CN104822052B - A kind of Substation Electric Equipment cruising inspection system and method - Google Patents
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Abstract
本发明公开了一种变电站电气设备巡检系统，包括飞行器、三轴航拍云台、红外成像仪、摄像头以及控制单元；三轴航拍云台安装在飞行器上，红外成像仪和摄像头设置于三轴航拍云台中，三轴航拍云台上设置有控制三轴航拍云台动作的云台活动控制机构；控制单元包括机载主控制单元和地面控制单元，机载主控制单元分别与云台活动控制机构、红外成像仪和摄像头连接；机载主控制单元通过无线通信装置连接地面控制单元。本发明将红外成像仪和摄像头同时安装在飞行器上，通过三轴航拍云台调整红外成像仪与摄像头的采集角度位置，通过红外成像仪对变电站电气设备进行红外测温，同时通过摄像头观察设备的外观，极大减少了劳动强度，提高了巡检效率和精度。
The invention discloses a substation electrical equipment inspection system, which comprises an aircraft, a three-axis aerial camera, an infrared imager, a camera and a control unit; the three-axis aerial camera is installed on the aircraft, and the infrared imager and the camera are arranged on a three-axis In the aerial photography platform, the three-axis aerial photography platform is provided with a platform activity control mechanism to control the movement of the three-axis aerial photography platform; the control unit includes an airborne main control unit and a ground control unit, and the airborne main control unit is connected with the movement control mechanism of the platform respectively. The mechanism, infrared imager and camera are connected; the airborne main control unit is connected to the ground control unit through a wireless communication device. The invention installs the infrared imager and the camera on the aircraft at the same time, adjusts the acquisition angle position of the infrared imager and the camera through the three-axis aerial photography platform, uses the infrared imager to measure the infrared temperature of the electrical equipment of the substation, and observes the temperature of the equipment through the camera The appearance greatly reduces the labor intensity and improves the inspection efficiency and accuracy.
Description
技术领域technical field
本发明涉及变电站监测领域，特别涉及一种基于飞行器和红外成像仪的变电站电气设备巡检系统及方法。The invention relates to the field of substation monitoring, in particular to a substation electrical equipment inspection system and method based on an aircraft and an infrared imager.
背景技术Background technique
对变电站中各类电气设备进行有效的巡视巡检对提高设备的运行可靠性，减小设备的运行维护成本，延长设备使用寿命，有重大的现实意义。在众多变电站事故中，因局部过热引起的设备故障占了故障发生的绝大部分。Effective inspection of various electrical equipment in substations is of great practical significance to improve the reliability of equipment operation, reduce the operation and maintenance cost of equipment, and prolong the service life of equipment. Among many substation accidents, equipment failures caused by local overheating account for the vast majority of failures.
当前我国变电站的电气设备巡视巡检仍然是传统的以纸质为主的人工巡检模式为主。传统的变电站巡检方式，巡检工作量大且效率低，同时传统的巡检方式无法对巡检工作人员进行有效监督，常出现人员不到位和巡检不及时的状况，从而导致设备故障处理不及时而引发电力事故。而且由于变电站是高电压场所，工作人员在场内工作具有一定的危险性。因此，当前有部分学者研发了采用巡检机器人代替人工巡检的方式，进行巡检。由巡检机器人携带检测设备，在变电厂区对相关设备进行巡视巡检。这种方式大大减少了工作人员的工作强度，安全性也得到了提高。但是机器人巡视巡检不能实现多个角度观察设备，巡检时存在检测死角。At present, the inspection and inspection of electrical equipment in substations in my country is still the traditional paper-based manual inspection mode. The traditional substation inspection method has a large inspection workload and low efficiency. At the same time, the traditional inspection method cannot effectively supervise the inspection staff, and there are often situations where personnel are not in place and inspections are not timely, which leads to equipment failure handling Failure to timely cause electrical accidents. And because the substation is a high-voltage place, it is dangerous for the staff to work in the field. Therefore, some scholars have developed a method of using inspection robots instead of manual inspections for inspections. The inspection robot carries the inspection equipment and inspects the relevant equipment in the substation area. This method greatly reduces the work intensity of the staff, and the safety is also improved. However, robot inspections cannot observe equipment from multiple angles, and there are dead spots in inspections.
