CN101604830A - Patrolling trolly wire route and shaft tower unmanned helicopter system and method thereof - Google Patents
Patrolling trolly wire route and shaft tower unmanned helicopter system and method thereof Download PDFInfo
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Abstract
The invention discloses a kind of patrolling trolly wire route and shaft tower unmanned helicopter system and method thereof.It adopts depopulated helicopter and carries checkout equipment, control appliance and communication apparatus, patrols and examines overhead transmission line and shaft tower along the overhead transmission line corridor, and this method can be tackled geographical terrain landforms complicated and changeable, and the equipment deficiency of finishing overhead transmission line and shaft tower detects.Its structure is: it comprises depopulated helicopter, remote controller and Ground Control car, described depopulated helicopter is provided with flight control system and patrols and examines detection system, described two systems all with the communication of Ground Control vehicle radio, the Ground Control car carries out Long-distance Control and carries out analyzing and processing to patrolling and examining testing result depopulated helicopter.
Description
Technical Field
The invention relates to a power line detection technology, in particular to an unmanned helicopter system for patrolling an overhead line and a tower and a method thereof.
Background
In recent years, the continuous and rapid development of national economy of China puts forward higher and higher requirements on the electric power industry of China. At present, 6 trans-provincial power grids including power grids in north China, northeast China, east China, northwest China and south China are formed in China, and the power transmission line with more than 110 kilovolts reaches nearly 51.4 kilometres in 2008. 500 KV lines become frameworks of various large power systems and cross-provincial and cross-regional connecting lines, and the contradiction of power grid development lag is basically relieved. Because China has wide territory, complex terrain, few plains, more hills and mountainous areas, complex meteorological conditions, unstable quality of porcelain insulators and the like, the automation and the modernization of line patrol maintenance increasingly show the urgency of safe and reliable power supply.
The power overhead line is the main life line of power transmission, and the normal operation of the overhead line and the tower plays a critical role in power transmission, so the inspection work of the overhead line and the tower is an important component part of daily inspection and maintenance of a power transmission network. The power line inspection roughly comprises the following contents: whether the line is damaged or broken or has foreign matters; whether the insulator umbrella group is damaged or cracked, whether the insulator fastener is loosened or abnormal, and whether the insulator has a flash trace; the splicing sleeve, the strain insulator, the jumper wire clamp, the ground wire clamp, the hardware fitting, the damper, the insulator and the like on the overhead line have heating phenomena or not; the safety of the overhead line is influenced by the growth of trees, the geographic environment, the cross spanning and the like in the line corridor; whether the hardware on the tower is abnormal, loosened or fallen off and the like.
The line patrol modes adopted in China at present comprise manual line patrol and manned helicopter line patrol. The manual line patrol mainly comprises a manual line patrol person who walks along a line on foot. The inspection mode is mainly to inspect lines and towers through a telescope. Because the total length of the circuit is large and the coverage area is wide in China, the line patrol method has the defects of large personnel input quantity and large workload, but the line patrol efficiency is very low and the cost is very high. In addition, many transmission lines are distributed in mountainous areas, lakes and unmanned areas, so that the manual line patrol difficulty is high and the danger is high.
In europe and america, in the last 50 centuries, helicopters were studied and used to complete line patrol, live-line work, and line construction. In the beginning of the last 80 th century, China also starts to research the technology of line patrol by using helicopters: yuanchao, Dengchun and Zhao Peng are listed in the "applied helicopter routing inspection line" published in "North China Power technology" 2002, the review of "applying Infrared thermography technology to helicopter for inspection of high voltage power line equipment" published in "Guangdong Power" 2005 by Qin nationality new in "Guangdong Power" 2005, the study of the "research on the test of routing inspection line of helicopter applied helicopter" published in "Sichuan Power technology" 2001 by Wang and Li gang, etc. and the "helicopter Power routing inspection line technology" published in "2008 th 10 by Wang Shen and Zhao Xin waves in" Power construction "2008 all describe techniques and methods for using the routing inspection line of human helicopters. However, there are some problems with line patrol with manned helicopters: such as the helicopter and the expensive maintenance cost, the outstanding safety problem and the like. In particular, it is a serious problem related to the safety of human beings and equipment (including airplanes and power grids): because of the limitation of the technical requirements of detection instruments such as a CCD and the like, the flying speed cannot be too fast, and the height cannot be too high, the airplane can possibly cause the consequences of airplane damage and death due to slight errors in flying, and the disastrous consequences can be brought to a power network. In recent years, the line patrol helicopter crashes at home and abroad. In early 2008, one patrol helicopter in China failed in Chenzhou in Hunan province, and people were injured.
