CN105067484A - Unmanned plane based live-line test apparatus for hydrophobicity of composite insulator of power transmission line - Google Patents
Unmanned plane based live-line test apparatus for hydrophobicity of composite insulator of power transmission line Download PDFInfo
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Abstract
The invention discloses an unmanned plane based live-line test apparatus for hydrophobicity of composite insulator of power transmission line. The Unmanned plane based live-line test apparatus for hydrophobicity of composite insulator of power transmission line comprises an unmanned plane, wherein, the unmanned plane is provided with a wireless remote controller, a water spraying apparatus and an image acquisition and transmission apparatus, the water spraying apparatus comprises a water tank, a water pump and a nozzle, wherein, the water pump and the water tank are connected with each other, and the water pump is connected with the nozzle by a water spraying pipe; the image acquisition and transmission apparatus comprises a pick-up head and an image transmitter, and the pick-up head and the image transmitter are connected with each other; the wireless remote controller comprises a wireless remote control receiver, a wireless communication module, a nozzle remote control mechanism, a pick-up head remote control mechanism and a water pump starter, and the wireless remote control receiver is respectively connected with the nozzle remote control mechanism, the pick-up head remote control mechanism and the water pump starter; the nozzle remote control mechanism is connected with the nozzle, the pick-up head remote control mechanism is connected with the pick-up head, and the water pump starter is connected with the water pump. The apparatus provided by the invention can effectively eliminate hidden troubles and is convenient and easy to operate, thereby reducing labor intensity of personnel to a large degree and guarantying personal safety.
Description
Technical field
The present invention relates to the technical field of unmanned plane, be specifically related to a kind of hydrophobicity of composite insulator of power transmission line live testing device based on unmanned plane being widely used in power industry, the composite insulator that shaft tower is using being carried out to hydrophobic nature detection.
Background technology
Insulator plays two basic roles in overhead transmission line, namely support wire and prevent electric current return ground, these two effects must be guaranteed, insulator should not to change the various dynamo-electric stress that causes and losing efficacy due to environment and electric load condition, otherwise insulator would not produce great effect, the use of infringement whole piece circuit and operation life.Composite insulator is good due to antifouling property, power circuit is applied more and more extensive.Composite insulator is the external insulation device needing long-time running, and designing requirement is generally at least 30 ~ 50 years its serviceable life.In long-time running, the loading that composite insulator bears is change, but main basic load is tensile load, therefore, to the research of the research of its long-term mechanical properties mainly tensile property.At present, national insulator compound rate is higher than 50%.But, composite insulator operationally between long afterwards, its hydrophobic nature will along with weathering, the reduction such as drench with rain, decreasing insulating, easily the accidents such as flashover occurs, and threatens the safe operation of circuit.
Hydrophobicity of Composite Insulator detection method comprises the method for appearance inspection method and water spray.Visual examination can divide terrestrial telescope observe and step on bar inspection, checks that the positions such as sheath, full skirt, gold utensil are with or without aging signs such as cracking, galvanic corrosion, dendroid passage, efflorescence, traces, should change immediately if any above phenomenon; The method of water spray adopts watering can or other similar devices to spray water to composite insulator, according to the hydrophobicity rank of the water droplet condition adjudgement composite insulator on the full skirt surface of composite insulator.In the past in work about electric power, hydrophobic test is carried out to composite insulator, generally after rod-rising tower, composite insulator is taken off from circuit, after the composite insulator be removed by pulley blocks permanent haulage line, test on the ground, the composite insulator that after off-test, rod-rising tower installation test is qualified again or replace substandard product and install new qualified composite insulator.In order to reduce operation, staff uses Special insulative operating rod to carry out hydrophobic test to composite insulator after stepping on tower, and whole process is higher to staff requirement, extremely labor intensive.
Unmanned plane has that volume is little, structure is simple, control flexibly; Can vertical takeoff and landing; It is strong that hovering, inverted flight, side fly ability; Flight safety; The advantages such as noise is little, are widely used in rescue and relief work, the field such as news is taken photo by plane, geologic examination, pipeline inspection.Therefore, unmanned plane can be applied in electric system, and the rod-rising tower that reduces a staff operates, and saves manpower and time.Because unmanned plane operates, the personnel that can solve make an inspection tour visual angle deficiency on the ground and must go up the problem of tower operation, substantially increase work efficiency, in power circuit, are widely used prospect.
