CN104822052A - Substation electrical equipment inspection system and method - Google Patents

Substation electrical equipment inspection system and method Download PDF

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Publication number
CN104822052A
CN104822052A CN201510200557.4A CN201510200557A CN104822052A CN 104822052 A CN104822052 A CN 104822052A CN 201510200557 A CN201510200557 A CN 201510200557A CN 104822052 A CN104822052 A CN 104822052A
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CN
China
Prior art keywords
control unit
main control
camera
axle holder
electric equipment
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CN201510200557.4A
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Chinese (zh)
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CN104822052B (en
Inventor
李伟华
陈均瑞
李翔
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暨南大学
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Publication of CN104822052B publication Critical patent/CN104822052B/en

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Abstract

The invention discloses a substation electrical equipment inspection system. The substation electrical equipment inspection system includes an aircraft, a triaxial aerial photography holder, an infrared imaging instrument, a camera and a control unit, wherein the triaxial aerial photography holder is installed on the aircraft, the infrared imaging instrument and the camera are arranged in the triaxial aerial photography holder, the triaxial aerial photography holder is provided with a holder movement control mechanism used for controlling the movement of the triaxial aerial photography holder, and the control unit includes an airborne main control unit and a ground control unit, wherein the airborne main control unit is connected with the holder movement control mechanism, the infrared imaging instrument and the camera respectively, and the airborne main control unit is connected with the ground control unit through a wireless communication device. According to the substation electrical equipment inspection system of the invention, the infrared imaging instrument and the camera are installed on the aircraft; acquisition angle positions of the infrared imaging instrument and the camera are adjusted through the triaxial aerial photography holder; infrared temperature measurement can be performed on substation electric equipment through the infrared imaging instrument; the appearance of the equipment is observed through the camera; and therefore, labor intensity can be greatly reduced, and inspection efficiency and accuracy can be improved.

Description

A kind of Substation Electric Equipment cruising inspection system and method

Technical field

The present invention relates to electrical substation monitoring field, particularly a kind of Substation Electric Equipment cruising inspection system based on aircraft and infrared thermoviewer and method.

Background technology

Carrying out effectively patrolling and examining the operational reliability to improving equipment to electric equipment all kinds of in transformer station, the operation expense of reduction equipment, extension device useful life, having major and immediate significance.In numerous substation accident, the equipment fault caused because of local overheating account for the overwhelming majority that fault occurs.

The manual inspection pattern based on papery remaining traditional patrolled and examined by the electric equipment of transformer station of current China is master.Traditional substation inspection mode, patrol and examine that workload is large and efficiency is low, traditional routine inspection mode effectively cannot be supervised patrolling and examining staff simultaneously, the situation often occurring that personnel are not in place and patrol and examine not in time, thus causes equipment obstacle management to cause electric power accident not in time.And due to transformer station be high voltage place, staff works inside and has certain danger.Therefore, current have some scholars to have developed the mode adopting crusing robot to replace manual inspection, patrols and examines.Carry checkout equipment by crusing robot, in power transformation plant area, tour is carried out to relevant device and patrol and examine.This mode greatly reduces the working strength of staff, and fail safe have also been obtained raising.But robot patrols and examines and can not realize multiple angle views equipment, exist when patrolling and examining and detect dead angle.

For reducing labour intensity, also there is the vehicle-mounted monitoring system of some transformer stations now, be installed on electronic or motor vehicle by electrical substation monitoring equipment, patrolling and examining of electric equipment is realized by the traveling controlling electric motor car or motor vehicle, thus reduction labour intensity, but this situation, needs the track facilitating electric motor car or motor-driven vehicle going, the place be not suitable for some environment are comparatively complicated is patrolled and examined.

Summary of the invention

The object of the invention is to overcome the shortcoming of prior art and deficiency, a kind of Substation Electric Equipment cruising inspection system is provided, aircraft and infrared thermoviewer are applied in the cruising inspection system of Substation Electric Equipment by this system, reduce hand labor intensity and use cost, patrolling and examining of electric equipment multi-angle in height station can be realized, improve and patrol and examine efficiency and precision, avoid the phenomenon of patrolling and examining dead angle.

