CN101604830B - Unmanned helicopter system for patrolling trolly wire route and tower and method thereof - Google Patents
Unmanned helicopter system for patrolling trolly wire route and tower and method thereof Download PDFInfo
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Abstract
The invention discloses an unmanned helicopter system for patrolling trolly wire routes and towers and a method thereof. The unmanned helicopter system adopts an unmanned helicopter carrying a detection device, a control device and a communication device, and patrols the trolly wire routes and the towers along a trolly wire route passage. The method can cope with complex and changeable surface features to finish detecting the defects of the devices of the trolly wire routes and the towers. The structure of the unmanned helicopter system comprises an unmanned helicopter, a remote controller and a ground control car, wherein, the unmanned helicopter is provided with a flight control system and a patrolling detection system; the two systems are both wirelessly communicated with the ground control car; the ground control car remotely carries out remote control for the unmanned helicopter and analyzes and processes patrolling detection results.
Description
Technical field
The present invention relates to the technology that a kind of power circuit detects, particularly patrolling trolly wire route and shaft tower unmanned helicopter system and method thereof.
Background technology
In recent years, the sustained and rapid development of Chinese national economy has proposed more and more higher requirement to China's power industry.China formed at present North China, northeast, East China, Central China, northwest and south electric network totally 6 distinguish electrical network transprovincially, reached nearly 51.4 ten thousand kilometers by transmission line more than 110 kilovolts in 2008.500 kilovolt become the skeleton of each large power system and transprovincially, trans-regional interconnection, the contradiction that power network development lags behind is eased substantially.Because China territory is vast, with a varied topography, the Plain is few, hills and mountain area are more, and meteorological condition complexity, porcelain insulator quality are stable inadequately etc., and therefore for safety with power reliably, line walking safeguards that automation and modernization demonstrate its urgency day by day.
Power overhead network is the main lifeblood that electric power is carried, and the normal operation of overhead transmission line and shaft tower is carried for electric power and played critical effect, so the work of patrolling and examining of overhead transmission line and shaft tower is the important component part of power delivery networks current check and maintenance.The general contents of electric power line inspection comprises: whether circuit breakage, disconnected thigh occur or has foreign matter; Whether damaged the or be full of cracks of insulator cluster parachute, insulator securing member have or not and get loose or unusually, and insulator has or not and dodges vestige; Splicing sleeve on the overhead transmission line, strain insulator pipe, jumper clamp, lead wire and earth wire wire clamp, gold utensil, stockbridge damper, insulator etc. have or not the heating phenomenon; Arboreal growth in the circuit corridor, geographical environment, scissors crossing etc. have or not influences overhead transmission line safety; On the shaft tower gold utensil whether unusual, get loose or come off etc.
The line walking mode that China adopts at present comprises artificial line walking and people's helicopter line walking is arranged.Artificial line walking mainly is that artificial line attendant is on foot along line data-logging.Routine inspection mode mainly is to check circuit and shaft tower by telescope.Because China's circuit total length is big and area coverage is wide, the drawback that this line walking mode exists is that personnel drop into that quantity is big, workload is big, but the efficient of line walking is very low, and cost is very high.In addition, a lot of transmission lines are distributed in mountain area, lake and depopulated zone, cause artificial line walking difficulty big, dangerous high.
European and American countries began one's study and uses helicopter to finish line walking, live line working and line construction in the fifties in last century.Begin the eighties in last century, China also begins one's study and utilizes the technology of helicopter line walking: Yuan Yichao, " the using helicopter line walking transmission line " that Deng Chun and Zhao Pengzai " North China power technology " delivered on the volume in 2002 the 10th, " on helicopter, use Infrared Thermography Technology and make an inspection tour the review that detects the high voltage transmission line pipeline equipment " that Qiu Guoxin delivered on the volume in " Guangdong Electric Power " in 2005 the 3rd, Wang Pinghe Li Gangs etc. roll up " transmission line is used the research of helicopter line walking maintenance test " of delivering in " Sichuan power technology " calendar year 2001 the 1st, and the Shen Guang flight of steps leading to a palace hall and Zhao Xinbo have described technology and the method that people's helicopter line walking is arranged that adopt in " helicopter in electric line walking technology " that " power construction " delivered on the volume in 2008 the 10th.But, utilize manned helicopter to carry out line walking and exist some problems: be outstanding etc. as helicopter and maintenance cost costliness thereof, safety problem.Its safety problem particularly, this is serious problems that relate to the person and equipment (comprising aircraft and electrical network) safety: owing to be subjected to the restriction of detecting instrument specification requirements such as CCD, flying speed is can not be too fast, height can not be too high, so aircraft flight has mistake slightly, just may cause fatal crass's consequence, and also very possible consequence to bringing on a disaster property of electric power networks.The continuous both at home and abroad in recent years line walking helicopter air crash accident that occurs.At the beginning of 2008, a line walking helicopter of China causes injury to personnel in the accident of Chenzhou, Hunan.