Summary of the invention
In order to solve the problems of the technologies described above, the invention provides a kind of hydrophobicity of composite insulator of power transmission line live testing device based on unmanned plane, unmanned plane is utilized to carry out hydrophobic test to composite insulator aloft, widen the application of unmanned air vehicle technique in electric system, decrease manpower, improve the efficiency that Hydrophobicity of Composite Insulator detects.
In order to achieve the above object, technical scheme of the present invention is: a kind of hydrophobicity of composite insulator of power transmission line live testing device based on unmanned plane, comprise unmanned plane, described unmanned plane is provided with wireless remote controller, water injector and image acquisition transmitting device, described water injector comprises water tank, water pump and nozzle, water pump is connected with water tank, and water pump is connected with nozzle by sprinkler conduit; Described image acquisition transmitting device comprises camera and image generator, and image generator is connected with camera; Described wireless remote controller comprises wireless remote controlled receiver, wireless communication module, nozzle remote-control gear, camera remote-control gear and starting mode of pump device, and wireless remote controlled receiver is connected with starting mode of pump device with nozzle remote-control gear, camera remote-control gear respectively; Described nozzle remote-control gear is connected with nozzle, and camera remote-control gear is connected with camera, and starting mode of pump device is connected with water pump.
Be provided with support in the middle part of shown unmanned plane, pedestal upper end is provided with symmetrical wing; Described support bottom is provided with the first fixed mount, and frame upper is provided with the second fixed mount; Described mid-stent is provided with wireless remote controlled receiver, and the first fixed mount is provided with water tank, water pump and nozzle, and the second fixed mount is provided with camera and image generator.
Described unmanned plane is four rotor wing unmanned aerial vehicles.
Described nozzle remote-control gear is arranged on the rear end of nozzle, and camera remote-control gear is arranged on the rear end of camera.
Described wireless communication module is arranged on support, and wireless remote controlled receiver is connected with ground remote control device by wireless communication module, and image generator is connected with chart display by wireless communication module, realizes the transmission of data.
Described chart display and ground remote control device integrate.
Described image generator rear end is provided with storer and hydrophobic nature detection module, hydrophobic nature detection module obtains the shape and size information of the globule and/or water mark from storer in compound inslation sub-image data, and the hydrophobicity rank of shape and size information acquisition composite insulator according to the globule and/or water mark.
Described hydrophobic nature detection module adopts image comparison method, carries out contrasting the hydrophobicity rank judging composite insulator with standard picture.
The present invention utilizes ground remote control device can realize the control of unmanned plane, camera, nozzle, and the factor such as the selection of water mark, shooting angle, shooting distance, sample constituency shape and size that to solve in the spray pattern of current and the collecting work of image in image is on the impact judging Hydrophobicity of Composite Insulator; High efficiency work can be realized, reduce the labour intensity of people to the full extent; Leaving unused not by topography and geomorphology, possesses the ability of full landform work; Ensure the safe operation of transmission line of electricity to greatest extent, find potential safety hazard ahead of time; Human cost is low, in same time economic limit, and the safety of the guarantee circuit of maximizing; Mobility strong, can work continuously.Therefore, the present invention possesses features such as getting rid of hidden danger efficiency is high, simple and convenient, easy operation, can alleviate personnel labor intensity to a great extent, guarantee personal safety.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention.
Fig. 2 is schematic diagram of the present invention.
Fig. 3 is the standard picture of Hydrophobicity of Composite Insulator grade of the present invention.
Wherein, 1 is support, and 2 is wing, and 3 is the second fixed mount, 4 is image generator, and 5 is camera, and 6 is wireless remote controlled receiver, and 7 is the first fixed mount, 8 is water tank, and 9 is water pump, and 10 is nozzle, 11 is sprinkler conduit, and 12 is that 13 is nozzle remote-control gear without communicating module, 14 is camera remote-control gear, and 15 is starting mode of pump device, and 16 is ground remote control device, 17 is chart display, and 18 is storer, and 19 is hydrophobic nature detection module.
Embodiment
The present invention is specifically described below by drawings and Examples.
Based on a hydrophobicity of composite insulator of power transmission line live testing device for unmanned plane, as depicted in figs. 1 and 2, comprise unmanned plane, unmanned plane is provided with wireless remote controller, water injector and image acquisition transmitting device.Unmanned plane can be four rotor wing unmanned aerial vehicles, and its volume is little, structure simple, control flexibly; Can vertical takeoff and landing; It is strong that hovering, inverted flight, side fly ability.Be provided with support 1 in the middle part of unmanned plane, support 1 upper end is provided with symmetrically arranged wing 2.Support 1 bottom is provided with the first fixed mount 7, first fixed mount 7 upper end and is provided with the second fixed mount 3.