Disclosure of Invention
The invention aims to solve the problems and provides an unmanned helicopter system and a method for inspecting overhead lines and towers.
In order to achieve the purpose, the invention adopts the following technical scheme:
the utility model provides an it patrols and examines overhead line route and shaft tower and use unmanned helicopter system, it includes unmanned helicopter, remote controller and ground control car, be equipped with flight control system on the unmanned helicopter and patrol and examine detecting system, two systems all with ground control car wireless communication, the ground control car carries out remote control and carries out analysis processes to patrolling and examining the testing result to unmanned helicopter.
The flight control system comprises an airborne flight control computer installed on the unmanned helicopter, the airborne flight control computer is connected with a satellite positioning device and an airborne sensor group installed on the unmanned helicopter, and the airborne flight control computer is in wireless communication with the ground control vehicle through an airborne flight control wireless transmission radio station.
The inspection detection system comprises an airborne detection computer arranged on the unmanned helicopter and connected with airborne detection equipment, the airborne detection equipment is connected with an airborne image transmission radio station through a video server, and the airborne image transmission radio station is in wireless communication with a ground control vehicle; the airborne detection computer is also in wireless communication with the ground control vehicle through an airborne detection data transmission radio station; the airborne detection computer is connected with the storage equipment, the gyro stability-increasing cradle head and the satellite positioning device.
The airborne detection equipment comprises a left camera and a right camera which are arranged on the left side and the right side of the unmanned helicopter body, and a front camera, a visible light digital camera, an ultraviolet imager and an infrared thermal imager which are arranged on the front side of the unmanned helicopter body.
The ground control vehicle is provided with a computer control system, and the computer control system is communicated with the airborne flight control wireless transmission radio station through a ground flight control data transmission radio station and is used for sending instructions to airborne equipment, receiving real-time state data of the unmanned helicopter and remotely controlling the unmanned helicopter; the computer control system is also communicated with an airborne image transmission radio station through a ground detection image transmission radio station, communicated with the airborne detection data transmission radio station through a ground detection data transmission radio station, receives a return image signal and controls the detection equipment to act; the computer control system displays the state display of the unmanned helicopter, displays an electronic map, edits flight and detection tasks, issues instructions, analyzes detected data and displays images and videos shot by the airborne detection equipment.
An inspection method for an unmanned helicopter system for inspecting overhead lines and towers comprises the following steps:
1) the unmanned helicopter carries detection equipment, takes off from a take-off and landing point, has a horizontal distance of 20-25 meters and a vertical distance of 3-5 meters above the side of the overhead line, and flies along the overhead line at a speed of 15-20 kilometers per hour;
2) after the flight state is stable, adjusting the angle of the holder to enable the visible light high-definition camera, the thermal infrared imager and the ultraviolet detector to detect the overhead line;
3) detecting whether a line has strand breakage, line physical defects or whether foreign matters are hung by using a visible light digital camera; detecting whether an overheated place exists on the lead by using a thermal infrared imager; detecting corona and flash conditions by an ultraviolet detector; and sending the detected image back to the ground control vehicle;
4) when the unmanned helicopter approaches to a tower, the unmanned helicopter hovers, the angle of the cradle head is adjusted, the tower is detected from top to bottom, and the detection content comprises whether the tower body hardware is abnormal, falls off or is damaged; in the detection process, the real-time image is sent to the ground control vehicle through the wireless communication system and is displayed in a computer control system of the ground control vehicle, and the computer control system judges whether the equipment is abnormal or not according to the real-time image data.
