence or absence of interior
Portion's deterioration and external breakage, including：Unmanned plane, detection module, wireless transport module, earth station；
The unmanned plane is used to control detection module around insulator chain and does aerial mobile；
The detection module comprising thermal infrared imager and visible camera are fixed on unmanned plane, infrared thermal imagery
Instrument is responsible for acquiring insulator chain Infrared Image Features information, it is seen that light video camera is responsible for acquiring the visible images of insulator chain；
The wireless transport module comprising day dead end wireless transmit/receive units and ground surface end wireless transmit/receive units, the day
Dead end wireless transmit/receive units are fixed on unmanned plane and are connected with infrared detection module, fingerprint identification module, and the day dead end wireless transmit/receive units are responsible for
The infrared image and visible images of insulator chain, it is real-time transmitted to the ground surface end wireless transmit/receive units；
The earth station is connected with ground surface end wireless transmit/receive units, comprising deterioration analysis unit, failure analysis (FA) unit with
And gradation for surface pollution recognition unit；Deterioration analysis unit is extracted on insulator chain using insulator chain infrared image per a piece of insulator
Temperature information, and establish insulator chain temperature profile curve, analyse whether that there are deterioration conditions, and position on insulator chain
There are the insulators of deterioration condition；Failure analysis (FA) unit extracts the external special of insulator chain using insulator chain visible images
Sign, and normal insulation substring surface is compared, analysis insulator chain whether there is external breakage, and on insulator chain
Position damage location；Gradation for surface pollution recognition unit is special using the infrared and visible light that visible light and infrared image extract insulator chain
Sign, and signature analysis is carried out using Bayesian decision theory, to identify insulator contamination grade.
Based on the above technical solution, the isolator detecting unmanned plane further includes automatic obstacle-avoiding module, is fixed
Below each horn of unmanned plane；Automatic obstacle-avoiding module includes ultrasonic sensor, laser radar sensor and control unit；Ultrasound
Wave sensor calculates distance by measuring from the time difference for being back to ultrasonic sensor is emitted to, and it is single to be transferred to control
Member；Laser radar sensor calculates distance from the transmission time used in being received is emitted to by measurement laser pulse, and passes
It is defeated to arrive control unit；Described control unit is compared using the distance that ultrasonic sensor and laser radar sensor are calculated respectively
It is right, the more accurate automatic obstacle-avoiding module is obtained to the distance of peripheral obstacle, and is controlled and is hindered around unmanned plane automatic dodging
Hinder object.
Based on the above technical solution, the earth station receives insulator chain by ground surface end radio receiving transmitting module
Infrared image and visible images, deterioration analysis unit can carry out insulator chain region certainly to infrared image in conjunction with visible images
It is dynamic to extract, avoid interference of the infra-red radiation of complex background to feature information extraction outside insulator chain surface red.
Based on the above technical solution, the wireless transport module can use a day dead end wireless transmit/receive units,
The real-time pictures that thermal infrared imager and visible camera take are transferred to ground surface end Transmit-Receive Unit, and in earth station's display screen
The real-time video monitoring work isolator detecting and feedback adjustment are realized in upper display.
Based on the above technical solution, the gradation for surface pollution recognition unit in the earth station is differentiated using Fisher
Method carries out Feature Selection to the infrared and visible images of insulator chain, filters out the feature with obvious difference, as
The criterion of gradation for surface pollution identification.
Based on the above technical solution, the gradation for surface pollution recognition unit in the earth station is using Bayesian decision
Theory analyzes the feature filtered out, to determine the gradation for surface pollution of insulator.
A kind of isolator detecting method based on infrared thermal imagery and visible light, this approach includes the following steps：
Unmanned plane carries detection module and does aerial mobile around insulator chain, finds suitable angle and distance, and hover
It keeps stablizing in the sky；
Ground detection personnel by remote control detection module to insulator chain carry out Infrared Image Features information collection and
Visible images acquisition；
It is wireless that collected infrared image and visible images are real-time transmitted to ground surface end by its dead end wireless transmit/receive units
Transmit-Receive Unit；
Earth station receives the infrared image and visible images of insulator chain by ground surface end wireless transmit/receive units, and transmits
To deterioration analysis unit, failure analysis (FA) unit and gradation for surface pollution recognition unit, deterioration analysis unit is infrared using insulator chain
Temperature information on image zooming-out insulator chain per a piece of insulator, and insulator chain temperature profile curve is established, it analyses whether
There are deterioration conditions, and there are the insulators of deterioration condition for positioning on insulator chain；Failure analysis (FA) unit utilizes insulator chain
Visible images extract the surface of insulator chain, and compare normal insulation substring surface, and whether analysis insulator chain
There are external breakages, and damage location is positioned on insulator chain；Gradation for surface pollution recognition unit utilizes visible light and infrared
The infrared and Visible Light Characteristics of image zooming-out insulator chain, and signature analysis is carried out using Bayesian decision theory, to know
Other insulator contamination grade.