为降低劳动强度，现在也出现了一些变电站车载监测系统，即将变电站监测设备安装于电动或者机动车上，通过控制电动车或者机动车的行驶来实现电气设备的巡检，从而降低劳动强度，但是这种情况，需要有方便电动车或机动车行驶的轨道，不适合在一些环境较为复杂的地方进行巡检。In order to reduce the labor intensity, some substation on-board monitoring systems have appeared, which install the substation monitoring equipment on electric or motor vehicles, and realize the inspection of electrical equipment by controlling the driving of electric vehicles or motor vehicles, thereby reducing labor intensity. In this case, there is a need for a track that is convenient for electric vehicles or motor vehicles, and it is not suitable for inspections in places with more complicated environments.
发明内容Contents of the invention
本发明的目的在于克服现有技术的缺点与不足，提供一种变电站电气设备巡检系统，该系统将飞行器和红外成像仪应用到变电站电气设备的巡检系统中，降低人工劳动强度和使用成本，能够实现变点站中电气设备多角度的巡检，提高了巡检效率和精度，避免了巡检死角的现象。The purpose of the present invention is to overcome the shortcomings and deficiencies of the prior art, and provide a substation electrical equipment inspection system, which applies aircraft and infrared imagers to the inspection system of substation electrical equipment, reducing labor intensity and use costs , It can realize the multi-angle inspection of electrical equipment in the change point station, improve the inspection efficiency and accuracy, and avoid the phenomenon of inspection dead angle.
本发明的另一目的在于提供一种基于上述巡检系统的变电站电气设备巡检方法。Another object of the present invention is to provide an inspection method for substation electrical equipment based on the above inspection system.
本发明的第一目的通过下述技术方案实现：一种变电站电气设备巡检系统，包括飞行器、三轴航拍云台、红外成像仪、摄像头以及控制单元；The first object of the present invention is achieved through the following technical solutions: a substation electrical equipment inspection system, including an aircraft, a three-axis aerial photography platform, an infrared imager, a camera and a control unit;
所述三轴航拍云台安装在飞行器上，红外成像仪和摄像头设置于三轴航拍云台中，三轴航拍云台上设置有控制三轴航拍云台动作的云台活动控制机构；The three-axis aerial photography platform is installed on the aircraft, the infrared imager and the camera are arranged in the three-axis aerial photography platform, and the three-axis aerial photography platform is provided with a platform activity control mechanism for controlling the action of the three-axis aerial photography platform;
控制单元包括安装在飞行器上的机载主控制单元和地面控制单元，机载主控制单元分别与云台活动控制机构、红外成像仪和摄像头连接；机载主控制单元通过无线通信装置连接地面控制单元。The control unit includes an airborne main control unit and a ground control unit installed on the aircraft. The airborne main control unit is respectively connected with the gimbal movement control mechanism, infrared imager and camera; the airborne main control unit is connected with the ground control unit through a wireless communication device. unit.
优选的，所述三轴航拍云台通过减震装置安装在飞行器下方，所述飞行器为四旋翼飞行器。Preferably, the three-axis aerial photography platform is installed under the aircraft through a shock absorbing device, and the aircraft is a quadrotor aircraft.
优选的，所述云台活动控制机构包括云台控制器以及控制三轴航拍云台分别进行旋转运动、俯仰运动和横滚运动的第一伺服电机、第二伺服电机和第三伺服电机，所述第一伺服电机、第二伺服电机和第三伺服电机分别与云台控制器连接，所述云台控制器与机载主控制单元连接。Preferably, the pan-tilt activity control mechanism includes a pan-tilt controller and a first servo motor, a second servo motor and a third servo motor that control the three-axis aerial photography pan-tilt to perform rotation, pitch and roll motions respectively, so The first servo motor, the second servo motor and the third servo motor are respectively connected to the pan-tilt controller, and the pan-tilt controller is connected to the airborne main control unit.
更进一步的，三轴航拍云台和飞行器连接处设置有集电环，设置在三轴航拍云台上的云台活动控制机构和机载主控单元之间的电缆通过集电环进行连接。Furthermore, a collector ring is provided at the connection between the three-axis aerial photography platform and the aircraft, and the cable between the platform movement control mechanism and the airborne main control unit arranged on the three-axis aerial photography platform is connected through the collector ring.
更进一步的，所述三轴航拍云台上设置有用于检测三轴航拍云台位置的陀螺仪，所述陀螺仪与云台控制器连接。Furthermore, the three-axis aerial photography platform is provided with a gyroscope for detecting the position of the three-axis aerial photography platform, and the gyroscope is connected with the platform controller.
