CN105119197A - Self-localization type power transmission line inspection system - Google Patents
Self-localization type power transmission line inspection system Download PDFInfo
- Publication number
- CN105119197A CN105119197A CN201510589845.3A CN201510589845A CN105119197A CN 105119197 A CN105119197 A CN 105119197A CN 201510589845 A CN201510589845 A CN 201510589845A CN 105119197 A CN105119197 A CN 105119197A
- Authority
- CN
- China
- Prior art keywords
- transmission line
- power transmission
- vehicle
- patrol
- chip microcomputer
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Abstract
The invention discloses a self-localization type power transmission line inspection system, which comprises an inspection vehicle as the carrier of the system. The system is characterized by also comprising a laser radar, a GPS locator and a camera, wherein the laser radar, the GPS locator and the camera are arranged at the top of the inspection vehicle and are respectively connected with a single-chip microcomputer. The single-chip microcomputer is also connected with a display, a temperature sensor, a humidity sensor and a memory respectively. The inspection vehicle is also provided with a power supply. Preferably, the power supply comprises a solar cell and a storage battery. The solar cell is arranged at the top of the inspection vehicle. The self-localization type system is applied to a vehicle power transmission line inspection system and can autonomously take photos for identified targets. Meanwhile, the system is simple in structure and low in inspection cost.
Description
Technical field
The present invention relates to a kind of power transmission line polling system that can independently locate.
Background technology
In prior art, power transmission line polling system is as unmanned plane cruising inspection system, and service load, routing inspection cost is higher, and crusing robot system automaticity is higher, but only adapts to patrolling and examining of zonule.
On the other hand, power transmission line polling system adopts GPS to position, although GPS locating information is provided by navigation satellite, have that locating speed is high, confidentiality is high, easy and simple to handle and all weather operations, the plurality of advantages such as position error and voyage have nothing to do, but be easily disturbed, the stability that especially a large amount of in transformer station high-tension apparatuses can disturb the work influence of GPS to locate.GPS location the easy losing lock of equipment receiver and lossing signal, cause system to completely lose navigator fix ability.
Summary of the invention
For the problems referred to above, the invention provides a kind of power transmission line polling system that can independently locate, be applicable to the autonomous location navigation of vehicle-mounted transmission of electricity cruising inspection system, independently take pictures to mark target, structure is simple, and routing inspection cost is low.
For realizing above-mentioned technical purpose, reach above-mentioned technique effect, the present invention is achieved through the following technical solutions:
A kind of power transmission line polling system that can independently locate, comprise and patrol and examine vehicle as systemic vectors, it is characterized in that, also comprise the laser radar, GPS locator and the video camera that are arranged on and patrol and examine vehicle roof, described laser radar, GPS locator are connected with single-chip microcomputer respectively with video camera, described single-chip microcomputer is also connected with display, temperature sensor, humidity sensor, memory respectively, described in patrol and examine vehicle and be also provided with power supply.
Preferably, described power supply comprises solar cell and storage battery, and described solar cell is arranged on patrols and examines vehicle roof.
Preferably, patrol and examine vehicle and be provided with the touch-screen be connected with single-chip microcomputer in the position of copilot.
Preferably, patrol and examine vehicle and be placed with panel computer in driver's anterior position, Dynamic Announce patrols and examines route and vehicle location.
The invention has the beneficial effects as follows: laser radar module is for detecting the distance and bearing of object, GPS locator provides information such as patrolling and examining vehicle location, attitude, speed, combine with laser radar module and carry out integrated navigation, substantially increase positioning precision and reliability, Auto-matching target information, tracking target is also taken pictures to it automatically.Consider that mostly transmission line is in spacious location in addition, adopt solar cell effectively can utilize clean energy resource, reduce routing inspection cost further.
Accompanying drawing explanation
Fig. 1 is the structured flowchart of a kind of power transmission line polling system that can independently locate of the present invention;
Fig. 2 is the structural representation of laser radar of the present invention.
Embodiment
Below in conjunction with accompanying drawing and specific embodiment, technical solution of the present invention is described in further detail, can better understand the present invention to make those skilled in the art and can be implemented, but illustrated embodiment is not as a limitation of the invention.