Water injector is arranged on the first fixed mount 7, and comprise water tank 8, water pump 9 and nozzle 10, water pump 9 is connected with water tank 8 by water pipe, and water pump 9 is connected with nozzle 10 by sprinkler conduit 11.Water pump 9 is provided with starting mode of pump device 15, for controlling the start and stop of water pump 9.Namely unmanned plane arrives the compound inslation period of the day from 11 p.m. to 1 a.m that will detect, and pump startup device 15 of just fetching boiling water utilizes nozzle 10 to composite insulator atomized water spray.When completing whole composite insulator circumference water spray, switch off the pump starter 15, completes spray operation.Nozzle 10 rear end is provided with nozzle remote-control gear 13, for the direction that Control Nozzle 10 is sprayed water to composite insulator, thus realizes nozzle 10 multi-angle and sprays water to composite insulator.
Image acquisition transmitting device is positioned at the upper end of water injector, is arranged on the second fixed mount 3.Image acquisition transmitting device comprises camera 5 and image generator 4, and image generator 4 is connected with camera 5.Camera 5 is arranged on the front end of unmanned plane, for the picture of its front end of records photographing.The picture that camera 5 is taken is launched by image generator 4.Camera 5 rear end is provided with camera remote-control gear 14, for controlling the direction of camera 5, thus realizes the omnibearing shooting of composite insulator.
Wireless remote controller comprises wireless remote controlled receiver 6, wireless communication module 12, nozzle remote-control gear 13, camera remote-control gear 14 and starting mode of pump device 15.Wireless remote controlled receiver 6, wireless communication module 12 are arranged on the middle part of support 1, between the first fixed mount 7 and the second fixed mount 3.Wireless remote controlled receiver 6 is connected with starting mode of pump device 15 with nozzle remote-control gear 13, camera remote-control gear 14 respectively, the direction of nozzle remote-control gear 13, camera remote-control gear 14 can be regulated by controlling wireless remote controlled receiver 6, and the unlatching of starting mode of pump device 15 can be controlled, namely realize the control of camera 5 being taken to orientation, the unlatching of starting mode of pump device 15, the injection direction of nozzle 10.Wireless remote controlled receiver 6 is connected with ground remote control device 16 by wireless communication module 12, namely wireless remote controlled receiver 6 can receive the steering order of ground remote control device 16 by the transmission of wireless communication module 12, thus realizes the control to camera 5, nozzle 10, water pump 9.Meanwhile, ground remote control device 16 also should have the function controlling unmanned plane during flying direction.
Image generator 4 is connected with chart display 17 by wireless communication module 12, realizes the transmission of shooting image.Chart display 17 shows the image that camera 5 is taken, staff can determine according to the image information of chart display 17, determine the position of nozzle 10 and composite insulator to be detected, thus the accurate location that ground remote control device 16 can be utilized better to realize composite insulator to be detected.Therefore, chart display 17 and ground remote control device 16 can be integrated, conveniently unmanned plane be risen to composite insulator place to be detected quickly, also can better to the control of nozzle 10 and camera 5.
Further, image generator 4 rear end is provided with storer 18 and hydrophobic nature detection module 19.Storer 18 can store the picture that camera 5 is taken, hydrophobic nature detection module 19 can search compound inslation sub-image data from storer 18, and the globule obtained on the compound inslation subimage after water spray and/or the shape and size information of water mark, and the hydrophobicity rank of shape and size information acquisition composite insulator according to the globule and/or water mark.Simultaneously, testing result can be sent to chart display 17 by wireless communication module 12 by hydrophobic nature detection module 19, and the image of the composite insulator after the water spray that staff shows according to its hydrophobicity rank and chart display 17 judges whether to change this composite insulator.
Hydrophobicity of Composite Insulator can weaken and can cause pollution flashover, and the pollution flashover voltage of composite insulator is determined jointly by the hydrophobic nature situation on pollution layer surface and pollution degree.Surface hydrophobicity of composite insulator is divided into HC1-HC7 seven grades, and its standard is as shown in table 1, the state that the corresponding hydrophobic nature of HC1 level is best, the surface of HC7 then corresponding total hydrophilic.The standard picture of Hydrophobicity of Composite Insulator grade HC1-HC6 is provided with 6 width, as shown in Figure 3.Hydrophobic nature detection module 19 utilizes image processing techniques to judge Hydrophobicity of Composite Insulator grade.