Based on the above technical solution, the earth station receives thermal infrared imager by ground surface end wireless transmit/receive units
The real-time pictures taken with visible camera, and work isolator detecting and carry out real-time video monitoring and feedback adjustment.
Based on the above technical solution, a kind of isolator detecting based on unmanned plane and infrared thermal imagery also wraps
Automatic obstacle-avoiding module is included, the method also includes making the step of unmanned plane automatic dodging peripheral obstacle using automatic obstacle-avoiding module
Suddenly.
Based on the above technical solution, the automatic obstacle-avoiding module includes ultrasonic sensor, laser radar sensing
Device and control unit；The distance of ultrasonic sensor and laser radar sensor measuring and calculating unmanned plane and peripheral obstacle, and survey
Obtained Distance Transmission is to control unit；Control unit is calculated respectively using ultrasonic sensor and laser radar sensor
Distance is compared, and obtains the more accurate automatic obstacle-avoiding module to the distance of peripheral obstacle, and it is automatic to control unmanned plane
Hide peripheral obstacle.
Compared with prior art, the advantage of the invention is that：
(1) the isolator detecting unmanned plane of the invention based on infrared thermal imagery and visible light realizes unmanned plane in insulator
The application of detection field, can detect the interior insulator deterioration of transmission line of electricity simultaneously, and external damaged and identification insulator is dirty
Dirty grade, convenience and high-efficiency.
(2) the isolator detecting unmanned plane of the invention based on infrared thermal imagery and visible light can allow testing staff remote
Remote control unmanned plane carries out the contactless live detection of insulator, overcomes complicated landform and severe geographical environment to insulator
The limitation for detecting work, improves the efficiency and accuracy rate of detection, and promote the safety of testing staff, reduces working strength.
(3) the isolator detecting unmanned plane of the invention based on infrared thermal imagery and visible light use based on infrared thermal imagery and
The insulator degradation detection of visible light fusion, single light source image is limited to the description information of insulator deterioration state, sentences
The raising of other accuracy rate relies on the increase and accurate parameter setting of sample number or intrinsic dimensionality.Using characterization insulator surface
The insulation subgraph letter that the Infrared Thermogram of Temperature Distribution is combined with the visible images of characterization insulator surface COLOR COMPOSITION THROUGH DISTRIBUTION
Integration technology is ceased, different signal source can be made to have complementary advantages, improves recognition accuracy while simplifying intrinsic dimensionality.
(4) the isolator detecting unmanned plane of the invention based on infrared thermal imagery and visible light includes automatic obstacle-avoiding module, is made
Unmanned function automatic dodging peripheral obstacle improves the safety of detection work and the serious forgiveness of unmanned plane operation.
(5) the isolator detecting unmanned plane of the invention based on infrared thermal imagery and visible light further includes earth station, Neng Goushi
When receive the infrared image and visible images of insulator chain, and analyzed in real time, find that interior insulator deteriorates in time
With external breakage, and establishment officer overhaul, improve overhaul efficiency.
(6) the isolator detecting unmanned plane of the invention based on infrared thermal imagery and visible light can be in earth station's real-time display
Video pictures captured by thermal infrared imager and visible camera can be realized the real-time video prison to isolator detecting work
Control and feedback adjustment.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the isolator detecting unmanned plane of the invention based on infrared thermal imagery and visible light；
The components in the drawings are labeled as follows：1 is unmanned plane；2 be detection module, and 21 be thermal infrared imager, and 22 be visible
Light video camera；3 be wireless transport module, and 31 be day dead end radio receiving transmitting module, and 32 be ground surface end radio receiving transmitting module；4 be ground
Face station；5 be automatic obstacle-avoiding module.
Specific embodiment
The preferred embodiments of the present invention will be described in detail with reference to the accompanying drawing, so that advantages and features of the invention energy
It is easier to be readily appreciated by one skilled in the art, so as to make a clearer definition of the protection scope of the present invention.