优选的，所述机载主控制单元包括pcDuino，所述地面控制单元为便携式计算机。Preferably, the airborne main control unit includes pcDuino, and the ground control unit is a portable computer.
优选的，所述无线通信装置包括用于传输红外图像和视频图像的5.8G双路图传以及用于传送地面控制单元和机载主控制单元之间通信信号的射频无线通信装置。Preferably, the wireless communication device includes a 5.8G two-way image transmission for transmitting infrared images and video images, and a radio frequency wireless communication device for transmitting communication signals between the ground control unit and the airborne main control unit.
优选的，所述红外成像仪的图像输出端和高清摄像头的视频输出端通过电缆分别与机载主控制单元连接；所述摄像头控制串行接口与机载主控制单元的串行接口连接，机载主控制单元通过串口发送摄像头控制指令至摄像头；所述红外成像仪的控制端与机载主控制单元的串行接口连接，机载主控制单元通过串口发送红外成像仪控制指令至红外成像仪。Preferably, the image output end of the infrared imager and the video output end of the high-definition camera are respectively connected to the airborne main control unit through cables; the camera control serial interface is connected to the serial interface of the airborne main control unit, and the machine The on-board main control unit sends the camera control command to the camera through the serial port; the control terminal of the infrared imager is connected to the serial interface of the on-board main control unit, and the on-board main control unit sends the infrared imager control command to the infrared imager through the serial port .
本发明的第二目的通过下述技术方案实现：一种基于上述系统实现的变电站电气设备巡检方法，步骤如下：The second object of the present invention is achieved through the following technical solutions: a method for inspection of substation electrical equipment based on the above-mentioned system, the steps are as follows:
S1、启动飞行器飞行，地面控制单元通过无线通信装置发送云台动作控制指令至机载主控制单元，机载主控制单元接收到云台动作控制指令后，通过云台活动控制机构控制三轴航拍云台进行三轴方向的动作；S1. Start the flight of the aircraft. The ground control unit sends the gimbal movement control command to the airborne main control unit through the wireless communication device. After receiving the gimbal movement control command, the airborne main control unit controls the three-axis aerial photography through the gimbal movement control mechanism. The gimbal performs three-axis movements;
S2、地面控制单元通过无线通信装置发送红外成像仪控制指令以及摄像头控制指令至机载主控制单元，机载控制单元接收到红外成像仪控制指令以及摄像头控制指令后，控制红外成像仪采集变电站中电气设备的红外图像信号以及控制摄像头采集变电站中电气设备的视频图像信号，然后传送到机载主控制单元中；S2. The ground control unit sends the infrared imager control command and the camera control command to the airborne main control unit through the wireless communication device. After receiving the infrared imager control command and the camera control command, the airborne control unit controls the infrared imager to collect The infrared image signal of the electrical equipment and the video image signal of the electrical equipment in the substation are collected by the control camera, and then transmitted to the airborne main control unit;
S3、机载主控制单元通过无线通信装置将红外图像信号和视频图像信号传送到地面控制单元中，地面控制单元根据接收到的红外图像信号和视频图像信号观察变电站电气设备的状态。S3. The airborne main control unit transmits the infrared image signal and video image signal to the ground control unit through the wireless communication device, and the ground control unit observes the status of the electrical equipment of the substation according to the received infrared image signal and video image signal.
优选的，所述步骤S1中云台活动控制机构的云台控制器根据陀螺仪检测到的三轴航拍云台位置，采用PID控制算法控制第一伺服电机、第二伺服电机和第三伺服电机的动作，以控制三轴航拍云台的位置。Preferably, the pan-tilt controller of the pan-tilt activity control mechanism in the step S1 adopts a PID control algorithm to control the first servo motor, the second servo motor and the third servo motor according to the position of the three-axis aerial photography pan-tilt detected by the gyroscope to control the position of the three-axis aerial photography gimbal.