The present invention adopts image comparison method to realize, particularly: the composite insulator water spray image obtained by unmanned plane camera and standard picture contrast, classification is carried out by the feature interpretation of the similarity reference HC grade of analyzing testing image and each standard picture.Standard picture in the image of the composite insulator umbrella skirt after the water spray of camera collection and Fig. 3 contrasts by hydrophobic nature detection module 19, as found to be in HC5 ~ HC7 more than the hydrophobic nature of 50% full skirt, hydrophobic nature detection module 19 is judged as changing composite insulator, and the hydrophobicity rank of composite insulator is sent to chart display 17 by wireless communication module 12 and shows.Meanwhile, staff also can according to the hydrophobicity rank of this composite insulator of image guestimate of chart display 17 display.
Table 1 surface hydrophobicity of composite insulator grade
Utilize said apparatus to test the composite insulator on transmission line of electricity, experimental result shows, the present invention can judge the hydrophobicity rank of composite insulator more accurately.Therefore, the present invention utilizes unmanned plane to carry out hydrophobic test to composite insulator aloft, utilize ground remote control device 16 can realize the control of unmanned plane, camera 5, nozzle 10, to solve in the spray pattern of current and image acquisition work water mark selection in image, shooting angle, shooting distance, the factor such as sample constituency shape and size to the impact judging Hydrophobicity of Composite Insulator; The composite insulator water spray image utilizing image comparison method to be obtained by unmanned plane and standard picture contrast, classification is carried out by the feature interpretation of the similarity reference hydrophobic nature HC grade of analyzing testing image and each standard picture, therefore, present invention achieves high efficiency detection Hydrophobicity of Composite Insulator, reduce the labour intensity of people to the full extent, ensure the safe operation of transmission line of electricity to greatest extent; Get rid of hidden danger efficiency high, simple and convenient, easily operate, and personnel labor intensity can be alleviated to a great extent, guarantee personal safety; Widen the application of unmanned air vehicle technique in electric system, improve the efficiency that Hydrophobicity of Composite Insulator detects.
The above; be only the present invention's preferably embodiment, but protection scope of the present invention is not limited thereto, is anyly familiar with those skilled in the art in the technical scope that the present invention discloses; the change that can expect easily or replacement, all should be encompassed within protection scope of the present invention.
Claims (8)
1. the hydrophobicity of composite insulator of power transmission line live testing device based on unmanned plane, comprise unmanned plane, it is characterized in that: described unmanned plane is provided with wireless remote controller, water injector and image acquisition transmitting device, described water injector comprises water tank (8), water pump (9) and nozzle (10), water pump (9) is connected with water tank (8), and water pump (9) is connected with nozzle (10) by sprinkler conduit (11); Described image acquisition transmitting device comprises camera (5) and image generator (4), and image generator (4) is connected with camera (5); Described wireless remote controller comprises wireless remote controlled receiver (6), wireless communication module (12), nozzle remote-control gear (13), camera remote-control gear (14) and starting mode of pump device (15), and wireless remote controlled receiver (6) is connected with starting mode of pump device (15) with nozzle remote-control gear (13), camera remote-control gear (14) respectively; Described nozzle remote-control gear (13) is connected with nozzle (10), and camera remote-control gear (14) is connected with camera (5), and starting mode of pump device (15) is connected with water pump (9).
2. the hydrophobicity of composite insulator of power transmission line live testing device based on unmanned plane according to claim 1, is characterized in that, be provided with support (1) in the middle part of shown unmanned plane, and support (1) upper end is provided with symmetrical wing (2); Described support (1) bottom is provided with the first fixed mount (7), and support (1) top is provided with the second fixed mount (3); Described support (1) middle part is provided with wireless remote controlled receiver (6), and the first fixed mount (7) is provided with water tank (8), water pump (9) and nozzle (10), and the second fixed mount (3) is provided with camera (5) and image generator (4).
3. the hydrophobicity of composite insulator of power transmission line live testing device based on unmanned plane according to claim 2, it is characterized in that, described unmanned plane is four rotor wing unmanned aerial vehicles.
4. the hydrophobicity of composite insulator of power transmission line live testing device based on unmanned plane according to Claims 2 or 3, it is characterized in that, described nozzle remote-control gear (13) is arranged on the rear end of nozzle (10), and camera remote-control gear (14) is arranged on the rear end of camera (5).
5. the hydrophobicity of composite insulator of power transmission line live testing device based on unmanned plane according to claim 1, it is characterized in that, described wireless communication module (12) is arranged on support (1), wireless remote controlled receiver (6) is connected with ground remote control device (16) by wireless communication module (12), image generator (4) is connected with chart display (17) by wireless communication module (12), realizes the transmission of data.