Referring to Fig. 1, the embodiment of the present invention includes：
A kind of isolator detecting unmanned plane based on infrared thermal imagery and visible light, including：It is unmanned plane 1, detection module 2, red
Outer thermal imaging system 21, visible camera 22, wireless transport module 3, day dead end radio receiving transmitting module 31, ground surface end wireless receiving and dispatching mould
Block 32, earth station 4, automatic obstacle-avoiding module 5.
Unmanned plane 1 can carry detection module 2, it is made to do remote aerial mobile around insulator chain.
Detection module 2 is fixed on 1 lower section of unmanned plane, including thermal infrared imager 21 and visible camera 22.Infrared heat
As the responsible acquisition insulator chain Infrared Image Features information of instrument 21, the infrared radiation issued by acquisition insulator chain is passed through
It crosses temperature measurer and is converted into electric signal, the picture output signal of imaging device corresponds simulation insulator chain surface temperature again
Spatial distribution, and generate the picture of a temperature information comprising insulator chain spatial distribution and each point.Visible camera
22 are responsible for the visible images of acquisition insulator chain.
Wireless transport module 3 comprising day dead end wireless transmit/receive units 31 and ground surface end wireless transmit/receive units 32, day dead end
Wireless transmit/receive units 31 are fixed on unmanned plane 1, and are connected with detection module 2, and day dead end wireless transmit/receive units 31 are responsible for absolutely
The infrared image and visible images of edge substring, are real-time transmitted to ground surface end wireless transmit/receive units 32.
Earth station 4 includes deterioration analysis unit, failure analysis (FA) unit and gradation for surface pollution recognition unit, with ground surface end
Wireless transmit/receive units 32 are connected；Deterioration analysis unit receives the infrared image of insulator chain by ground surface end wireless transmit/receive units 32
And visible images, deterioration analysis unit can carry out insulator chain region to infrared image in conjunction with visible images and automatically extract,
Interference of the infra-red radiation of complex background to feature information extraction outside insulator chain surface red is avoided, deterioration analysis unit mentions automatically
The temperature information on insulator chain per a piece of insulator is taken, and establishes insulator chain temperature profile curve, is found on insulator chain
Abnormal heating point, analysis insulator chain whether there is deterioration condition, and on insulator chain position Faulty insulator piece；It is damaged
Analytical unit receives the visible images of insulator chain by ground surface end wireless transmit/receive units 32, and automatically extracts insulator chain
Surface is compared with the surface of normal insulation substring, analyzes insulator chain with the presence or absence of external breakage, and
Damage location is positioned on insulator chain；Gradation for surface pollution recognition unit receives insulator chain by ground surface end wireless transmit/receive units 32
Infrared image and visible images, gradation for surface pollution recognition unit using visible light and infrared image extract the infrared of insulator chain and
Visible Light Characteristics, and signature analysis is carried out using Bayesian decision theory, to identify insulator contamination grade.
Gradation for surface pollution recognition unit in the present invention in earth station 4 be using Fisher diagnostic method to the infrared of insulator and
Visible images carry out Feature Selection, and Fisher diagnostic method is a kind of common Feature Selection method, can be filtered out in difference
Gradation for surface pollution between the apparent component of comparison in difference.Its main method is as follows：
For contaminated insulator characteristics of image, the variance within clusters S of i-th dimension featurew(i)With inter-class variance Sb(i)Calculation formula
It is as follows：
In formula, i is insulator characteristics of image number；K is insulator contamination grade；K is insulator contamination number of degrees；
For single sample i-th dimension feature of k, wkIt is the sample set of k；It is the i-th dimension characteristic mean of k；miIt is all gradation for surface pollution samples
This i-th dimension characteristic mean；It is the i-th dimension characteristic value quantity of k；niIt is the i-th dimension feature total quantity of all samples；I-th dimension
The inter-class variance S of featureb(i)With variance within clusters Sw(i)The ratio between be Fisher discrimination function value, i.e.,
J as shown from the above formula(i)Value is bigger, and indicating this feature amount, difference is bigger compared with other.Differentiated by Fisher
Method finally picks out infrared temperature and environment phase low humidity as infrared signature, it is seen that photochromic color and ambient light illumination is as visible light
Feature.
Gradation for surface pollution recognition unit in the present invention in earth station 4 also carries out signature analysis using Bayesian decision theory,
To identify insulator contamination grade.According to Bayesian decision theory, certain feature energy of different gradation for surface pollution insulation subsample
Certain cluster rule is enough embodied, we can use a large amount of known sample and develop this rule and obtain each filth etc.