The invention has the beneficial effects that:
1. the unmanned helicopter works in the air, is not influenced by factors such as terrain and landform, can easily reach the air above the location of a line as long as weather conditions allow, can effectively reduce the labor intensity of ground inspection personnel, and reduces the danger of the inspection personnel when working under the condition of dangerous terrain.
2. Unmanned helicopter can hover above overhead line, and the position is generally higher than overhead line, and shooting overhead line equipment picture that can be more clear can effectively sweep ground staff and observe the blind area for the efficiency that the single was patrolled and examined is higher, thereby patrols and examines the cycle shorter, and it is more frequent to patrol and examine the frequency, must ensure power transmission line's safe operation more effectively.
3. Compared with the manned helicopter, the unmanned helicopter has better maneuverability and better control performance, and more importantly, the unmanned helicopter can completely eliminate the danger that airborne personnel operate above a power line in the air, thereby effectively ensuring the safety of the personnel. And the requirement of the unmanned aerial vehicle on logistics support is lower, and the line patrol cost is greatly reduced compared with that of a manned helicopter.
4. Image acquisition equipment that unmanned helicopter carried has included: the line inspection system comprises visible light image acquisition equipment, a thermal infrared imager, an ultraviolet imager and the like, so that the line inspection content is richer.
Drawings
FIG. 1 is a schematic view of an unmanned helicopter;
FIG. 2 is a left side view of FIG. 1;
FIG. 3 is a schematic diagram of a remote controller;
FIG. 4 is a ground control vehicle;
FIG. 5 is a block diagram of a flight control system of the unmanned helicopter;
fig. 6 is a block diagram of the unmanned helicopter detection system.
Wherein,
1. an unmanned helicopter, 2, a remote controller, 3, a ground control vehicle, 4, an airborne flight control computer, 5, a satellite positioning device, 6, an airborne sensor group, 7, an airborne flight control wireless transmission radio station, 8, an airborne detection computer, 9, a video server,
10. an airborne image transmission radio station, 11 an airborne detection data transmission radio station, 12 a storage device, 13 a gyro stability-increasing tripod head,
14. the system comprises a machine body left side camera, a machine body right side camera, a machine body front camera, a visible light digital camera, an ultraviolet imager, a thermal infrared imager, a computer control system, a ground flight control data transmission radio station, an airborne detection device, a ground detection image transmission radio station and a ground detection data transmission radio station, wherein the visible light digital camera is 18, the ultraviolet imager is 19, the thermal infrared imager is 20, the computer control system is 21, the ground flight control data transmission radio station is 22, the airborne detection device: .
Detailed Description
The invention is further described with reference to the following figures and examples.
In fig. 1, 2, 3 and 4, the unmanned helicopter 1, the remote controller 2 and the ground control vehicle 3 are included, the unmanned helicopter 1 is provided with a flight control system and an inspection detection system, the two systems are both in wireless communication with the ground control vehicle 3, the ground control vehicle 3 remotely controls the unmanned helicopter 1 and analyzes and processes an inspection detection result, and the remote controller 2 is used for manual control under special conditions, such as the occurrence of dangerous conditions or the need of emergency manual control, and is switched to manual control. The unmanned helicopter 1 is a main flying platform and is used for carrying mission equipment. The ground control vehicle 3 is a ground control device platform for loading ground devices such as a ground control computer, a display device, and an antenna.
The flight control system comprises an airborne flight control computer 3 installed on the unmanned helicopter 1, the airborne flight control computer 3 calculates a control instruction according to a flight task and flight parameters (speed, height, attitude, position and the like) of the unmanned helicopter, and sends a control execution instruction to an execution module on the unmanned helicopter 1 through a communication port; the airborne flight control computer 3 is connected with a satellite positioning device 5 and an airborne sensor group 6 which are arranged on the unmanned helicopter 1, wherein the airborne sensor group 6 comprises a triaxial accelerometer, a triaxial gyroscope, an electronic compass and an altimeter and is used for acquiring flight parameters of the unmanned helicopter, such as flight speed, altitude, direction, attitude and the like; acquiring current geographic coordinate information, flight attitude parameters, flight speed and altitude of the unmanned helicopter; the airborne flight control computer 4 is in wireless communication with the ground control vehicle 3 through an airborne flight control wireless transmission radio station 7 and is used for uploading flight control instructions and downloading flight state parameters of the unmanned helicopter. The airborne flight control wireless transmission radio station 7 is responsible for receiving flight tasks and control instructions uploaded by the ground station.
