CN102694351A - 高压架空输电线路巡线无人机载光电检测装置 - Google Patents

高压架空输电线路巡线无人机载光电检测装置 Download PDF

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CN102694351A
CN102694351A CN2012101849740A CN201210184974A CN102694351A CN 102694351 A CN102694351 A CN 102694351A CN 2012101849740 A CN2012101849740 A CN 2012101849740A CN 201210184974 A CN201210184974 A CN 201210184974A CN 102694351 A CN102694351 A CN 102694351A
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aerial vehicle
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CN102694351B (zh
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于化东
许金凯
董山恒
李晓舟
李一全
刘永胜
王闯
孙岳
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State Grid Jilin Electric Power Corp
Changchun University of Science and Technology
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高压架空输电线路巡线无人机载光电检测装置，属于电力线巡检技术领域，为了解决现有高压架空输电线路巡线技术单一的问题，本发明装置主要包括无人机、GPS惯性组合姿态方位检测装置、减震装置、转动检测吊舱、地面数据接收处理器和控制器，其特征是，无人机内部设置GPS惯性组合姿态方位检测装置，所述转动检测吊舱通过减震装置悬挂于无人机下方；转动检测吊舱内安装光电稳定平台，光电稳定平台上承载可见光摄像机、紫外线成像仪、全数字动态红外热像仪任意组合和激光测距仪；转动检测吊舱上开有可视窗口；本发明装置可以对高压输电线多方位的监测，结合多种传感器之间的互换实现了全面、精确的高压架空输电线路的巡线任务。

