CN103078673A - 一种适用于山区电网巡检的专用无人直升机系统 - Google Patents
一种适用于山区电网巡检的专用无人直升机系统 Download PDFInfo
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Abstract
本发明公开了一种适用于山区电网巡检的专用无人直升机系统,包括有传感网络、信息传输网络及信息处理中心。本发明的适用于山区电网巡检的专用无人直升机系统可在山区复杂地形环境、复杂气象条件下,提供一种适用于山区的电网巡检检的中型专用无人直升机系统及其应用方法。本发明充分利用无人机平台技术、数据链通信技术、GIS技术、可见光\红外\紫外高清拍摄、存储和传输技术、测距传感技术、图像诊断评估技术等前沿先进技术有效融合实现对输电线路进行日常巡视。
Description
技术领域
本发明涉及一种山区电网巡检检测装置,特别是一种适用于山区电网巡检的中型专用无人直升机系统。
背景技术
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及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,工作量浩大。
目前,我国采用的巡检方式主要是人工巡检和载人直升机巡检,人工巡检是电力线路巡检人员徒步沿着线路巡检。巡检方式主要是通过望眼镜查看线路和杆塔。载人直升机巡检是电力巡检人员通过直升机平台,在线路上方沿着线路进行巡检。
以福建地区为例,福建地处我国东南沿海,又属山区丘陵地貌,输电线路大都翻山越岭,很多输电线路分布在湖泊、无人区,依靠传统人工对输电线路进行定期巡视检查的工作方式耗费大量的人力、物力和财力,其效果和效率却难以提升,工作繁重、效率低下、周期漫长、危险性高,给电网安全管理带来许多隐患,对于保证电网的安全运行极为不利。
为解决山区输电线路巡线工作的各种难题,国内外的研究机构自20世纪80年代末开始研究如何借助科技手段提高电网线路巡视的效率,主要是采用载人直升机进行输电线路巡检。载人直升飞机巡检输电线路技术在我国目前广泛应用在特高压交流输电线路、华北电网公司110kV~500kV输电线路运行管理工作中。利用载人直升机巡检技术和方法存在如直升机及其维护费用昂贵与人员安全等问题。由于受检测仪器技术的限制,目前载人机的飞行速度不能太快、高度不能太高,所以载人飞机飞行稍有差错,就可能造成机毁人亡的严重后果,并且也很有可能给电力网络带来灾难性的后果。
发明内容
本发明的目的在于克服现有技术的不足之处,而提供一种可适用于同区复杂地形环境的一种适用于山区电网巡检的专用无人直升机系统。
一种适用于山区电网巡检的专用无人直升机系统,包括有传感网络、信息传输网络及信息处理中心:
传感网络包括对无人机平台进行测控的地面站测控系统、对输电杆塔的动态属性进行获取的光电吊舱、在遇到障碍时进行自主避障的避障系统、搭载光电吊舱和避障系统的无人机平台,所述的地面站测控系统包括有对无人机及其所携带的光电吊舱进行控制的地面站控制装置及地面站测控软件,所述的测控软件用于识别各种静态的电力属性并用于控制地面站控制装置的动作,所述的无人机平台包括有飞控系统,飞控系统与避障系统双向相连以获得避障系统所检测到的参数并下达相应的控制指令,所述的光电吊舱与飞控系统双向相连,所述的光电吊舱通过其携带的光电设备获取各种图像视频信息,通过机载电台—信息传输网络传输至地面站测控系统;同时将自身工况的遥测信息上传给飞控系统,通过飞控系统转发至地面站测控软件;地面站测控系统通过机载电台、飞控系统控制光电吊舱的各种动作;
所述的信息传输网络包括有车载电台、通讯中继站及机载电台,所述的车载电台为与地面站控制装置相连以接受地面站控制装置的各种指令,车载电台还与地面站测控软件相连以发送无人机及光电吊舱的自身状态停息及所获取的信息,所述的车载电台还与防灾减灾指挥中心相连以发送光电吊舱的自身状态信息及所获取的信息,所述的机载电台与无人机平台的飞控系统双向相连,以下达飞行指令并接收飞控系统所获得的各种参数,车载电台与机载电台分别与通讯中继站相通讯连接,通过通讯中继站交换获取所需要参数及指令,