Another object of the present invention is to provide a kind of Substation Electric Equipment method for inspecting based on above-mentioned cruising inspection system.

The first object of the present invention is achieved through the following technical solutions: a kind of Substation Electric Equipment cruising inspection system, comprises aircraft, three axle holder for aerial photographings, infrared thermoviewer, camera and control unit;

Described three axle holder for aerial photographings are installed on board the aircraft, and infrared thermoviewer and camera are arranged in three axle holder for aerial photographings, three axle holder for aerial photographings are provided with the The Cloud Terrace movement controlling mechanism of control three axle holder for aerial photographing action;

Control unit comprises and is arranged on carry-on airborne main control unit and terrestrial contr, and airborne main control unit is connected with The Cloud Terrace movement controlling mechanism, infrared thermoviewer and camera respectively; Airborne main control unit connects terrestrial contr by radio communication device.

Preferably, described three axle holder for aerial photographings are arranged on below aircraft by damping device, and described aircraft is quadrotor.

Preferably, described The Cloud Terrace movement controlling mechanism comprises cradle head controllor and controls that three axle holder for aerial photographings are rotated respectively, the first servomotor of elevating movement and roll motion, the second servomotor and the 3rd servomotor, described first servomotor, the second servomotor are connected with cradle head controllor respectively with the 3rd servomotor, and described cradle head controllor is connected with airborne main control unit.

Further, three axle holder for aerial photographings and aircraft junction are provided with collector ring, and the cable be arranged between The Cloud Terrace movement controlling mechanism on three axle holder for aerial photographings and airborne main control unit is connected by collector ring.

Further, described three axle holder for aerial photographings are provided with the gyroscope for detecting three axle holder for aerial photographing positions, described gyroscope is connected with cradle head controllor.

Preferably, described airborne main control unit comprises pcDuino, and described terrestrial contr is portable computer.

Preferably, described radio communication device comprises 5.8G two-way figure for transmitting infrared image and video image and passes and Radio-Frequency Wireless Communication device for transmitting signal of communication between terrestrial contr and airborne main control unit.

Preferably, the output end of image of described infrared thermoviewer is connected with airborne main control unit by cable respectively with the video output terminals of high-definition camera; Described camera controls serial line interface and is connected with the serial line interface of airborne main control unit, and airborne main control unit sends camera control command to camera by serial ports; The control end of described infrared thermoviewer is connected with the serial line interface of airborne main control unit, and airborne main control unit sends infrared thermoviewer control command to infrared thermoviewer by serial ports.

The second object of the present invention is achieved through the following technical solutions: a kind of Substation Electric Equipment method for inspecting realized based on said system, and step is as follows:

S1, startup aircraft flight, terrestrial contr sends The Cloud Terrace action directive to airborne main control unit by radio communication device, after airborne main control unit receives The Cloud Terrace action directive, control three axle holder for aerial photographings by The Cloud Terrace movement controlling mechanism and carry out three axial actions;

S2, terrestrial contr send infrared thermoviewer control command and camera control command extremely airborne main control unit by radio communication device, after airborne control unit receives infrared thermoviewer control command and camera control command, control infrared thermoviewer gather the infrared image signal of electric equipment in transformer station and control the video signal of electric equipment in camera collection transformer station, be then sent in airborne main control unit;

Infrared image signal and video signal are sent in terrestrial contr by radio communication device by S3, airborne main control unit, and terrestrial contr observes the state of Substation Electric Equipment according to the infrared image signal received and video signal.

Preferably, the three axle holder for aerial photographing positions that in described step S1, the cradle head controllor of The Cloud Terrace movement controlling mechanism detects according to gyroscope, pid control algorithm is adopted to control the action of the first servomotor, the second servomotor and the 3rd servomotor, to control the position of three axle holder for aerial photographings.