The inspection detection system comprises an onboard detection computer 8 arranged on the unmanned helicopter 1 and used for controlling and recording detection equipment, acquiring detection image data and storing the detection image data and flight parameters; it is connected to the onboard detection device 22 for controlling the onboard detection device 22 and obtaining the detected images from the onboard detection device 22; the airborne detection equipment 22 is a general name of equipment carried by the unmanned helicopter and used for detecting equipment defects, and comprises a visible light digital camera 17, an ultraviolet imager 18 and a thermal infrared imager 19 which are connected with an airborne image transmission radio station 10 through a video server 9, wherein the video server 9 is used for converting and compressing an analog video signal into a digital video signal so as to be convenient for transmission and processing, and the airborne image transmission radio station 10 is used for downloading detected image data; the airborne image transmission radio station 10 is in wireless communication with the ground control vehicle 3 and transmits the detected image data to the ground control vehicle 3; the airborne detection computer 8 is also in wireless communication with the ground control vehicle 3 through an airborne detection data transmission radio station 11, and the airborne detection data transmission radio station 11 is used for uploading detection instructions and downloading detection system state parameters; the airborne detection computer 8 is connected with the storage device 12, the gyro stability-increasing cradle head 13 and the satellite positioning device 5 so as to ensure that the stored detection image has longitude and latitude coordinate information and gyro stability-increasing cradle head 13 state information when shooting. The satellite positioning device 5 (the satellite positioning comprises a GPS, Galileo or Beidou) is shared by the flight control system and the patrol detection system and is used for acquiring real-time longitude and latitude information and altitude information of the unmanned helicopter 1. The storage device 12 is used to store the detected image data and flight parameter data as backup data. The gyro stability augmentation tripod head 13 is a carrying platform of optical detection equipment (a visible light digital camera 17, an ultraviolet imager 18 and a thermal infrared imager 19), and a feedback compensation angle is calculated by using a DSP according to flight attitude parameters and the current pitch and horizontal angles of the tripod head so as to eliminate the influence of the vibration and the flight attitude shake of the unmanned helicopter body on the detection equipment.
The airborne detection equipment comprises a left camera 14 (used for monitoring the environment condition on the left side of the airplane) and a right camera 15 (used for monitoring the environment condition on the right side of the airplane) which are arranged on two sides of the unmanned helicopter 1, a front camera 16 (used for monitoring the environment condition in front of the airplane) which is arranged on the front side of the unmanned helicopter 1, a visible light digital camera 17 (used for detecting the visible physical defects of the transmission line and the tower), an ultraviolet imager 18 (used for detecting the discharge and the flash defects of the transmission line and the tower) and an infrared thermal imager 19; the machine body left side camera 14, the machine body right side camera 15 and the machine body front camera 16 are mainly used for monitoring the surrounding environment of the unmanned helicopter; the visible light digital camera 17, the ultraviolet imager 18 and the thermal infrared imager 19 (for detecting the thermal defects of the transmission line and the tower) are used for detecting the power equipment; the gyro stability augmentation tripod head 13 is connected with the airborne sensor group 6 to acquire aircraft flight attitude data, and compensation parameters are calculated through a DSP module of the gyro stability augmentation tripod head 13, so that the stability of the gyro stability augmentation tripod head 13 is increased.