本发明相对于现有技术具有如下的优点及效果：Compared with the prior art, the present invention has the following advantages and effects:
(1)本发明将红外成像仪和摄像头同时安装在飞行器上，通过三轴航拍云台调整红外成像仪与摄像头的采集角度位置，通过红外成像仪对变电站的电气设备进行红外测温，同时通过高清摄像头观察设备的外观。极大的减少的劳动强度，并且利用飞行器作为搭载平台可以实现不同角度的对电气设备进行测温、巡检，提高了巡检效率和精度，避免了巡检死角的现象。(1) The present invention installs the infrared imager and the camera on the aircraft simultaneously, adjusts the acquisition angle position of the infrared imager and the camera through the three-axis aerial photography platform, carries out infrared temperature measurement to the electrical equipment of the substation by the infrared imager, and simultaneously passes A high-definition camera observes the appearance of the device. The labor intensity is greatly reduced, and the use of the aircraft as a carrying platform can realize temperature measurement and inspection of electrical equipment from different angles, which improves the efficiency and accuracy of inspection and avoids the phenomenon of inspection dead ends.
(2)本发明地面控制单元通过无线通信装置实现对红外成像仪以及摄像头进行无线遥调、遥控等操作，例如通过地面控制单元对摄像头实现变倍、调焦等操作，对红外成像仪实现相关参数调节等操作，可以获得更加清晰的红外热成像以及高清图像，提高了巡检效果。(2) The ground control unit of the present invention realizes operations such as wireless remote adjustment and remote control of the infrared imager and the camera through a wireless communication device, for example, the ground control unit realizes operations such as zooming and focusing of the camera, and realizes related operations on the infrared imager. Parameter adjustment and other operations can obtain clearer infrared thermal imaging and high-definition images, which improves the inspection effect.
(3)本发明利用的红外成像仪对变电站设备进行测温时得到的温度数据信息可以初步的分析出设备的大致可能的故障类型，为进一步的检修提供了数据的参考。(3) The temperature data information obtained when the infrared imager used in the present invention measures the temperature of the substation equipment can initially analyze the roughly possible fault types of the equipment, and provide data reference for further maintenance.
(4)本发明巡检系统方便携带，可在任意区域使用，极大的方便了工作人员的巡检工作。(4) The inspection system of the present invention is convenient to carry and can be used in any area, which greatly facilitates the inspection work of staff.
附图说明Description of drawings
图1是本发明系统的结构示意图。Fig. 1 is a schematic structural diagram of the system of the present invention.
具体实施方式Detailed ways
下面结合实施例及附图对本发明作进一步详细的描述，但本发明的实施方式不限于此。The present invention will be further described in detail below with reference to the embodiments and the accompanying drawings, but the embodiments of the present invention are not limited thereto.
实施例Example
如图1所示，本实施例公开了一种变电站电气设备巡检系统，包括飞行器2、三轴航拍云台4、红外成像仪1、摄像头3以及控制单元。As shown in FIG. 1 , this embodiment discloses a substation electrical equipment inspection system, including an aircraft 2 , a three-axis aerial photography platform 4 , an infrared imager 1 , a camera 3 and a control unit.
三轴航拍云台4通过减震装置9安装在飞行器2下方，红外成像仪1和摄像头3设置于三轴航拍云台4的吊舱中，三轴航拍云台4上设置有控制三轴航拍云台动作的云台活动控制机构；本实施例中飞行器为四旋翼飞行器，摄像头3采用的是高清摄像头，以拍摄高清视频信号。本实施例巡检系统通过红外成像仪实现电气设备的红外测温，同时通过高清摄像头拍摄的视频信号观察电气设备的外观。The three-axis aerial photography platform 4 is installed below the aircraft 2 through the shock absorbing device 9, the infrared imager 1 and the camera 3 are arranged in the pod of the three-axis aerial photography platform 4, and the three-axis aerial photography platform 4 is provided with a control three-axis aerial photography The cloud platform activity control mechanism of cloud platform action; Aircraft is a quadrotor aircraft in the present embodiment, what camera 3 adopted is high-definition camera, to shoot high-definition video signal. The inspection system of this embodiment realizes the infrared temperature measurement of the electrical equipment through the infrared imager, and at the same time observes the appearance of the electrical equipment through the video signal captured by the high-definition camera.
控制单元包括安装在飞行器上的机载主控制单元5和地面控制单元8，机载主控制单元分别与云台活动控制机构、红外成像仪和摄像头连接；机载主控制单元通过无线通信装置6连接地面控制单元。The control unit includes an airborne main control unit 5 and a ground control unit 8 installed on the aircraft, and the airborne main control unit is connected with the pan-tilt activity control mechanism, infrared imager and camera respectively; Connect the ground control unit.