6. the hydrophobicity of composite insulator of power transmission line live testing device based on unmanned plane according to claim 5, is characterized in that, described chart display (17) and ground remote control device (16) integrate.
7. the hydrophobicity of composite insulator of power transmission line live testing device based on unmanned plane according to claim 5 or 6, it is characterized in that, described image generator (4) rear end is provided with storer (18) and hydrophobic nature detection module (19), hydrophobic nature detection module (19) obtains the shape and size information of the globule and/or water mark from storer (18) in compound inslation sub-image data, and the hydrophobicity rank of shape and size information acquisition composite insulator according to the globule and/or water mark.
8. the hydrophobicity of composite insulator of power transmission line live testing device based on unmanned plane according to claim 7, it is characterized in that, described hydrophobic nature detection module (19) adopts image comparison method, carries out contrasting the hydrophobicity rank judging composite insulator with standard picture.
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| CN105352854A (en) * | 2015-11-24 | 2016-02-24 | 中国南方电网有限责任公司超高压输电公司广州局 | Unmanned aerial vehicle hydrophobic test platform targeted to insulator |
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| CN106338455A (en) * | 2016-08-19 | 2017-01-18 | 国家电网公司 | Power transmission line vulcanized silicone rubber coating hydrophobicity detection device |
| CN106407928B (en) * | 2016-09-13 | 2019-09-10 | 武汉大学 | Transformer composite insulator casing monitoring method and system based on raindrop identification |
| CN106407928A (en) * | 2016-09-13 | 2017-02-15 | 武汉大学 | Transformer composite insulator bushing monitoring method and transformer composite insulator bushing monitoring system based on raindrop identification |
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| CN106525663A (en) * | 2016-12-15 | 2017-03-22 | 国网河南省电力公司检修公司 | Composite insulator and vulcanized silicone rubber hydrophobicity detector based on multi-rotor unmanned aerial vehicle |
| CN107219854A (en) * | 2017-07-19 | 2017-09-29 | 国家电网公司 | A kind of insulator hydrophobicity detection means and method based on unmanned plane |
| CN107482526A (en) * | 2017-08-16 | 2017-12-15 | 国网河南省电力公司检修公司 | A kind of overhead transmission line composite insulator water injector |
| CN107356501A (en) * | 2017-08-24 | 2017-11-17 | 国家电网公司 | Device is taken the photograph in a kind of aerial live detection insulator hydrophobicity spray of transmission line of electricity |
| CN107315417B (en) * | 2017-08-31 | 2020-05-22 | 国网河南省电力公司检修公司 | Composite insulator hydrophobicity detection device based on unmanned aerial vehicle |
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| CN108693076A (en) * | 2018-04-02 | 2018-10-23 | 中国电力科学研究院有限公司 | A kind of system for being acquired to the droplet size distribution form of target object |
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| CN108732173A (en) * | 2018-04-28 | 2018-11-02 | 国网山东省电力公司电力科学研究院 | A kind of composite insulating material surface hydrophobicity classification direct-read method and device |
| CN108872020A (en) * | 2018-05-29 | 2018-11-23 | 国网甘肃省电力公司电力科学研究院 | A kind of Hydrophobicity of Composite Insulator detection device and detection method based on unmanned air vehicle technique |
| CN110907500A (en) * | 2019-11-25 | 2020-03-24 | 中国电力科学研究院有限公司 | Unmanned aerial vehicle platform-based composite insulator hydrophobicity automatic detection method and device |
| CN110907500B (en) * | 2019-11-25 | 2023-01-06 | 中国电力科学研究院有限公司 | Unmanned aerial vehicle platform-based composite insulator hydrophobicity automatic detection method and device |
| CN111855501A (en) * | 2020-07-30 | 2020-10-30 | 华北电力大学（保定） | Automatic water spraying composite insulator hydrophobicity detection system and method based on unmanned aerial vehicle |
| CN111855500A (en) * | 2020-07-30 | 2020-10-30 | 华北电力大学（保定） | Intelligent composite insulator aging degree detection method based on deep learning |
| CN111855501B (en) * | 2020-07-30 | 2024-02-20 | 华北电力大学（保定） | Automatic water spraying composite insulator hydrophobicity detection system and method based on unmanned aerial vehicle |
| CN114638883A (en) * | 2022-03-09 | 2022-06-17 | 西南交通大学 | Vision-limited repositioning target method for insulator water washing robot |
| CN114638883B (en) * | 2022-03-09 | 2023-07-14 | 西南交通大学 | Visual limited repositioning target method for insulator water flushing robot |
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