Description

高压架空输电线路巡线无人机载光电检测装置
技术领域
本发明涉及一种高压架空输电线路巡线无人机载光电检测装置，属于电力线巡检技术领域。
背景技术
近年来，由于全球气候变暖，自然灾害频发，给国家经济和人民造成的灾害有上升的趋势。电力部门在灾害发生后救灾和减灾的手段还不够完善，尤其是快速掌握灾情还缺乏有效的经过演练的技术手段。与此同时，随着电力系统的发展，输电线路越来越长，电压等级越来越高。我国目前110kV以上的电力线路近九十万公里，巡线作业每年都要进行多次，工作量巨大，电力企业每年都要投入巨大的人力物力对输电线路进行定期巡视检查。传统的电路线巡检工作主要由人工完成，而人工巡检存在工作效率低、准确性差等问题，对于保证电网的安全运行极为不利。
无人机（Unmanned Aerial Vehicle,UAV）是一种由无线电遥控设备或自身程序控制装置操纵的无人驾驶飞行器，具有不受地形环境限制的优势，其搭载的可见光、红外热成像设备具有对运行电网准确的隐患发现能力。在灾情发生时或有灾情预警时，无人飞行器能够迅速地赶往现场实施灾情监测和救灾指挥。在无灾情时能够实现高效电网巡视、监控管理一体化的模式，变故障处置为隐患控制，极大的降低电网故障率，提高电网维护工作效率。
公开号为CN1645284、公开日为2005.07.27的中国专利公开了一种电力线路巡检机器人飞机及其控制系统，该技术方案在于通过提供机器人飞机及其控制系统，解决传统检测方式存在的安全性差、可靠性不高的问题，使之和行走机器人检测方式相比环境适应能力好、高度智能化和检测效率高。所述已知技术存在的问题是，该技术方案仅仅公开了一种基于单纯的可见光及红外温度检测数据传输的技术方案，对于重要的吊舱构造、精确制导装置、目标识别及多种实现各自检测功能的可见光、红外、紫外图像检测及图像融合问题并没有提及。
发明内容
本发明为了解决现有高压输电线巡线技术单一的问题，提供一种高压架空输电线路巡线无人机载光电检测装置，该装置具有多功能可互换的光电稳定平台，实现了可见光和红外及可见光和紫外图像检测及根据传感器的多种类型的单一传感器或任意两种传感器的组合测量方式。
本发明高压输电线巡线无人机检测装置，主要包括无人机、GPS惯性组合姿态方位检测装置、减震装置、转动检测吊舱、地面数据接收处理器和控制器，无人机内部设置GPS惯性组合姿态方位检测装置，所述转动检测吊舱通过减震装置悬挂于无人机下方；转动检测吊舱内安装光电稳定平台；
所述光电稳定平台中基座组件单元的下面设置U架单元，减速电机单元安装于U架单元的一侧，减速电机单元通过传动系统与基座组件单元相连；外框架单元与U架单元相连；内框架单元设置在外框架单元内部，外框架单元左右两侧边框外侧，一侧边框安装框架电机组件，另一侧边框安装光电陀螺和外框架电位器组件，外框架单元上下两个边框外侧，一侧边框安装框架电机组件，另一侧边框安有光电陀螺和内框架电位器组件；可见光摄像机、紫外线成像仪、全数字动态红外热像仪中一种或两种任意组合和激光测距仪安装在内框单元内部，透过防护罩进行信息采集。
本发明的有益效果：本发明高压架空输电线路巡线无人机载光电检测装置中光电稳定平台基座组件单元中的齿圈与减速电机单元中的齿轮相啮合，实现平台整体沿圆周方向360度旋转，光电陀螺可以精确控制外框架单元和内框架单元的旋转角度，可见光摄像机、紫外线成像仪、全数字动态红外热像仪任意组合和激光测距仪安装在内框架单元内部，实现了多方位的监测，结合多种传感器之间的互换实现了全面、精确的高压输电线巡线任务；该装置通过数据采集处理器可用来执行自动按规划线路巡线并精确定位、高清多种光谱图像同时采集及融合显示并海量便携存取数据；还能通过地面控制器实时控制的电力线巡检系统。
附图说明
图1为本发明高压架空输电线路巡线无人机载光电检测装置示意图。
图2为本发明所述光电稳定平台轴测图。
图3为本发明所述基座组件单元主视图。
图4为本发明所述U架单元轴测图。
图5为本发明所述减速电机单元轴测图。
图6为本发明所述外框架单元轴测图。
图7为本发明所述内框架单元轴测图。
图8为本发明所述外定位器组件轴测图。
图9为本发明所述内定位器组件图。
具体实施方式
下面结合附图对本发明进一步说明。
如图1所示，本发明高压架空输电线路巡线无人机载光电检测装置主要包括无人机1、GPS惯性组合姿态方位检测装置2、减震装置3、转动检测吊舱4和地面数据接收处理器和控制器。无人机1内部设有GPS惯性组合姿态方位检测装置2，在无人机1下方悬挂转动检测吊舱4，转动检测吊舱4内安装有光电稳定平台5，光电稳定平台5上承载有可见光摄像机、紫外线成像仪、全数字动态红外热像仪任意组合和激光测距仪，通过以上仪器之间的互换来实现全方位的巡线功能。地面数据接收处理器接收无人机上发来的信号，进行数据采集、数据图像处理为火灾识别分析工作提供依据。控制器是根据高压输电线的实际线路情况，对无人机实施控制。
所述转动检测吊舱4通过减震装置3悬挂于无人机1下方，转动检测吊舱4上开有可视窗口。转动检测吊舱4内部的主要检查装置为光电稳定平台5，光电稳定平台5通过螺纹连接固连在转动检测吊舱4的上端。光电稳定平台5上承载的仪器通过可视窗口对高压线进行检测。
如图2至图9所示，光电稳定平台5由基座组件单元6，U架单元7，减速电机单元8，外框架单元9，内框架单元10，两个参数相同的框架电机组件11，两个参数相同的光电陀螺12，外框架定位器组件13，内框架定位器组件14组成。
基座组件单元6中的主轴6-1与U架单元7中的U座7-1中心孔通过螺纹固连。基座组件单元6中的齿圈6-2与减速电机单元8中的齿轮8-1相啮合，实现平台整体沿圆周方向360度旋转。
减速电机单元8安装于U座7-1的一侧，通过电机座8-2上的螺纹孔与U座7-1实现螺纹连接。
外框架单元9通过其两侧的连接轴9-1分别与U架单元7中的两个U耳7-2相连。具有连接轴9-1的两侧边框，分别在一侧边框安装框架电机组件11，另一侧边框安装光电陀螺12、外框架定位器组件13和外定位器输出齿轮15，其中外框架定位器组件13的外框架夹具13-1上的孔通过螺钉与U耳7-2连接，外定位器输出齿轮15通过轴安装在U耳7-2的圆盘外侧，外定位器输出齿轮15的轴线与外框架单元9的连接轴9-1的轴线相重合，外定位器输入齿轮13-2和外定位器输出齿轮15相啮合，控制外框架单元9保证相机视场的条件下在一定的角度范围内转动。并通过框架电机组件11实现外框架单元9的转动，用胶将光电陀螺12粘贴在外定位器输出齿轮15上，通过光电陀螺12精确控制外框架单元9的旋转角度。
内框架单元10通过其两侧的轴10-1分别与外框架单元9两侧的圆盘座9-2相连。外框架单元9具有圆盘座9-2的两个边框，分别在一侧通过轴相连，将框架电机组件11安装在圆盘座9-2上，另一侧边框安有光电陀螺12、内框架定位器组件14和内定位器输出齿轮16，内定位器输出齿轮16的中心轴线与圆盘座9-2的中心轴线相重合，其中内框架定位器组件14利用螺钉通过内电位器座14-1上的孔将其安装在外框架单元9的圆盘座9-2内侧，内定位器输出齿轮16通过轴安装在圆盘座9-2的外侧，使其上的内定位器输入齿轮14-2和内定位器输出齿轮16相啮合，控制内框架单元10保证相机视场的条件下在一定的角度范围内转动。用胶将光电陀螺12粘贴在内定位器输出齿轮16上，通过光电陀螺12精确控制内框架单元10的旋转角度。
光电稳定平台5的内框架单元10上可安装可见光摄像机、紫外线成像仪、全数字动态红外热像仪的任意组合和激光测距仪，通过可视窗对高压线进行检测。当安装可见光摄像机和全数字动态红外热像仪时，可见光相机放置在内框架单元10的上部，红外相机放置在内框架单元10的下部，分别利用螺钉通过内框架上面的螺纹孔连接。
本发明装置通过框架电机组件11实现内框架单元10的转动，通过光电陀螺12控精确制内框架单元10的旋转角度。通过内框架单元10和外框架单元9的自动角度调节来保持设置在内框单元10内的仪器的稳定，达到精准测量的目的。