The present invention has following advantage and effect relative to prior art:

(1) infrared thermoviewer and camera are installed on board the aircraft by the present invention simultaneously, the acquisition angles position of infrared thermoviewers and camera is adjusted by three axle holder for aerial photographings, by infrared thermoviewer, infrared measurement of temperature is carried out to the electric equipment of transformer station, simultaneously by the outward appearance of high-definition camera facilities for observation.The labour intensity of great minimizing, and utilize aircraft can realize different angles electric equipment is carried out to thermometric, patrols and examines as carrying platform, improve and patrol and examine efficiency and precision, avoid the phenomenon of patrolling and examining dead angle.

(2) terrestrial contr of the present invention realizes carrying out the operations such as wireless remote regulating, remote control to infrared thermoviewer and camera by radio communication device, such as by terrestrial contr, the operation such as zoom, focusing is realized to camera, infrared thermoviewer is realized to the operations such as relevant parameter adjustment, infrared thermal imaging and high-definition image more clearly can be obtained, improve and patrol and examine effect.

(3) the temperature data information that the infrared thermoviewer that the present invention utilizes obtains when carrying out thermometric to substation equipment can be preliminary the roughly possible fault type of the equipment that analyzes, for further maintenance provides the reference of data.

(4) cruising inspection system of the present invention is convenient for carrying, and can use at arbitrary region, and what greatly facilitate staff patrols and examines work.

Accompanying drawing explanation

Fig. 1 is the structural representation of present system.

Embodiment

Below in conjunction with embodiment and accompanying drawing, the present invention is described in further detail, but embodiments of the present invention are not limited thereto.

Embodiment

As shown in Figure 1, present embodiment discloses a kind of Substation Electric Equipment cruising inspection system, comprise aircraft 2, three axle holder for aerial photographing 4, infrared thermoviewer 1, camera 3 and control unit.

Three axle holder for aerial photographings 4 are arranged on below aircraft 2 by damping device 9, and infrared thermoviewer 1 and camera 3 are arranged in the gondola of three axle holder for aerial photographings 4, three axle holder for aerial photographings 4 are provided with the The Cloud Terrace movement controlling mechanism of control three axle holder for aerial photographing action; In the present embodiment, aircraft is quadrotor, and what camera 3 adopted is high-definition camera, to take high-definition video signal.The present embodiment cruising inspection system realizes the infrared measurement of temperature of electric equipment by infrared thermoviewer, and the vision signal of simultaneously being taken by high-definition camera observes the outward appearance of electric equipment.

Control unit comprises and is arranged on carry-on airborne main control unit 5 and terrestrial contr 8, and airborne main control unit is connected with The Cloud Terrace movement controlling mechanism, infrared thermoviewer and camera respectively; Airborne main control unit connects terrestrial contr by radio communication device 6.

In the present embodiment, the output end of image of infrared thermoviewer 1 is connected with airborne main control unit 5 by cable respectively with the video output terminals of high-definition camera 3, the infrared image that infrared thermoviewer 1 gathers and the vision signal that high-definition camera 3 gathers are sent to airborne main control unit 5 respectively by cable, after airborne main control unit 5 processes, be sent in terrestrial contr 8 with the form of analog video stream by radio communication device 6, terrestrial contr 8 comprises display module, the video image of high-definition camera 3 shooting and the infrared image of infrared thermoviewer 1 collection can be shown by this display module.In addition, high-definition camera 3 controls serial line interface and is connected with the serial line interface of airborne main control unit, terrestrial contr 8 is sent in high-definition camera control command to airborne main control unit 5 by radio communication device 6, and corresponding high-definition camera control command is PELCO-D protocol data code; What provide according to high-definition camera 3 follows PELCO-D control protocol, after airborne main control unit 5 receives the PELCO-D protocol data code of terrestrial contr 8 transmission, numeric data code is sent to high-definition camera 3 by serial ports, high-definition camera 3 according to built-in PELCO-D agreement to after instruction decoding, complete the action controlling instruction, as zoom, focusing etc.; The control end of infrared thermoviewer 1 is connected with the serial line interface of airborne main control unit 5, airborne main control unit 5 sends infrared thermoviewer control command to infrared thermoviewer by serial ports, infrared thermoviewer control command is 82 binary data codes, the serial line interface of airborne main control unit 5 sends 8 certain 2 binary data codes to infrared thermoviewer 1, is realized capturing infrared thermoviewer by corresponding shift register chip and switch chip, gather, starts shooting, is regulated the controls such as relevant parameter.