所述的信息处理中心包括有防灾减灾指挥中心以及用于评估巡视图像诊断的巡视图像诊继评估系统,防灾减灾指挥中收将所获得以各种参数发送给巡视图像诊断评估系统。
所述的静态属性包括杆塔经度、维度、高度、导线距离树木的距离、山体的高程值等静态静止的属性。
所述的动态属性包括由光电吊舱获取的各种输电杆塔图像视频、无人机平台、避障系统、光电吊舱、中继数据链等各分系统实时工况的遥测数据等信息。
本发明的适用于山区电网巡检的专用无人直升机系统,在有灾情预警前或灾情发生后,无人飞行器平台能够迅速地赶往现场,将输电线路及杆塔的动态属性通过通信网络传输回防灾减灾指挥中心进行,实施灾情监测和救灾指挥,在无灾情时无人飞行电力巡检系统能够实现高效电网巡检,其信息处理网络能够变故障处置为隐患控制,能够极大的降低电网故障率,有效降低电网运营成本。
所述的通讯中继站包含有地面中继站与空中中继站两种中继模式,所述的地面中继模式为在输电杆塔上设立无线终端,所述的空中中继模式为通过设立中继飞机终端来完成,车载电台、机载电台或通过地面中继站进行连接,或通过空中中继站进行连接。
所述的地面中继模式还配套架设了光纤通讯连接,确保了无人机系统能够在山区50km以上范围可靠测控。
无人机(任务机)+地面中继模式适用于任务机无法直接与地面测控车进行数据通信的情况,即任务机距离地面测控车距离超过直视范围,或任务机与地面测控车之间有障碍物阻隔。任务机采集到的图像和遥测信号首先通过无线链路发送给输电杆塔中继终端,中继终端再转发给地面测控车载终端,相反,地面测控车的控制指令也通过输电杆塔中继终端转发给任务机终端,控制任务机的工作状态。无人机(任务机)+空中中继(小型无人直升机)模式针对采用地面中继的不足,在数据链路上增加一台中继无人直升飞机。任务机采集到的图像和遥测信号首先通过无线链路发送给中继机,通过中继机转发给地面测控车载终端,相反,地面测控车的控制指令也通过中继机转发任务机终端,控制任务机的工作状态。
所述的避障系统包括有机载信号采集模块及设置于飞控系统内的机载避障分析模块构成,机载的信号采集模块包括毫米波雷达测距传感器,毫米波雷达测距传感器与信号预处理模块相连以将模拟信号转换为数字信号,并将周围的环境信息经通讯端口发送给机载避障分析模块,再由机载分析模块发出相应的指令给飞控系统的控制计算机,再由飞控系统的控制计算机发送给无人机舵控系统。
本发明的避障系统,由各传感器信号先经过预处理模块,将模拟信号转换为数字信号,并环境信息经通讯端口,将数据提供给机载避障分析模块进行分析计算,并判断是否要进行避障行为,同时计算出合理避让路线,将控制信号发送给无人机的飞控子系统——无人机舵控系统以实现避让动作。
所述的机载避障分析模块为通过内置的预设距离门限值,将周围的环境信息与预设的距离门限值进行对比得出障碍物方位,并通过内置的避障策略做出相应的避障策略。
所述的避障系统的毫米波雷达测距传感器分设于无人机的前方、左侧、右侧。
所述的光电吊舱为配备有可见光\红外\紫外成像设备。
因此其具有对运行电网快速准确的隐患发现能力。
所述的任务吊舱还与机载电台相连以发送吊舱状态数据及所获取的各种数据。
所述的无人机为中型的无人直升机。
采用了中型无人直升机,航程远、载荷大、升限高、抗风能力强。能够满足国内大部分山区和高原电力巡线的复杂气象条件、复杂地形条件和海拔高度。
所述的地面测控软件内包含有基于电网GIS的三维航路规划系统。可同时测控中继无人机和巡检无人机。地面站软件提供山区特殊地形的数字正射影像地图和电网三维数字高程模型,为无人机进行精确三维航路规划。
巡视图像诊断评估系统是将线路缺陷根据其在不同传感器中的特征进行分类处理。这些特征包括缺陷的形状特征、表面纹理及模式特征、物理特征及与线路及杆塔的相对位置关系特征。在特征确定后,应用图像处理技术提取有效稳健特征,开发缺陷模板和特征的数据库管理系统。巡视图像诊断评估系统包括三部分内容,线路缺陷的预测与评估、线路缺陷的识别和巡视图像的数据库管理,通过对历史巡视图像、缺陷图像的早期特征、专家及技术人员的经验以及外部环境因素总结和统计分析,应用机器学习、人工智能和专家系统的理论方法,建立的线路缺陷的预测与评估模型。
综上所述的,本发明相比现有技术如下优点:
本发明的适用于山区电网巡检的专用无人直升机系统具有:
1.中型无人机系统具有不受地形环境限制的优势,在机载任务设备中搭载的可见光\红外\紫外成像设备具有对运行电网快速、准确的隐患发现能力;
2.在有灾情预警前或灾情发生后,无人飞行器平台能够迅速地赶往现场,将输电线路及杆塔的动态属性通过通信网络传输回防灾减灾指挥中心进行,实施灾情监测和救灾指挥;
3.在无灾情时无人飞行电力巡检系统能够实现高效电网巡检,其信息处理网络能够变故障处置为隐患控制,能够极大的降低电网故障率,有效降低电网运营成本;
4.该巡检技术系统在输电线路状态巡检和防灾减灾应用具有技术先进、实用性强,推广价值高等特点,为电力系统状态检修提供有力支撑;
6.与人工巡视相比,提高巡视效率200%以上;
7.无人机系统巡视发现隐患能力达到95%;
8.应用无人飞行巡检系统,每巡视1000km山区线路,可以提高工效333.33%以上,减少成本支出233.33%。
附图说明
图1是本发明的 适用于山区电网巡检的专用无人直升机系统的结构框图。
图2是本发明的适用于山区电网巡检的专用无人直升机系统原理图。
图3是本发明实施例的避障系统结构示意图。
图4是本发明实施例的避障系统的工作流程图。
图5本发明实施例的地面中继模式的结构示意图。
图6是本发明实施例的空间中继模式的结构示意图。
图7是本发明实施例的巡视图像诊断评估系统的结构框图。
具体实施方式
下面结合实施例对本发明进行更详细的描述。
实施例1
一种如图1-2所示的适用于山区电网巡检的专用无人直升机系统,包括有传感网络、信息传输网络及信息处理中心:
传感网络包括对无人机平台进行的测控的地面站测控系统、对输电杆塔的动态属性进行获取的光电吊舱、在遇到障碍时进行自主避障的避障系统、搭载光电吊舱和避障系统的无人机平台,所述的地面站测控系统包括有对无人机及其所携带的光电吊舱进行控制的地面站控制装置及地面站测控软件,所述的测控软件用于识别各种静态的电力属性并用于控制地面站控制装置的动作,所述的无人机平台包括有飞控系统,飞控系统与避障系统双向相连以获得避障系统所检测到的参数并下达相应的控制指令,所述的光电吊舱与飞控系统双向相连,所述的光电吊舱通过其携带的光电设备获取各种图像视频信息,通过机载电台—信息传输网络传输至地面站测控系统;同时将自身工况的遥测信息上传给飞控系统,通过飞控系统转发至地面站测控软件;地面站测控系统通过机载电台、飞控系统控制光电吊舱的各种动作;
所述的信息传输网络包括有车载电台、通讯中继站及机载电台,所述的车载电台为与地面站控制装置相连以接受地面站控制装置的各种指令,车载电台还与地面站测控软件相连以发送无人机及光电吊舱的自身状态停息及所获取的信息,所述的车载电台还与防灾减灾指挥中心相连以发送光电吊舱的自身状态信息及所获取的信息,所述的机载电台与无人机平台的飞控系统双向相连,以下达飞行指令并接收飞控系统所获得的各种参数,车载电台与机载电台分别与通讯中继站相通讯连接,通过通讯中继站交换获取所需要参数及指令,
所述的信息处理中心包括有防灾减灾指挥中心以及用于评估巡视图像诊断的巡视图像诊继评估系统,防灾减灾指挥中收将所获得以各种参数发送给巡视图像诊断评估系统。
所述的静态属性包括杆塔经度、维度、高度、导线距离树木的距离、山体的高程值等静态静止的属性。
所述的动态属性包括由光电吊舱获取的各种输电杆塔图像视频、无人机平台、避障系统、光电吊舱、中继数据链等各分系统实时工况的遥测数据等信息。
所述的通讯中继站包含有地面中继站与空中中继站两种中继模式如图5-6,所述的地面中继模式为在输电杆塔上设立无线终端,所述的空中中继模式为通过设立中继机终端来完成,车载电台、机载电台或通过地面中继站进行连接,或通过空中中继站进行连接。
所述的地面中继模式还配套架设了光纤通讯连接,确保了无人机系统能够在山区50km以上范围可靠测控。
所述的避障系统如图4-5包括有机载信号采集模块及设置于飞控系统内的机载避障分析模块构成,机载的信号采集模块包括毫米波雷达测距传感器,毫米波雷达测距传感器与信号预处理模块相连以将模拟信号转换为数字信号,并将周围的环境信息经通讯端口发送给机载避障分析模块,再由机载分析模块发出相应的指令给飞控系统的控制计算机,再由飞控系统的控制计算机发送给无人机舵控系统。所述的机载避障分析模块为通过内置的预设距离门限值,将周围的环境信息与预设的距离门限值进行对比得出障碍物方位,并通过内置的避障策略做出相应的避障策略中。所述的避障系统的毫米波雷达测距传感器分设于无人机的前方、左侧、右侧。所述的光电吊舱为配备有可见光\红外\紫外成像设备。所述的任务吊舱还与机载电台相连以发送吊舱状态数据及所获取的各种数据。所述的无人机为中型的无人直升机。所述的地面测控软件内包含有基于电网GIS的三维航路规划系统。