The probability density function of grade, so that it may insulation subcharacter to be measured be substituted into probability density function, to identify its filth etc.
Grade.Contaminated insulator gradation for surface pollution with feature vector x is that the probability of k is as follows：
In above formula, ωkIt is the sample space of k；P(ωk) it is prior probability, i.e., kth grade occurs in K grade in total
Probability；P(x|ωk) it is Class-conditionaldensity function, that is, in ωkIn known situation, the probability distribution of feature vector x
Density function；P(ωk| it x) is posterior probability, the i.e. probability that sample x belongs to gradation for surface pollution k.The following institute of Bayesian Decision rule
Show：
In above formula, dk(x) it is discriminant value of the x in gradation for surface pollution k, works as dk(x) k value when maximum is exactly the filth where x
Grade.
Automatic obstacle-avoiding module 5, including ultrasonic sensor, laser radar sensor and control unit, ultrasonic sensor
It is packaged together with laser radar sensor, is fixed below each horn of unmanned plane, realizes more to unmanned plane peripheral obstacle
The accurate ranging in direction.The distance of ultrasonic sensor and laser radar sensor measuring and calculating unmanned plane and peripheral obstacle, and survey
Obtained Distance Transmission is to control unit；Control unit is calculated respectively using ultrasonic sensor and laser radar sensor
Distance is compared, and obtains the more accurate automatic obstacle-avoiding module to the distance of peripheral obstacle, and it is automatic to control unmanned plane
Hide peripheral obstacle.In practical applications, the control unit of automatic obstacle-avoiding module belongs to the flight control system of unmanned plane, leads to
It crosses and controls the revolving speed of each propeller to adjust flying speed and heading, to achieve the purpose that avoiding obstacles.
The isolator detecting method based on infrared thermal imagery and visible light that the present invention also provides a kind of mainly includes following step
Suddenly：
Unmanned plane 1 carries detection module 2 around insulator chain movement, finds suitable angle and distance, and hover over sky
Middle holding is stablized；
Surface personnel's remote control detection module carries out Infrared Image Features information collection and visible to insulator chain
Light image acquisition；
Its dead end wireless transmit/receive units 31 collected infrared image and visible images be real-time transmitted to ground surface end without
Line Transmit-Receive Unit 32；
Earth station 4 receives the infrared image and visible images of insulator chain by ground surface end wireless transmit/receive units 32, and
It is transferred to deterioration analysis unit, failure analysis (FA) unit and gradation for surface pollution recognition unit respectively, deterioration analysis unit utilizes insulator
Infrared image of going here and there extracts the temperature information on insulator chain per a piece of insulator, and establishes insulator chain temperature profile curve, point
Analysis whether there is deterioration condition, and there are the insulators of deterioration condition for positioning on insulator chain；Failure analysis (FA) unit is using absolutely
Edge substring visible images extract the surface of insulator chain, and compare normal insulation substring surface, analyze insulator
String whether there is external breakage, and damage location is positioned on insulator chain；Gradation for surface pollution recognition unit utilizes visible light
The infrared and Visible Light Characteristics of insulator chain are extracted with infrared image, and carry out signature analysis using Bayesian decision theory,
To identify insulator contamination grade.
Staff watches real-time video picture captured by thermal infrared imager and visible camera in earth station, to exhausted
Edge detects work and carries out real-time video monitoring and feedback adjustment.
In order to improve the safety of detection work, the invention also includes automatic obstacle-avoiding modules 5 comprising supersonic sensing
Device, laser radar sensor and control unit, ultrasonic sensor and laser radar sensor are packaged together, and are fixed on nobody
Below each horn of machine, accurate ranging multi-direction to unmanned plane peripheral obstacle is realized.Ultrasonic sensor and laser radar pass
Sensor calculates the distance of unmanned plane and peripheral obstacle, and the Distance Transmission that measuring and calculating is obtained is to control unit；Control unit benefit
It is compared with the distance that ultrasonic sensor and laser radar sensor are calculated respectively, obtains the more accurate automatic obstacle-avoiding
Module and controls unmanned plane automatic dodging peripheral obstacle to the distance of peripheral obstacle.In practical applications, automatic obstacle-avoiding mould
The control unit of block belongs to the flight control system of unmanned plane, adjusted by controlling the revolving speed of each propeller flying speed and
Heading, to achieve the purpose that avoiding obstacles.