As illustrated in fig. 1 and 2, a kind of power transmission line polling system that can independently locate, comprise and patrol and examine vehicle (not shown) as systemic vectors, all parts of cruising inspection system are all arranged on patrols and examines on vehicle.
Cruising inspection system also comprises the laser radar, GPS locator and the video camera that are arranged on and patrol and examine vehicle roof, described laser radar, GPS locator are connected with single-chip microcomputer respectively with video camera, described single-chip microcomputer is also connected with display, temperature sensor, humidity sensor, memory respectively, described in patrol and examine vehicle and be also provided with power supply.Wherein, GPS locator provides information such as patrolling and examining vehicle location, attitude, speed, laser radar provides the accurate relative position relation information of patrolling and examining vehicle-to-target, the two combines, effectively can avoid the interference of high-tension apparatuses a large amount of in transformer station, and the locus in view of each equipment is unique, recognition of devices we adopt positional information identifying schemes.What various checkout equipment was mounted in movement patrols and examines on vehicle, and accurately complete positional information comprises vehicle position information and the equipment positional information relative to vehicle.For obtaining complete locating information accurately, GPS locator can be adopted to add two-dimensional laser radar scheme, and the locator data of two systems is merged to improve positioning precision and reliability.
Auto-matching target information, after tracking target, Single-chip Controlling video camera is taken pictures to target automatically, video camera can be one or the combination of thermal camera, ultraviolet video camera and Visible Light Camera, the information obtained can be shown by display, also can store on a memory, for subsequent analysis.Temperature sensor and humidity sensor vehicle-mountedly patrol and examine environmental information in process for collecting.Operating personnel can obtain current various sensor information and system status information from display interface.
Consider that mostly transmission line is that, in spacious location, preferred power supply comprises solar cell and storage battery, described solar cell is arranged on patrols and examines vehicle roof, effectively utilizes clean energy resource, reduces routing inspection cost further.
For automatic detecting easy to use, patrol and examine vehicle and be provided with the touch-screen be connected with single-chip microcomputer in the position of copilot, be placed with panel computer in driver's anterior position, Dynamic Announce patrols and examines route and vehicle location simultaneously.
Preferably, described in patrol and examine vehicle and be also provided with the wireless communication module be connected with single-chip microcomputer, for the information in the process of patrolling and examining is sent to terminal, convenient unified management and control.
The power transmission line polling system that can independently locate is applicable to an autonomous location navigation for vehicle-mounted transmission of electricity cruising inspection system, and independently take pictures to mark target, structure is simple, and routing inspection cost is low.
These are only the preferred embodiments of the present invention; not thereby the scope of the claims of the present invention is limited; every utilize specification of the present invention and accompanying drawing content to do equivalent structure or equivalent flow process conversion; or be directly or indirectly used in the technical field that other are relevant, be all in like manner included in scope of patent protection of the present invention.
Claims (6)
1. the power transmission line polling system that can independently locate, comprise and patrol and examine vehicle as systemic vectors, it is characterized in that, also comprise the laser radar, GPS locator and the video camera that are arranged on and patrol and examine vehicle roof, described laser radar, GPS locator are connected with single-chip microcomputer respectively with video camera, described single-chip microcomputer is also connected with display, temperature sensor, humidity sensor, memory respectively, described in patrol and examine vehicle and be also provided with power supply.
2. a kind of power transmission line polling system that can independently locate according to claim 1, it is characterized in that, described power supply comprises solar cell and storage battery, and described solar cell is arranged on patrols and examines vehicle roof.
3. a kind of power transmission line polling system that can independently locate according to claim 1, is characterized in that, patrols and examines vehicle and is provided with the touch-screen be connected with single-chip microcomputer in the position of copilot.
4. a kind of power transmission line polling system that can independently locate according to claim 3, is characterized in that, patrol and examine vehicle and be placed with panel computer in driver's anterior position, Dynamic Announce patrols and examines route and vehicle location.
5. a kind of power transmission line polling system that can independently locate according to claim 3, is characterized in that, described video camera is one or the combination of thermal camera, ultraviolet video camera and Visible Light Camera.