In the present embodiment, The Cloud Terrace movement controlling mechanism comprises cradle head controllor 7 and controls that three axle holder for aerial photographings 4 are rotated respectively, the first servomotor of elevating movement and roll motion, the second servomotor and the 3rd servomotor, first servomotor, the second servomotor are connected with cradle head controllor respectively with the 3rd servomotor, and cradle head controllor 7 is connected with airborne main control unit 5.The parallel port output of airborne main control unit 5 sends the pwm signal of certain duty ratio to cradle head controllor 7, cradle head controllor 7 drives the first servomotor, the second servomotor and the 3rd servomotor action, three axle holder for aerial photographings 4 being turned an angle, adjusting the acquisition angles position of infrared thermoviewer and camera by controlling the rotary motion of three axle holder for aerial photographings 4, elevating movement and roll motion.

In the present embodiment, three axle holder for aerial photographings 4 and aircraft 2 junction are provided with collector ring, in the present embodiment, collector ring is arranged between damping device 9 and three axle holder for aerial photographings, collector ring is for connecting the cable be arranged between The Cloud Terrace movement controlling mechanism on three axle holder for aerial photographings and airborne main control unit, tie cable when effectively preventing three axle holder for aerial photographings 4 to rotate, achieve 360 degree of rotations of three axle holder for aerial photographings.

Three axle holder for aerial photographings 4 are provided with the gyroscope for detecting three axle holder for aerial photographing 4 positions, gyroscope is connected with cradle head controllor 7.The positional information that cradle head controllor 7 detects according to gyroscope, three axle holder for aerial photographings are made to be stabilized on a certain position by pid control algorithm, when three axle holder for aerial photographings are interfered, can three axle holder for aerial photographings be controlled back on original position, ensure the steady operation of three axle holder for aerial photographings.

In the present embodiment, radio communication device 6 comprises a 5.8G two-way figure biography and a Radio-Frequency Wireless Communication device, wherein 5.8G two-way figure passes and is used for wireless transmission infrared image and high clear video image, and Radio-Frequency Wireless Communication device transmits the control command signal between terrestrial contr 8 and airborne main control unit 5.

The airborne main control unit 5 of the present embodiment is with ARM embedded chip for core, and the concrete pcDuino that adopts, as master controller, controls collection and the action of airborne equipment for unification.In the present embodiment, a terrestrial contr 8 mainly consistency operation control inerface based on PC, can be portable computer.Radio communication device 6 turns USB device by TTL and is connected with the USB interface of PC, and terrestrial contr 8 sends signal to USB port, is then sent to airborne main control unit 5 by radio communication device 6.Staff operates the action of control three axle holder for aerial photographing 4 by terrestrial contr 8, high-definition camera 3 controls etc. with the collection of infrared thermoviewer 1.Simultaneously the infrared image that collects of infrared thermoviewer 1 and high-definition camera 3 and video signal transfer to terrestrial contr 8 by radio communication device 6, then through video frequency collection card, analog video signal is converted to the digital signals format collection of applicable USB interface of computer to computer, utilize software to transfer computer finally to show on operation control inerface, staff can operate at terrestrial contr 8 simultaneously control and observation electric equipment.

The airborne main control unit 5 of the present embodiment inspection tour system airborne portion, infrared thermoviewer 1, high-definition camera 3 and The Cloud Terrace movement controlling mechanism part can adopt lithium battery as main power source 10, by corresponding Voltage stabilizing module, by voltage stabilization at 5V, 12V etc.