In conclusion testing staff may be implemented on ground in the present invention, long-distance remote control controls unmanned plane and carries out insulator
The live detection of the deterioration of string inside, external breakage and the identification of insulator contamination grade, and using based on infrared thermal imagery
With the isolator detecting method of visible light fusion, insulator chain inside is deteriorated and external breakage and filth in earth station
Grade is analyzed in real time, is overcome complicated landform and limitation that severe geographical environment works to isolator detecting, is improved inspection
The efficiency and accuracy rate of survey, and the safety of testing staff is promoted, reduce working strength.In addition, by automatic obstacle-avoiding module, it can
To reduce a possibility that unmanned plane collides high-voltage line, shaft tower in the detection process, the safety of detection work and fault-tolerant is improved
Rate.
The above description is only an embodiment of the present invention, is not intended to limit the scope of the invention, all to utilize this hair
Equivalent structure or equivalent flow shift made by bright specification and accompanying drawing content is applied directly or indirectly in other relevant skills
Art field, is included within the scope of the present invention.The content being not described in detail in this specification belongs to this
The prior art well known to skilled artisan.
Claims (10)
1. a kind of isolator detecting unmanned plane based on infrared thermal imagery and visible light, for detecting insulator chain with the presence or absence of inside
Deterioration and external breakage and the identification of insulator contamination grade；It is characterised in that it includes：Unmanned plane, detection module, nothing
Line transmission module, earth station；
The unmanned plane is used to control thermal infrared imager around insulator chain and does aerial mobile；
The detection module comprising thermal infrared imager and visible camera are fixed on unmanned plane, and thermal infrared imager is negative
Duty acquisition insulator chain Infrared Image Features information, it is seen that light video camera is responsible for acquiring the visible images of insulator chain；
The wireless transport module comprising day dead end wireless transmit/receive units and ground surface end wireless transmit/receive units, the day dead end
Wireless transmit/receive units are fixed on unmanned plane and are connected with detection module, and the day dead end wireless transmit/receive units are responsible for insulator
The infrared image and visible images of string are real-time transmitted to the ground surface end wireless transmit/receive units；
The earth station is connected with ground surface end wireless transmit/receive units, includes deterioration analysis unit, failure analysis (FA) unit and dirt
Dirty grade recognition unit；Deterioration analysis unit extracts the temperature on insulator chain per a piece of insulator using insulator chain infrared image
Information is spent, and establishes insulator chain temperature profile curve, analyses whether that there are deterioration conditions, and positions and exists on insulator chain
The insulator of deterioration condition；Failure analysis (FA) unit extracts the surface of insulator chain using insulator chain visible images, and
Normal insulation substring surface is compared, analysis insulator chain whether there is external breakage, and position on insulator chain
Damage location；Gradation for surface pollution recognition unit extracts the infrared and Visible Light Characteristics of insulator chain using visible light and infrared image,
And signature analysis is carried out using Bayesian decision theory, to identify insulator contamination grade.
2. a kind of isolator detecting unmanned plane based on infrared thermal imagery and visible light according to claim 1, feature exist
In：The isolator detecting unmanned plane further includes automatic obstacle-avoiding module, is fixed below each horn of unmanned plane；Automatic obstacle-avoiding mould
Block includes ultrasonic sensor, laser radar sensor and control unit；Ultrasonic sensor by measurement from be emitted to return
Distance is calculated to the time difference of ultrasonic sensor, and is transferred to control unit；Laser radar sensor passes through measurement laser
Pulse calculates distance from the transmission time used in being received is emitted to, and is transferred to control unit；Described control unit utilizes
The distance that ultrasonic sensor and laser radar sensor are calculated respectively is compared, and obtains more accurate automatic obstacle-avoiding module and arrives
The distance of peripheral obstacle, and control unmanned plane automatic dodging peripheral obstacle.
3. a kind of isolator detecting unmanned plane based on infrared thermal imagery and visible light according to claim 1, feature exist
In：The earth station receives the infrared image and visible images of insulator chain, deterioration point by ground surface end radio receiving transmitting module
Analysis unit can carry out insulator chain region to infrared image in conjunction with visible images and automatically extract, and avoid the infrared spoke of complex background
Penetrate the interference to feature information extraction outside insulator chain surface red.