Summary of the invention
Purpose of the present invention is exactly in order to address the above problem, a kind of patrolling trolly wire route and shaft tower unmanned helicopter system and method thereof are provided, the present invention adopts depopulated helicopter and carries checkout equipment, control appliance and communication apparatus, patrol and examine overhead transmission line and shaft tower along the overhead transmission line corridor, this method can be tackled geographical terrain landforms complicated and changeable, and the equipment deficiency of finishing overhead transmission line and shaft tower detects.
For achieving the above object, the present invention adopts following technical scheme:
A kind of patrolling trolly wire route and shaft tower unmanned helicopter system, 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.
Described flight control system comprises the airborne flight-control computer that is installed on the depopulated helicopter, airborne flight-control computer is connected with the airborne sensor group with satellite positioning device on being installed in depopulated helicopter, and airborne flight-control computer is by airborne flight control wireless transmission radio station and the communication of Ground Control vehicle radio.
The described detection system of patrolling and examining comprises the airborne detection computer that is installed on the depopulated helicopter, it is connected with airborne checkout equipment, airborne checkout equipment is connected with airborne image transmission radio station by video server, airborne image transmission radio station and the communication of Ground Control vehicle radio; Airborne detection with computer also by airborne detection transfer of data radio station and the communication of Ground Control vehicle radio; Airborne detection increases steady The Cloud Terrace with computer with memory device, gyro and satellite positioning device is connected.
Described airborne checkout equipment comprises body left side camera and the body right side camera that is installed in the depopulated helicopter both sides, and the preceding camera of body, visible light digital camera, ultraviolet imagery instrument and the thermal infrared imager that are installed in the depopulated helicopter front.
Described Ground Control car is provided with computer control system, computer control system is by ground flying control data transmission radio station and the radio station communication of airborne flight control wireless transmission, be used for sending instruction and accepting depopulated helicopter real-time status data, Long-distance Control depopulated helicopter to airborne equipment; Computer control system by ground detection transfer of data radio station and airborne detection transfer of data radio station communication, is accepted the action of passback picture signal and control detection equipment also by ground detection image transmission radio station and the communication of airborne image transmission radio station; Computer control system shows that the state of depopulated helicopter shows, electronic chart shows that the editor of the flight and the task of detection assigns instruction, and the data that analyzing and testing arrives show image and video that airborne checkout equipment photographs.
A kind of patrolling trolly wire route and the shaft tower method for inspecting of unmanned helicopter system, its step is:
1) depopulated helicopter carries checkout equipment, is taken off by the landing point, and above the overhead wire trackside, horizontal range is a 20-25 rice, and vertical range is a 3-5 rice, along overhead transmission line with the per hour speed flight of 15-20 kilometer;
2) after state of flight is stablized, adjust the angle of The Cloud Terrace, make visible light high definition camera, thermal infrared imager and Ultraviolet Detector can detect overhead transmission line;
3) disconnected thigh, circuit physical imperfection whether occur or do not hang with foreign matter with visible light digital camera detection line; Detect on the lead with thermal infrared imager whether overheated place is arranged; Ultraviolet Detector detects corona and dodges situation; And will detect image and send the Ground Control car back to;
4) when depopulated helicopter when the shaft tower, depopulated helicopter hovers, and adjusts the The Cloud Terrace angle and to shaft tower detection from top to bottom, detects content and comprises whether the body of the tower gold utensil occurs unusually, comes off or damaged; In testing process, real-time image is sent to the Ground Control car, and shows in the computer control system of Ground Control car by wireless telecommunication system, and whether computer control system comes judgment device to occur unusually according to real-time view data.
The invention has the beneficial effects as follows:
1. depopulated helicopter aerial work, be not subjected to the influence of factors such as topography and geomorphology,, can arrive the on-site sky of circuit easily as long as weather condition allows, can effectively reduce the labour intensity that personnel are patrolled and examined on ground, and reduce track walker's danger during operation under dangerous orographic condition.
2. depopulated helicopter can hover above overhead transmission line, the position generally is higher than overhead transmission line, can clearer shooting overhead transmission line equipment picture, can effectively clear away the ground handling personnel and observe the blind area, the efficient that makes single patrol and examine is higher, thereby polling period is shorter, and patrol frequency is more frequent, the stronger safe operation that must ensure electric power transmission line.