Claims (5)

1.高压架空输电线路巡线无人机载光电检测装置，主要包括无人机（1）、GPS惯性组合姿态方位检测装置（2）、减震装置（3）、转动检测吊舱（4）、地面数据接收处理器和控制器，其特征是，无人机（1）内部设置GPS惯性组合姿态方位检测装置（2），所述转动检测吊舱（4）通过减震装置（3）悬挂于无人机（1）下方；转动检测吊舱（4）内安装光电稳定平台（5）；
光电稳定平台（5）中基座组件单元（6）的下面设置U架单元（7），减速电机单元（8）安装于U架单元（7）的一侧，减速电机单元（8）通过传动系统与基座组件单元（6）相连；外框架单元（9）与U架单元（7）相连；内框架单元（10）设置在外框架单元（9）内部，外框架单元（9）左右两侧边框外侧，一侧边框安装框架电机组件（11），另一侧边框安装光电陀螺（12）和外框架电位器组件（13），外框架单元（9）上下两个边框外侧，一侧边框安装框架电机组件（11），另一侧边框安有光电陀螺（12）和内框架电位器组件（14）；可见光摄像机、紫外线成像仪、全数字动态红外热像仪中一种或两种任意组合和激光测距仪安装在内框单元（10）内部，透过防护罩进行信息采集。
2.根据权利要求1所述的布点固定式森林火情监测系统，其特征在于，基座组件单元（6）的主轴（6-1）与U架单元（7）的U座（7-1）中心孔配合；电机座（8-2）上的螺纹孔与U座（7-1）实现螺纹连接；基座组件单元（6）的齿圈（6-2）与减速电机单元（8）的齿轮（8-1）相啮合。
3.根据权利要求1所述的布点固定式森林火情监测系统，其特征在于，外框架单元（9）通过其两侧的连接轴（9-1）分别与U架单元（7）中的两个U耳（7-2）相连；外框架电位器组件（13）的外框架夹具（13-1）与U耳（7-2）连接，外定位器输出齿轮（15）安装在U耳（7-2）外侧，其轴线与外框架单元（9）的连接轴（9-1）的轴线相重合；外定位器输入齿轮（13-2）和外定位器输出齿轮（15）相啮合。
4.根据权利要求1所述的布点固定式森林火情监测系统，其特征在于，内框架单元（10）通过其两侧的轴（10-1）分别与外框架单元（9）的圆盘座（9-2）相连；内定位器输出齿轮（16）的中心轴线与圆盘座（9-2）的中心轴线相重合；内电位器座（14-1）固定在圆盘座（9-2）内侧，内定位器输出齿轮（16）安装在圆盘座（9-2）的外侧，内定位器输入齿轮（14-2）和内定位器输出齿轮（16）相啮合。
5.根据权利要求1所述的布点固定式森林火情监测系统，其特征在于，两个光电陀螺（12）分别粘贴在外定位器输出齿轮（15）上和内定位器输出齿轮（16）上。
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