本实施例中红外成像仪1的图像输出端和高清摄像头3的视频输出端通过电缆分别与机载主控制单元5连接，红外成像仪1采集的红外图像和高清摄像头3采集的视频信号通过电缆分别传送到机载主控制单元5，经过机载主控制单元5处理后，以模拟视频流的形式通过无线通信装置6传送到地面控制单元8中，地面控制单元8中包括显示模块，通过该显示模块可以显示高清摄像头3拍摄的视频图像以及红外成像仪1采集的红外图像。另外，高清摄像头3控制串行接口与机载主控制单元的串行接口连接，地面控制单元8通过无线通信装置6发送高清摄像头控制指令至机载主控制单元5中，对应高清摄像头控制指令为PELCO-D协议数据码；根据高清摄像头3所提供的遵循PELCO-D控制协议，机载主控制单元5接收到地面控制单元8发送的PELCO-D协议数据码后，把数据码通过串口发送给高清摄像头3，高清摄像头3根据内置PELCO-D协议对指令解码后，完成控制指示的动作，如变倍，调焦等；红外成像仪1的控制端与机载主控制单元5的串行接口连接，机载主控制单元5通过串口发送红外成像仪控制指令至红外成像仪，红外成像仪控制指令为8位2进制数据码，机载主控制单元5的串行接口向红外成像仪1发送一定的8位2进制数据码，通过相应的移位寄存器芯片与开关芯片实现对红外成像仪进行抓拍、采集、开机、调节相关参数等控制。In the present embodiment, the image output end of the infrared imager 1 and the video output end of the high-definition camera 3 are respectively connected with the airborne main control unit 5 through a cable, and the infrared image collected by the infrared imager 1 and the video signal collected by the high-definition camera 3 are passed through the cable. They are respectively sent to the airborne main control unit 5, and after being processed by the airborne main control unit 5, they are transmitted to the ground control unit 8 through the wireless communication device 6 in the form of an analog video stream, and the ground control unit 8 includes a display module. The display module can display video images captured by the high-definition camera 3 and infrared images collected by the infrared imager 1 . In addition, the high-definition camera 3 control serial interface is connected with the serial interface of the airborne main control unit, and the ground control unit 8 sends the high-definition camera control command to the airborne main control unit 5 through the wireless communication device 6. The corresponding high-definition camera control command is PELCO-D protocol data code; follow the PELCO-D control protocol provided by the high-definition camera 3, after the airborne main control unit 5 receives the PELCO-D protocol data code sent by the ground control unit 8, the data code is sent to The high-definition camera 3, after the high-definition camera 3 decodes the instruction according to the built-in PELCO-D protocol, completes the action of the control instruction, such as zooming, focusing, etc.; the serial interface between the control terminal of the infrared imager 1 and the airborne main control unit 5 connection, the airborne main control unit 5 sends the infrared imager control command to the infrared imager through the serial port, the infrared imager control command is an 8-bit binary data code, and the serial interface of the airborne main control unit 5 sends the infrared imager 1 Send a certain 8-bit binary data code, and control the infrared imager to capture, collect, start up, and adjust related parameters through the corresponding shift register chip and switch chip.
本实施例中云台活动控制机构包括云台控制器7以及控制三轴航拍云台4分别进行旋转运动、俯仰运动和横滚运动的第一伺服电机、第二伺服电机和第三伺服电机，第一伺服电机、第二伺服电机和第三伺服电机分别与云台控制器连接，云台控制器7与机载主控制单元5连接。机载主控制单元5的并口输出端向云台控制器7发送一定占空比的PWM信号，云台控制器7驱动第一伺服电机、第二伺服电机和第三伺服电机动作，使得三轴航拍云台4转动一定角度，通过控制三轴航拍云台4的旋转运动、俯仰运动和横滚运动来调整红外成像仪与摄像头的采集角度位置。In this embodiment, the pan/tilt activity control mechanism includes a pan/tilt controller 7 and a first servo motor, a second servo motor, and a third servo motor that control the three-axis aerial photography pan/tilt 4 to perform rotational motion, pitch motion, and roll motion respectively. The first servo motor, the second servo motor and the third servo motor are respectively connected to the pan-tilt controller, and the pan-tilt controller 7 is connected to the airborne main control unit 5 . The parallel port output port of the airborne main control unit 5 sends a PWM signal with a certain duty ratio to the pan-tilt controller 7, and the pan-tilt controller 7 drives the first servo motor, the second servo motor and the third servo motor to move, so that the three-axis The aerial photography platform 4 rotates at a certain angle, and the acquisition angle positions of the infrared imager and the camera are adjusted by controlling the rotation, pitching and rolling movements of the three-axis aerial photography platform 4 .