The present embodiment also discloses a kind of Substation Electric Equipment method for inspecting realized based on said system, and step is as follows:

S1, startup aircraft flight, terrestrial contr sends The Cloud Terrace action directive to airborne main control unit by radio communication device, after airborne main control unit 5 receives The Cloud Terrace action directive, the parallel port output of airborne main control unit 5 sends the pwm pulse signal of certain duty ratio to cradle head controllor, control three axle holder for aerial photographings by cradle head controllor in The Cloud Terrace movement controlling mechanism and carry out three axial actions, the pwm pulse signal wherein by sending different duty can control the angle that three axle holder for aerial photographings rotate different size.The three axle holder for aerial photographing positions that the cradle head controllor that in this step, The Cloud Terrace movement controlling mechanism controls detects according to gyroscope, pid control algorithm is adopted to control the action of the first servomotor, the second servomotor and the 3rd servomotor, to control and to stablize the position of three axle holder for aerial photographings.

S2, terrestrial contr send infrared thermoviewer control command and camera control command extremely airborne main control unit by radio communication device, after airborne control unit receives infrared thermoviewer control command and camera control command, control infrared thermoviewer gather the infrared image signal of electric equipment in transformer station and control the video signal of electric equipment in camera collection transformer station, and be sent in airborne main control unit.

Infrared image signal and video signal are sent in terrestrial contr by radio communication device by S3, airborne main control unit, and terrestrial contr observes the state of Substation Electric Equipment according to the infrared image signal received and video signal; Realized the infrared measurement of temperature of electric equipment by infrared thermoviewer, observed the outward appearance of electric equipment simultaneously by high-definition camera.

Above-described embodiment is the present invention's preferably execution mode; but embodiments of the present invention are not restricted to the described embodiments; change, the modification done under other any does not deviate from Spirit Essence of the present invention and principle, substitute, combine, simplify; all should be the substitute mode of equivalence, be included within protection scope of the present invention.

Claims (10)