3. depopulated helicopter is for having people's helicopter, and mobility is better, and handling is more excellent, and more crucial is to eliminate the such danger of airborne personnel aerial work above power line fully, effectively support personnel's safety.And the requirement of unmanned plane logistics support is lower, then reduces greatly with respect to manned helicopter line walking cost.
4. the image capture device of depopulated helicopter lift-launch has comprised: visible images collecting device, thermal infrared imager, ultraviolet imagery instrument etc., this makes that the line data-logging content is abundanter.
Description of drawings
Fig. 1 is the depopulated helicopter structural representation;
Fig. 2 is the left view of Fig. 1;
Fig. 3 is the remote controller structural representation;
Fig. 4 is the Ground Control car;
Fig. 5 is a unmanned helicopter flight control system structured flowchart;
Fig. 6 is a depopulated helicopter detection system structured flowchart.
Wherein,
1. depopulated helicopter, 2. remote controller, 3. Ground Control car, 4. airborne flight-control computer, 5. satellite positioning device, 6. airborne sensor group, 7. airborne flight control wireless transmission radio station, 8. airborne detection computer, 9. video server,
10. airborne image transmission radio station, 11. airborne detection transfer of data radio station, 12. memory devices, 13. gyros increase steady The Cloud Terrace,
14. body left side camera, 15. body right side camera, 16. camera before the body, 17. visible light digital cameras, 18. ultraviolet imagery instrument, 19. thermal infrared imager, 20. computer control system, 21. ground flying control data transmission radio station, 22. airborne checkout equipments, 23. ground detection image transmission radio station, 24. ground detection transfer of data radio station:.
Embodiment
The present invention will be further described below in conjunction with accompanying drawing and embodiment.
Among Fig. 1, Fig. 2, Fig. 3 and Fig. 4, the present invention includes depopulated helicopter 1, remote controller 2 and Ground Control car 3, depopulated helicopter 1 is provided with flight control system and patrols and examines detection system, described two systems all with 3 wireless telecommunications of Ground Control car, 3 pairs of depopulated helicopters of Ground Control car 1 carry out Long-distance Control and carry out analyzing and processing to patrolling and examining testing result, remote controller 2 is used for manual control under special circumstances, as switches manually control when the urgent Artificial Control of unsafe condition or needs occurring.Depopulated helicopter 1 is the main platform of flight, is used to carry task device.Ground Control car 3 is GCU platforms, is used to load ground installations such as ground control computer, display device, antenna.
Flight control system comprises the airborne flight-control computer 3 that is installed on the depopulated helicopter 1, airborne flight-control computer 3 resolves control command according to aerial mission and unmanned helicopter flight parameter (speed, highly, attitude, position etc.), and assigns the control execution command by the Executive Module of PORT COM on depopulated helicopter 1; Airborne flight-control computer 3 is connected with airborne sensor group 6 with satellite positioning device 5 on being installed in depopulated helicopter 1, airborne sensor group 6 comprises three axis accelerometer, three-axis gyroscope, electronic compass and altimeter, be used to gather the unmanned helicopter flight parameter, comprise flying speed, highly, direction, attitude etc.; Gather current geographical coordinate information, flight attitude parameter, flying speed and the height of depopulated helicopter; Airborne flight-control computer 4 is by airborne flight control wireless transmission radio station 7 and 3 wireless telecommunications of Ground Control car, the flight status parameter that is used to upload the flight control command and passes depopulated helicopter down.Airborne flight control wireless transmission radio station 7 is responsible for accepting to upload aerial mission and control command by ground station.