本实施例中三轴航拍云台4和飞行器2连接处设置有集电环，本实施例中集电环安装在减震装置9和三轴航拍云台之间，集电环用于连接设置在三轴航拍云台上的云台活动控制机构和机载主控单元之间的电缆，有效的防止了三轴航拍云台4旋转时捆住电缆，实现了三轴航拍云台的360度旋转。In this embodiment, a collector ring is arranged at the connection between the three-axis aerial photography platform 4 and the aircraft 2. In this embodiment, the collector ring is installed between the shock absorber 9 and the three-axis aerial photography platform, and the collector ring is used for connection and setting The cable between the gimbal activity control mechanism on the three-axis aerial photography gimbal and the airborne main control unit effectively prevents the cable from being tied up when the three-axis aerial photography gimbal 4 rotates, and realizes the 360-degree of the three-axis aerial photography gimbal rotate.
三轴航拍云台4上设置有用于检测三轴航拍云台4位置的陀螺仪，陀螺仪与云台控制器7连接。云台控制器7根据陀螺仪检测到的位置信息，通过PID控制算法使得三轴航拍云台稳定在某一位置上，在三轴航拍云台受到干扰的情况下，可以将三轴航拍云台控制回原来的位置上，保证三轴航拍云台的稳定工作。The three-axis aerial photography pan-tilt 4 is provided with a gyroscope for detecting the position of the three-axis aerial photography pan-tilt 4 , and the gyroscope is connected with the pan-tilt controller 7 . The pan-tilt controller 7 makes the three-axis aerial photography pan-tilt stabilize at a certain position through the PID control algorithm according to the position information detected by the gyroscope. When the three-axis aerial photography pan-tilt is disturbed, the three-axis aerial photography pan-tilt can Control it back to the original position to ensure the stable operation of the three-axis aerial photography gimbal.
本实施例中无线通信装置6包括一个5.8G双路图传和一个射频无线通信装置，其中5.8G双路图传用于无线传输红外图像以及高清视频图像，射频无线通信装置传送地面控制单元8和机载主控制单元5之间的控制指令信号。In this embodiment, the wireless communication device 6 includes a 5.8G two-way image transmission and a radio frequency wireless communication device, wherein the 5.8G two-way image transmission is used for wireless transmission of infrared images and high-definition video images, and the radio frequency wireless communication device transmits the ground control unit 8 and the control command signal between the onboard main control unit 5.
本实施例机载主控制单元5是以ARM嵌入式芯片为核心，具体采用pcDuino作为主控制器，用于统一控制机载设备的采集与动作。本实施例中地面控制单元8主要是一个基于PC机的后台操作控制界面，可以为便携式计算机。无线通信装置6通过TTL转USB装置与PC机的USB接口连接，地面控制单元8向USB端口发送信号，然后通过无线通信装置6发送至机载主控制单元5。工作人员通过地面控制单元8操作控制三轴航拍云台4的动作、高清摄像头3与红外成像仪1的采集控制等等。同时红外成像仪1与高清摄像头3采集到的红外图像和视频图像信号通过无线通信装置6传输至地面控制单元8，然后经视频采集卡将模拟视频信号转换至适合计算机USB接口的数字信号格式采集至计算机，利用软件调取计算机最后在操作控制界面上显示，工作人员可在地面控制单元8同时操作控制与观测电气设备。In this embodiment, the airborne main control unit 5 is based on an ARM embedded chip, and specifically uses pcDuino as the main controller to uniformly control the collection and actions of the airborne equipment. In this embodiment, the ground control unit 8 is mainly a background operation control interface based on a PC, which may be a portable computer. The wireless communication device 6 is connected to the USB interface of the PC through the TTL to USB device, and the ground control unit 8 sends a signal to the USB port, and then sends the signal to the airborne main control unit 5 through the wireless communication device 6 . The staff controls the action of the three-axis aerial photography pan-tilt 4, the collection control of the high-definition camera 3 and the infrared imager 1, etc. through the ground control unit 8. Simultaneously, the infrared image and the video image signal collected by the infrared imager 1 and the high-definition camera 3 are transmitted to the ground control unit 8 through the wireless communication device 6, and then the analog video signal is converted to a digital signal format suitable for the USB interface of the computer through the video acquisition card. To the computer, use the software to call the computer and finally display it on the operation control interface, and the staff can operate, control and observe the electrical equipment at the ground control unit 8 at the same time.