1. a Substation Electric Equipment cruising inspection system, is characterized in that, comprises aircraft, three axle holder for aerial photographings, infrared thermoviewer, camera and control unit;
Described three axle holder for aerial photographings are installed on board the aircraft, and infrared thermoviewer and camera are arranged in three axle holder for aerial photographings, three axle holder for aerial photographings are provided with the The Cloud Terrace movement controlling mechanism of control three axle holder for aerial photographing action;
Control unit comprises and is arranged on carry-on airborne main control unit and terrestrial contr, and airborne main control unit is connected with The Cloud Terrace movement controlling mechanism, infrared thermoviewer and camera respectively; Airborne main control unit connects terrestrial contr by radio communication device.
2. Substation Electric Equipment cruising inspection system according to claim 1, is characterized in that, described three axle holder for aerial photographings are arranged on below aircraft by damping device, and described aircraft is quadrotor.
3. Substation Electric Equipment cruising inspection system according to claim 1, it is characterized in that, described The Cloud Terrace movement controlling mechanism comprises cradle head controllor and controls that three axle holder for aerial photographings are rotated respectively, the first servomotor of elevating movement and roll motion, the second servomotor and the 3rd servomotor, described first servomotor, the second servomotor are connected with cradle head controllor respectively with the 3rd servomotor, and described cradle head controllor is connected with airborne main control unit.
4. Substation Electric Equipment cruising inspection system according to claim 3, it is characterized in that, three axle holder for aerial photographings and aircraft junction are provided with collector ring, and the cable be arranged between The Cloud Terrace movement controlling mechanism on three axle holder for aerial photographings and airborne main control unit is connected by collector ring.
5. Substation Electric Equipment cruising inspection system according to claim 3, is characterized in that, described three axle holder for aerial photographings are provided with the gyroscope for detecting three axle holder for aerial photographing positions, described gyroscope is connected with cradle head controllor.
6. Substation Electric Equipment cruising inspection system according to claim 1, is characterized in that, described airborne main control unit comprises pcDuino, and described terrestrial contr is portable computer.
7. Substation Electric Equipment cruising inspection system according to claim 1, it is characterized in that, described radio communication device comprises 5.8G two-way figure for transmitting infrared image and video image and passes and Radio-Frequency Wireless Communication device for transmitting signal of communication between terrestrial contr and airborne main control unit.
8. Substation Electric Equipment cruising inspection system according to claim 1, is characterized in that, the output end of image of described infrared thermoviewer is connected with airborne main control unit by cable respectively with the video output terminals of camera; Described camera controls serial line interface and is connected with the serial line interface of airborne main control unit, and airborne main control unit sends camera control command to camera by serial ports; The control end of described infrared thermoviewer is connected with the serial line interface of airborne main control unit, and airborne main control unit sends infrared thermoviewer control command to infrared thermoviewer by serial ports.
9., based on the Substation Electric Equipment method for inspecting that system described in claim 1 realizes, it is characterized in that, step is as follows:
S1, startup aircraft flight, terrestrial contr sends The Cloud Terrace action directive to airborne main control unit by radio communication device, after airborne main control unit receives The Cloud Terrace action directive, control three axle holder for aerial photographings by The Cloud Terrace movement controlling mechanism and carry out three axial actions;
S2, terrestrial contr send infrared thermoviewer control command and camera control command extremely airborne main control unit by radio communication device, after airborne control unit receives infrared thermoviewer control command and camera control command, control infrared thermoviewer gather the infrared image signal of electric equipment in transformer station and control the video signal of electric equipment in camera collection transformer station, be then sent in airborne main control unit;
Infrared image signal and video signal are sent in terrestrial contr by radio communication device by S3, airborne main control unit, and terrestrial contr observes the state of Substation Electric Equipment according to the infrared image signal received and video signal.
10. Substation Electric Equipment method for inspecting according to claim 9, it is characterized in that, the three axle holder for aerial photographing positions that in described step S1, the cradle head controllor of The Cloud Terrace movement controlling mechanism detects according to gyroscope, pid control algorithm is adopted to control the action of the first servomotor, the second servomotor and the 3rd servomotor, to control the position of three axle holder for aerial photographings.
CN201510200557.4A 2015-04-23 2015-04-23 A kind of Substation Electric Equipment cruising inspection system and method CN104822052B (en)

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Publication number Priority date Publication date Assignee Title
CN105761275A (en) * 2015-11-03 2016-07-13 天津艾思科尔科技有限公司 Fire-fighting early warning aircraft with binocular visual structure
CN105292475A (en) * 2015-11-12 2016-02-03 甘肃上航电力运维有限公司 Infrared aerial photographic system for large power station and infrared aerial photographic method
CN105700544A (en) * 2016-04-08 2016-06-22 暨南大学 UAV tour inspection system and implementation method for electrical equipment of photovoltaic power station
CN105652135A (en) * 2016-04-13 2016-06-08 云南电网有限责任公司电力科学研究院 Non-contact type power distribution equipment detection device and system
CN106505736A (en) * 2016-11-26 2017-03-15 国网河南省电力公司平顶山供电公司 A kind of fault wave recording device real-time waveform remotely monitor and remote start-up method
CN106628147A (en) * 2016-12-29 2017-05-10 国网山东省电力公司德州供电公司 Intelligent temperature measuring and alarm aircraft for substation
CN108664045A (en) * 2018-06-16 2018-10-16 南京理工大学 Reflection-type laser removes foreign matter device monitoring system
CN109818294A (en) * 2019-02-14 2019-05-28 广东电网有限责任公司 Intelligent substation unmanned plane inspection tour system
CN110707593A (en) * 2019-08-31 2020-01-17 王远伦 Electric power inspection robot
CN110719444A (en) * 2019-11-07 2020-01-21 中国人民解放军国防科技大学 Multi-sensor fusion omnibearing monitoring and intelligent camera shooting method and system

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