Patrol and examine detection system and comprise that the airborne detection that is installed on the depopulated helicopter 1 with computer 8, is used for control record checkout equipment, obtain inspection image data, and storage inspection image data and flight parameter; It is connected with airborne checkout equipment 22, is used for controlling airborne checkout equipment 22 and obtains detected image from airborne checkout equipment 22; Airborne checkout equipment 22 is equipment general names that are used for the checkout equipment defective that depopulated helicopter carries, comprise visible light digital camera 17, ultraviolet imagery instrument 18 and thermal infrared imager 19, they are connected with airborne image transmission radio station 10 by video server 9, video server 9 is used for analog video signal is transformed and be collapsed into digital video signal, so that transmission and processing, airborne image transmission radio station 10 is used for passing down detected view data; Airborne image transmission radio station 10 and 3 wireless telecommunications of Ground Control car, with detected image data transmission to Ground Control car 3; Also by airborne detection transfer of data radio station 11 and 3 wireless telecommunications of Ground Control car, airborne detection transfer of data radio station 11 is used for the uploading detection instruction and passes the detection system state parameter down with computer 8 in airborne detection; Airborne detection increases steady The Cloud Terrace 13 with computer 8 and memory device 12, gyro and satellite positioning device 5 is connected, and latitude and longitude coordinates information and gyro when with the detected image that guarantees storage shooting being arranged increase steady The Cloud Terrace 13 state informations.Satellite positioning device 5 (satellite fix comprises GPS, Galileo or the Big Dipper) is by flight control system and to patrol and examine detection system shared, is used to obtain the real-time longitude and latitude information and the height above sea level information of depopulated helicopter 1.Memory device 12 is used to store detected view data and flight parameter data, as Backup Data.Gyro increases the lift-launch platform that steady The Cloud Terrace 13 is optical detection apparatus (visible light digital camera 17, ultraviolet imagery instrument 18 and thermal infrared imagers 19), according to flight attitude parameter and current pitching and the level angle of The Cloud Terrace, utilize DSP to resolve the feedback compensation angle, rock the influence that checkout equipment is caused with flight attitude to eliminate the vibrations of depopulated helicopter body.
Airborne checkout equipment comprises body left side camera 14 (environmental aspect that is used for the surveillance aircraft left side) and the body right side camera 15 (environmental aspect that is used for the surveillance aircraft right side) that is installed in depopulated helicopter 1 both sides, and the preceding camera 16 (environmental aspect that is used for surveillance aircraft the place ahead) of body, visible light digital camera 17 (being used to detect the visible physical imperfection of transmission line and shaft tower), ultraviolet imagery instrument 18 (be used to detect the discharge of transmission line and shaft tower and dodge defective) and the thermal infrared imager 19 that are installed in depopulated helicopter 1 front; Camera 16 is mainly used in the supervision to the depopulated helicopter surrounding environment before body left side camera 14, body right side camera 15, the body; Visible light digital camera 17, ultraviolet imagery instrument 18 and thermal infrared imager 19 (being used to detect the thermal defect of transmission line and shaft tower) are used to detect power equipment; Gyro increases steady The Cloud Terrace 13 and is connected with airborne sensor group 6, obtains the aircraft flight attitude data, and calculates compensating parameter by the DSP module that gyro increases steady The Cloud Terrace 13, increases the stability that gyro increases steady The Cloud Terrace 13 with this.
Patrolling trolly wire route and shaft tower with the method for inspecting of depopulated helicopter are:
1) depopulated helicopter carries checkout equipment, is taken off by the landing point, and above the overhead wire trackside, horizontal range is a 20-25 rice, and vertical range is a 3-5 rice, along overhead transmission line with the per hour speed flight of 15-20 kilometer;
2) after state of flight is stablized, adjust the angle of The Cloud Terrace, make visible light high definition camera, thermal infrared imager and Ultraviolet Detector can detect overhead transmission line;
3) disconnected thigh, circuit physical imperfection whether occur or do not hang with foreign matter with visible light digital camera detection line; Detect on the lead with thermal infrared imager whether overheated place is arranged; Ultraviolet Detector detects corona and dodges situation; And will detect image and send the Ground Control car back to;
4) when depopulated helicopter when the shaft tower, depopulated helicopter hovers, and adjusts the The Cloud Terrace angle and to shaft tower detection from top to bottom, detects content and comprises whether the body of the tower gold utensil occurs unusually, comes off or damaged; In testing process, real-time image is sent to the Ground Control car, and shows in the computer control system of Ground Control car by wireless telecommunication system, and whether the staff of ground station comes judgment device to occur unusually according to real-time view data.
Operation principle of the present invention:
Depopulated helicopter detection platform operation principle framework as shown in Figure 6, the backstage Control Software is by ground detection transfer of data radio station, transmit patrol task to airborne detection with computer, airborne detection is separated the detection task with computer and is counted as execution command, the notice implementation controller is adjusted each shaft angle degree of The Cloud Terrace, makes that the checkout equipment on the The Cloud Terrace can detect the equipment that needs detection.Simultaneously, airborne detection is sent the instruction of obtaining video by USB interface to the visible light camera with computer, sends the detection instruction by the RS232 interface to thermal infrared imager and Ultraviolet Detector.Three checkout equipments pass to video server with video image, by video server,, pass the Ground Control car back by airborne image transmission radio station then with video compression coding, through Ground Control car decompression decoding, be presented on the interface of backstage Control Software.According to detecting needs, airborne detection control computer can be assigned the instruction of taking the high definition static images by USB port or other PORT COM to the visible light camera, when the visible light camera is confirmed to obtain high-definition image, airborne detection control computer obtains latitude and longitude coordinates at that time from global position system, by USB port picture is transferred to airborne detection control computer, airborne detection control computer increases steady The Cloud Terrace pitching and level angle and latitude and longitude coordinates with picture, the time of obtaining picture, gyro and is saved in memory cell, as data backup.Equally, airborne detection control computer can be assigned image and the ultraviolet image that obtains band thermal map data to thermal infrared imager and ultraviolet imagery instrument by RS232 port or other PORT COM, and be stored in memory cell with latitude and longitude coordinates, The Cloud Terrace pitching and level angle and shooting time, as data backup.These detected view data are by passing to ground station under the image transmission radio station quilt simultaneously, and the staff of ground station has judged whether to exist fault and defective by the view data that hands down down.