本实施例巡视系统机载部分的机载主控制单元5、红外成像仪1、高清摄像头3以及云台活动控制机构部分可以采用锂电池作为主电源10，通过相应的稳压模块，将电压稳定在5V、12V等。The airborne main control unit 5, the infrared imager 1, the high-definition camera 3 and the pan/tilt activity control mechanism part of the airborne part of the inspection system of this embodiment can use lithium batteries as the main power supply 10, and the voltage can be stabilized by the corresponding voltage stabilizing module. At 5V, 12V, etc.
本实施例还公开了一种基于上述系统实现的变电站电气设备巡检方法，步骤如下：This embodiment also discloses a method for inspection of electrical equipment in a substation based on the above-mentioned system, the steps are as follows:
S1、启动飞行器飞行，地面控制单元通过无线通信装置发送云台动作控制指令至机载主控制单元，机载主控制单元5接收到云台动作控制指令后，机载主控制单元5的并口输出端向云台控制器发送一定占空比的PWM脉冲信号，通过云台活动控制机构中云台控制器控制三轴航拍云台进行三轴方向的动作，其中通过发送不同占空比的PWM脉冲信号可控制三轴航拍云台转动不同大小的角度。本步骤中云台活动控制机构控制的云台控制器根据陀螺仪检测到的三轴航拍云台位置，采用PID控制算法控制第一伺服电机、第二伺服电机和第三伺服电机的动作，以控制以及稳定三轴航拍云台的位置。S1, start the flight of the aircraft, the ground control unit sends the pan-tilt action control command to the airborne main control unit through the wireless communication device, after the airborne main control unit 5 receives the pan-tilt action control command, the parallel port output of the airborne main control unit 5 The terminal sends a PWM pulse signal with a certain duty cycle to the gimbal controller, and the gimbal controller in the gimbal activity control mechanism controls the three-axis aerial photography gimbal to perform three-axis movements, and sends PWM pulses with different duty ratios The signal can control the three-axis aerial photography gimbal to rotate different angles. In this step, the pan-tilt controller controlled by the pan-tilt activity control mechanism adopts the PID control algorithm to control the actions of the first servo motor, the second servo motor and the third servo motor according to the position of the three-axis aerial photography pan-tilt detected by the gyroscope. Control and stabilize the position of the three-axis aerial photography gimbal.
S2、地面控制单元通过无线通信装置发送红外成像仪控制指令以及摄像头控制指令至机载主控制单元，机载控制单元接收到红外成像仪控制指令以及摄像头控制指令后，控制红外成像仪采集变电站中电气设备的红外图像信号以及控制摄像头采集变电站中电气设备的视频图像信号，并且传送到机载主控制单元中。S2. The ground control unit sends the infrared imager control command and the camera control command to the airborne main control unit through the wireless communication device. After receiving the infrared imager control command and the camera control command, the airborne control unit controls the infrared imager to collect The infrared image signal of the electrical equipment and the video image signal of the electrical equipment in the substation are collected by the control camera, and transmitted to the airborne main control unit.
S3、机载主控制单元通过无线通信装置将红外图像信号和视频图像信号传送到地面控制单元中，地面控制单元根据接收到的红外图像信号和视频图像信号观察变电站电气设备的状态；通过红外成像仪实现电气设备的红外测温，同时通过高清摄像头观察电气设备的外观。S3. The airborne main control unit transmits the infrared image signal and video image signal to the ground control unit through the wireless communication device, and the ground control unit observes the state of the electrical equipment of the substation according to the received infrared image signal and video image signal; through infrared imaging The instrument realizes infrared temperature measurement of electrical equipment, and at the same time observes the appearance of electrical equipment through a high-definition camera.
上述实施例为本发明较佳的实施方式，但本发明的实施方式并不受上述实施例的限制，其他的任何未背离本发明的精神实质与原理下所作的改变、修饰、替代、组合、简化，均应为等效的置换方式，都包含在本发明的保护范围之内。The above-mentioned embodiment is a preferred embodiment of the present invention, but the embodiment of the present invention is not limited by the above-mentioned embodiment, and any other changes, modifications, substitutions, combinations, Simplifications should be equivalent replacement methods, and all are included in the protection scope of the present invention.
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