本实施例未述部分与现有技术相同。
Claims (9)
1.一种适用于山区电网巡检的专用无人直升机系统,其特征在于:包括有传感网络、信息传输网络及信息处理中心:
所述的传感网络包括对无人机平台进行测控的地面站测控系统、对输电杆塔的动态属性进行获取的光电吊舱、在遇到障碍时进行自主避障的避障系统、搭载光电吊舱和避障系统的无人机平台,所述的地面站测控系统包括有对无人机及其所携带的光电吊舱进行控制的地面站控制装置及地面站测控软件,所述的测控软件用于识别各种静态的电力属性并用于控制地面站控制装置的动作,所述的无人机平台包括有飞控系统,飞控系统与避障系统双向相连以获得避障系统所检测到的参数并下达相应的控制指令,所述的光电吊舱与飞控系统双向相连,所述的光电吊舱通过其携带的光电设备获取各种图像视频信息,通过机载电台—信息传输网络传输至地面站测控系统;同时将自身工况的遥测信息上传给飞控系统,通过飞控系统转发至地面站测控软件;地面站测控系统通过机载电台、飞控系统控制光电吊舱的各种动作;
所述的信息传输网络包括有车载电台、通讯中继站及机载电台,所述的车载电台为与地面站控制装置相连以接受地面站控制装置的各种指令,车载电台还与地面站测控软件相连以发送无人机及光电吊舱的自身状态停息及所获取的信息,所述的车载电台还与防灾减灾指挥中心相连以发送光电吊舱的自身状态信息及所获取的信息,所述的机载电台与无人机平台的飞控系统双向相连,以下达飞行指令并接收飞控系统所获得的各种参数,车载电台与机载电台分别与通讯中继站相通讯连接,通过通讯中继站交换获取所需要参数及指令,
所述的信息处理中心包括有防灾减灾指挥中心以及用于评估巡视图像诊断的巡视图像诊继评估系统,防灾减灾指挥中收将所获得以各种参数发送给巡视图像诊断评估系统。
2.根据权利要求1所述的适用于山区电网巡检的专用无人直升机系统,其特征在于:所述的通讯中继站包含有地面中继站与空中中继站两种中继模式,所述的地面中继模式为在输电杆塔上设立无线终端,所述的空中中继模式为通过设立中继飞机终端来完成,车载电台、机载电台或通过地面中继站进行连接,或通过空中中继站进行连接。
3.根据权利要求2所述的适用于山区电网巡检的专用无人直升机系统,其特征在于:所述的地面中继模式还配套架设了光纤通讯连接。
4.根据权利要求1至3任何一项所述的适用于山区电网巡检的专用无人直升机系统,其特征在于:所述的避障系统包括有机载信号采集模块及设置于飞控系统内的机载避障分析模块构成,机载的信号采集模块包括毫米波雷达测距传感器,毫米波雷达测距传感器与信号预处理模块相连以将模拟信号转换为数字信号,并将周围的环境信息经通讯端口发送给机载避障分析模块,再由机载分析模块发出相应的指令给飞控系统的控制计算机,再由飞控系统的控制计算机发送给无人机舵控系统。
5.根据权利要求4所述的适用于山区电网巡检的专用无人直升机系统,其特征在于:所述的机载避障分析模块为通过内置的预设距离门限值,将周围的环境信息与预设的距离门限值进行对比得出障碍物方位,并通过内置的避障策略做出相应的避障策略。
6.根据权利要求5所述的适用于山区电网巡检的专用无人直升机系统,其特征在于:所述的避障系统的毫米波雷达测距传感器分设于无人机的前方、左侧、右侧。
7.根据权利要求6所述的适用于山区电网巡检的专用无人直升机系统,其特征在于:所述的光电吊舱为配备有可见光\红外\紫外成像设备。
8.根据权利要求7所述的适用于山区电网巡检的专用无人直升机系统,其特征在于:所述的任务吊舱还与机载电台相连以发送吊舱状态数据及所获取的各种数据。
9.根据权利要求8所述的适用于山区电网巡检的专用无人直升机系统,其特征在于:所述的地面测控软件内包含有基于电网GIS的三维航路规划系统。
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