Claims (2)
1. patrolling trolly wire route and shaft tower unmanned helicopter system, it comprises depopulated helicopter, remote controller and Ground Control car, it is characterized in that, 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; Described flight control system comprises the airborne flight-control computer that is installed on the depopulated helicopter, airborne flight-control computer is connected with the airborne sensor group with satellite positioning device on being installed in depopulated helicopter, and airborne flight-control computer is by airborne flight control wireless transmission radio station and the communication of Ground Control vehicle radio; The described detection system of patrolling and examining comprises the airborne detection computer that is installed on the depopulated helicopter, it is connected with airborne checkout equipment, airborne checkout equipment is connected with airborne image transmission radio station by video server, airborne image transmission radio station and the communication of Ground Control vehicle radio; Described airborne checkout equipment comprises body left side camera and the body right side camera that is installed in the depopulated helicopter both sides, and the preceding camera of body, visible light digital camera, ultraviolet imagery instrument and the thermal infrared imager that are installed in the depopulated helicopter front; Airborne detection with computer also by airborne detection transfer of data radio station and the communication of Ground Control vehicle radio; Airborne detection increases steady The Cloud Terrace with computer with memory device, gyro and satellite positioning device is connected; Described Ground Control car is provided with computer control system, computer control system is by ground flying control data transmission radio station and the radio station communication of airborne flight control wireless transmission, be used for sending instruction and accepting depopulated helicopter real-time status data, Long-distance Control depopulated helicopter to airborne checkout equipment; Computer control system by ground detection transfer of data radio station and airborne detection transfer of data radio station communication, is accepted the action of passback picture signal and control detection equipment also by ground detection image transmission radio station and the communication of airborne image transmission radio station; Computer control system shows that the state of depopulated helicopter shows, electronic chart shows that the editor of the flight and the task of detection assigns instruction, and the data that analyzing and testing arrives show image and video that airborne checkout equipment is taken.
2. described patrolling trolly wire route of claim 1 and shaft tower is characterized in that its step is with the method for inspecting of unmanned helicopter system:
1) depopulated helicopter carries checkout equipment, is taken off by the landing point, and above the overhead wire trackside, horizontal range is a 20-25 rice, and vertical range is a 3-5 rice, along overhead transmission line with the per hour speed flight of 15-20 kilometer;
2) after state of flight is stablized, adjust the angle of The Cloud Terrace, make visible light high definition camera, thermal infrared imager and Ultraviolet Detector can detect overhead transmission line;
3) disconnected thigh, circuit physical imperfection whether occur or do not hang with foreign matter with visible light digital camera detection line; Detect on the lead with thermal infrared imager whether overheated place is arranged; Ultraviolet Detector detects corona and dodges situation; And will detect image and send the Ground Control car back to;
4) when depopulated helicopter when the shaft tower, depopulated helicopter hovers, and adjusts the The Cloud Terrace angle and to shaft tower detection from top to bottom, detects content and comprises whether the body of the tower gold utensil occurs unusually, comes off or damaged; In testing process, real-time image is sent to the Ground Control car, and shows in the computer control system of Ground Control car by wireless telecommunication system, and whether computer control system comes judgment device to occur unusually according to real-time view data.
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| CN102510011B (en) * | 2011-10-24 | 2014-10-29 | 华北电力大学 | Method for realizing the intelligent tour-inspection of power tower based on miniature multi-rotor unmanned helicopter |
| CN102519600A (en) * | 2011-12-30 | 2012-06-27 | 广州飒特红外科技有限公司 | Flight thermal imager system and communication method thereof |
| CN102519600B (en) * | 2011-12-30 | 2014-12-03 | 广州飒特红外股份有限公司 | Flight thermal imager system and communication method thereof |
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