The ground control vehicle 3 is provided with a computer control system 20, the computer control system 20 is a ground control center, the computer control system 20 is communicated with the airborne flight control wireless transmission radio station 7 through a ground flight control data transmission radio station 21, and the ground flight control data transmission radio station 21 is responsible for transmitting flight tasks and control instructions uploaded by the ground station, sending the instructions to airborne equipment, receiving real-time state data of the unmanned helicopter 1 and remotely controlling the unmanned helicopter 1; the computer control system 20 is communicated with the airborne image transmission radio station 10 through a ground detection image transmission radio station 23, and the ground detection image transmission radio station 23 is used for receiving detected image data; the computer control system 20 is communicated with the airborne detection data transmission station 11 through a ground detection data transmission station 24, receives the returned image signal and controls the detection equipment to act, and the ground detection data transmission station 24 is used for transmitting an uploading detection instruction; the computer control system 20 displays the status display of the unmanned helicopter 1, the electronic map display, the editing of the flight and detection tasks, the issuing of instructions, the analysis of the detected data, and the display of images and videos shot by the airborne detection equipment.
The inspection method of the unmanned helicopter for inspecting the overhead line and the tower comprises the following steps:
1) the unmanned helicopter carries detection equipment, takes off from a take-off and landing point, has a horizontal distance of 20-25 meters and a vertical distance of 3-5 meters above the side of the overhead line, and flies along the overhead line at a speed of 15-20 kilometers per hour;
2) after the flight state is stable, adjusting the angle of the holder to enable the visible light high-definition camera, the thermal infrared imager and the ultraviolet detector to detect the overhead line;
3) detecting whether a line has strand breakage, line physical defects or whether foreign matters are hung by using a visible light digital camera; detecting whether an overheated place exists on the lead by using a thermal infrared imager; detecting corona and flash conditions by an ultraviolet detector; and sending the detected image back to the ground control vehicle;
4) when the unmanned helicopter approaches to a tower, the unmanned helicopter hovers, the angle of the cradle head is adjusted, the tower is detected from top to bottom, and the detection content comprises whether the tower body hardware is abnormal, falls off or is damaged; in the detection process, the real-time image is sent to the ground control vehicle through the wireless communication system and is displayed in a computer control system of the ground control vehicle, and a ground station worker judges whether the equipment is abnormal or not according to the real-time image data.
The working principle of the invention is as follows:
the working principle framework of the flight platform of the unmanned helicopter 1 is shown in fig. 5, a worker formulates a flight task in background control software, the background control software converts the flight task into an instruction and transmits the instruction to the airborne flight control computer 4 through a data transmission radio station, and the airborne flight control computer 4 converts the received instruction into an execution instruction for an execution mechanism of the unmanned helicopter 1 according to the instruction and information of a satellite positioning system and an airborne sensor group 6 to control the flight of the unmanned helicopter 1. In the flight process, flight parameters and airborne equipment parameters of the unmanned helicopter 1 are sent back to the ground control vehicle 3 through the airborne flight control wireless transmission radio station 7 and displayed on an interface of background control software.
The working principle framework of the unmanned helicopter detection platform is shown in fig. 6, background control software transmits a polling task to an airborne detection computer through a ground detection data transmission radio station, the airborne detection computer resolves the detection task into an execution instruction and informs the execution controller to adjust the angles of all axes of a cradle head, so that detection equipment on the cradle head can detect equipment needing to be detected. Meanwhile, the onboard detection computer sends a video acquisition instruction to the visible light camera through the USB interface, and sends a detection instruction to the thermal infrared imager and the ultraviolet detector through the RS232 interface. The three detection devices transmit video images to the video server, compress and encode the videos through the video server, transmit the videos back to the ground control vehicle through the airborne image transmission radio station, decompress and decode the videos through the ground control vehicle, and display the videos on an interface of background control software. According to the detection requirement, the airborne detection control computer can issue an instruction for shooting a high-definition static picture to the visible light camera through the USB port or other communication ports, when the visible light camera confirms to obtain the high-definition picture, the airborne detection control computer obtains the longitude and latitude coordinates of the visible light camera at the moment from the satellite positioning system, the picture is transmitted to the airborne detection control computer through the USB port, and the airborne detection control computer stores the picture, the time for obtaining the picture, the pitching and horizontal angles and the longitude and latitude coordinates of the gyro stability-increasing cradle head into the storage unit to serve as data backup. Similarly, the airborne detection control computer can issue and acquire images with thermograph data and ultraviolet images to the thermal infrared imager and the ultraviolet imager through the RS232 port or other communication ports, and the images with the thermograph data and the ultraviolet images are stored in the storage unit together with the longitude and latitude coordinates, the pitching and horizontal angles of the holder and the shooting time to serve as data backup. Meanwhile, the detected image data are downloaded to the ground station through an image transmission radio station, and workers of the ground station judge whether faults and defects exist or not through the downloaded image data.