4. a kind of isolator detecting unmanned plane based on infrared thermal imagery and visible light according to claim 1, feature exist
In：The wireless transport module can use a day dead end wireless transmit/receive units, and thermal infrared imager and visible camera are shot
To real-time pictures be transferred to ground surface end Transmit-Receive Unit, and show screen display in earth station, realize to insulator degradation
The real-time video monitoring and feedback adjustment of work.
5. a kind of isolator detecting unmanned plane based on infrared thermal imagery and visible light according to claim 1, feature exist
In：Gradation for surface pollution recognition unit in the earth station is the infrared and visible light figure using Fisher diagnostic method to insulator chain
As carrying out Feature Selection, the feature with obvious difference is filtered out, the criterion as gradation for surface pollution identification.
6. a kind of isolator detecting unmanned plane based on infrared thermal imagery and visible light according to claim 1, feature exist
In：Gradation for surface pollution recognition unit in the earth station is to be analyzed using Bayesian decision theory the feature filtered out,
To determine the gradation for surface pollution of insulator.
7. it is a kind of using a kind of isolator detecting method based on infrared thermal imagery and visible light as described in claim 1, it is special
Sign is that the method includes the steps of：
Unmanned plane carries detection module and does aerial mobile around insulator chain, finds suitable angle and distance, and hover over sky
Middle holding is stablized；
Ground detection personnel carry out Infrared Image Features information collection and visible to insulator chain by remote control detection module
Light image acquisition；
Collected infrared image and visible images are real-time transmitted to ground surface end wireless receiving and dispatching by its dead end wireless transmit/receive units
Unit；
Earth station receives the infrared image and visible images of insulator chain by ground surface end wireless transmit/receive units, and is transferred to bad
Change analytical unit, failure analysis (FA) unit and gradation for surface pollution recognition unit, deterioration analysis unit utilizes insulator chain infrared image
The temperature information on insulator chain per a piece of insulator is extracted, and establishes insulator chain temperature profile curve, analyses whether exist
Deterioration condition, and there are the insulators of deterioration condition for positioning on insulator chain；Failure analysis (FA) unit is visible using insulator chain
The surface of insulator chain is extracted in light image, and compares normal insulation substring surface, and analysis insulator chain whether there is
External breakage, and damage location is positioned on insulator chain；Gradation for surface pollution recognition unit utilizes visible light and infrared image
The infrared and Visible Light Characteristics of insulator chain are extracted, and carry out signature analysis using Bayesian decision theory, so that identification is exhausted
Edge gradation for surface pollution.
8. the method for claim 7, it is characterised in that：Earth station receives infrared heat by ground surface end wireless transmit/receive units
As the real-time pictures that instrument and visible camera take, and works isolator detecting and carry out real-time video monitoring and feedback tune
It is whole.
9. the method for claim 7, it is characterised in that：A kind of insulator based on infrared thermal imagery and visible light
Detecting unmanned plane further includes automatic obstacle-avoiding module, and the method also includes keeping unmanned plane automatic dodging all using automatic obstacle-avoiding module
The step of enclosing barrier.
10. method as claimed in claim 9, it is characterised in that：The automatic obstacle-avoiding module includes ultrasonic sensor, laser
Radar sensor and control unit；Ultrasonic sensor and laser radar sensor measuring and calculating unmanned plane and peripheral obstacle away from
From, and the Distance Transmission that measuring and calculating is obtained is to control unit；Control unit utilizes ultrasonic sensor and laser radar sensor
The distance calculated respectively is compared, and obtains the more accurate automatic obstacle-avoiding module to the distance of peripheral obstacle, and controls
Unmanned plane automatic dodging peripheral obstacle.
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| CN112595730A (en) * | 2020-11-13 | 2021-04-02 | 深圳供电局有限公司 | Cable breakage identification method and device and computer equipment |
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| CN113835004A (en) * | 2021-09-06 | 2021-12-24 | 太仓阿尔法数字科技有限公司 | Remote flaw detection method for in-service insulator |
| CN113835004B (en) * | 2021-09-06 | 2024-02-09 | 太仓阿尔法数字科技有限公司 | Remote flaw detection method for in-service insulator |
| CN113625126A (en) * | 2021-10-12 | 2021-11-09 | 长沙康飞电子科技有限公司 | Power supply station power supply line detection device |
| CN116228778A (en) * | 2023-05-10 | 2023-06-06 | 国网山东省电力公司菏泽供电公司 | Insulator rupture detection method and system based on multi-mode information fusion |
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