Claims (6)
1. The utility model provides an it patrols and examines overhead line route and shaft tower and use unmanned helicopter system, it includes unmanned helicopter, remote controller and ground control car, characterized by, be equipped with flight control system and patrol and examine detecting system on the unmanned helicopter, two systems all with ground control car wireless communication, the ground control car carries out remote control and to patrolling and examining the testing result and carry out analysis processes to the unmanned helicopter.
2. The unmanned helicopter system for inspecting overhead lines and towers according to claim 1, wherein the flight control system comprises an airborne flight control computer installed on the unmanned helicopter, the airborne flight control computer is connected with a satellite positioning device and an airborne sensor group installed on the unmanned helicopter, and the airborne flight control computer is in wireless communication with the ground control vehicle through an airborne flight control wireless transmission radio station.
3. The unmanned helicopter system for inspecting overhead lines and towers according to claim 1, wherein the inspection detection system comprises an airborne detection computer installed on the unmanned helicopter and connected with an airborne detection device, the airborne detection device is connected with an airborne image transmission radio station through a video server, and the airborne image transmission radio station is in wireless communication with a ground control vehicle; the airborne detection computer is also in wireless communication with the ground control vehicle through an airborne detection data transmission radio station; the airborne detection computer is connected with the storage equipment, the gyro stability-increasing cradle head and the satellite positioning device.
4. The unmanned helicopter system for inspecting overhead lines and towers according to claim 3, wherein the onboard detection equipment comprises a left side camera and a right side camera of the body mounted on two sides of the unmanned helicopter, and a front camera, a visible light digital camera, an ultraviolet imager and an infrared thermal imager mounted on the front side of the unmanned helicopter.
5. The unmanned helicopter system for inspecting overhead lines and towers according to claim 1, wherein the ground control vehicle is provided with a computer control system, the computer control system is communicated with the airborne flight control wireless transmission radio station through a ground flight control data transmission radio station, and is used for sending instructions to airborne equipment, receiving real-time state data of the unmanned helicopter and remotely controlling the unmanned helicopter; the computer control system is also communicated with an airborne image transmission radio station through a ground detection image transmission radio station, communicated with the airborne detection data transmission radio station through a ground detection data transmission radio station, receives a return image signal and controls the detection equipment to act; the computer control system displays the state display of the unmanned helicopter, displays an electronic map, edits flight and detection tasks, issues instructions, analyzes detected data and displays images and videos shot by the airborne detection equipment.
6. An inspection method of the unmanned helicopter system for inspecting overhead lines and towers according to claim 1, characterized in that it comprises the steps of:
1) the unmanned helicopter carries detection equipment, takes off from a take-off and landing point, has a horizontal distance of 20-25 meters and a vertical distance of 3-5 meters above the side of the overhead line, and flies along the overhead line at a speed of 15-20 kilometers per hour;
2) after the flight state is stable, adjusting the angle of the holder to enable the visible light high-definition camera, the thermal infrared imager and the ultraviolet detector to detect the overhead line;
3) detecting whether a line has strand breakage, line physical defects or whether foreign matters are hung by using a visible light digital camera; detecting whether an overheated place exists on the lead by using a thermal infrared imager; detecting corona and flash conditions by an ultraviolet detector; and sending the detected image back to the ground control vehicle;
4) when the unmanned helicopter approaches to a tower, the unmanned helicopter hovers, the angle of the cradle head is adjusted, the tower is detected from top to bottom, and the detection content comprises whether the tower body hardware is abnormal, falls off or is damaged; in the detection process, the real-time image is sent to the ground control vehicle through the wireless communication system and is displayed in a computer control system of the ground control vehicle, and the computer control system judges whether the equipment is abnormal or not according to the real-time image data.
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