6. a kind of power transmission line polling system that can independently locate according to claim 1, is characterized in that, described in patrol and examine vehicle and be also provided with the wireless communication module be connected with single-chip microcomputer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510589845.3A CN105119197A (en) | 2015-09-17 | 2015-09-17 | Self-localization type power transmission line inspection system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510589845.3A CN105119197A (en) | 2015-09-17 | 2015-09-17 | Self-localization type power transmission line inspection system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105119197A true CN105119197A (en) | 2015-12-02 |
Family
ID=54667123
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510589845.3A Pending CN105119197A (en) | 2015-09-17 | 2015-09-17 | Self-localization type power transmission line inspection system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105119197A (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109531384A (en) * | 2018-10-29 | 2019-03-29 | 浙江国自机器人技术有限公司 | A kind of visual inspection clean robot applied to overhead transmission line |
| CN109764874A (en) * | 2018-12-20 | 2019-05-17 | 中国航空工业集团公司洛阳电光设备研究所 | A kind of substation inspection vehicle autonomous navigation method |
| CN110018498A (en) * | 2019-04-18 | 2019-07-16 | 北京智行者科技有限公司 | Prevent the method and device of GNSS stimulated light radar chaff |
| CN110160545A (en) * | 2018-03-15 | 2019-08-23 | 北京航空航天大学 | A kind of the enhancing positioning system and method for laser radar and GPS |
| CN110190552A (en) * | 2019-05-08 | 2019-08-30 | 国家电网有限公司 | A kind of hot line maintenance security protection system and its method |
| CN110531437A (en) * | 2019-08-22 | 2019-12-03 | 深圳供电局有限公司 | A kind of power grid inspection car driving assistance system based on artificial intelligence |
| CN111121783A (en) * | 2018-12-28 | 2020-05-08 | 中国人民解放军国防科技大学 | Double-layer path planning method and device for power inspection of vehicle-mounted unmanned aerial vehicle |
| CN112140895A (en) * | 2019-06-28 | 2020-12-29 | 丰田自动车株式会社 | Roof structure of vehicle |
| CN113984082A (en) * | 2021-10-28 | 2022-01-28 | 江苏天汇空间信息研究院有限公司 | Parking lot vehicle inspection management system based on big data |
| CN114038068A (en) * | 2021-06-07 | 2022-02-11 | 杭州目博科技有限公司 | Video inspection system |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202153615U (en) * | 2011-07-12 | 2012-02-29 | 重庆大学 | Robot for transformer station device inspection tour |
| US20130038717A1 (en) * | 2011-08-09 | 2013-02-14 | The Boeing Company | Image Based Position Determination |
| CN202948326U (en) * | 2012-11-05 | 2013-05-22 | 深圳市朗驰欣创科技有限公司 | Electric power inspection robot and navigation system thereof |
| CN204927975U (en) * | 2015-09-17 | 2015-12-30 | 国家电网公司 | Transmission line system of patrolling and examining that can independently fix a position |
-
2015
- 2015-09-17 CN CN201510589845.3A patent/CN105119197A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202153615U (en) * | 2011-07-12 | 2012-02-29 | 重庆大学 | Robot for transformer station device inspection tour |
| US20130038717A1 (en) * | 2011-08-09 | 2013-02-14 | The Boeing Company | Image Based Position Determination |
| CN202948326U (en) * | 2012-11-05 | 2013-05-22 | 深圳市朗驰欣创科技有限公司 | Electric power inspection robot and navigation system thereof |
| CN204927975U (en) * | 2015-09-17 | 2015-12-30 | 国家电网公司 | Transmission line system of patrolling and examining that can independently fix a position |
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110160545B (en) * | 2018-03-15 | 2020-05-05 | 北京航空航天大学 | Enhanced positioning system and method for laser radar and GPS |
| CN110160545A (en) * | 2018-03-15 | 2019-08-23 | 北京航空航天大学 | A kind of the enhancing positioning system and method for laser radar and GPS |
| CN109531384A (en) * | 2018-10-29 | 2019-03-29 | 浙江国自机器人技术有限公司 | A kind of visual inspection clean robot applied to overhead transmission line |
| CN109764874A (en) * | 2018-12-20 | 2019-05-17 | 中国航空工业集团公司洛阳电光设备研究所 | A kind of substation inspection vehicle autonomous navigation method |
| CN111121783A (en) * | 2018-12-28 | 2020-05-08 | 中国人民解放军国防科技大学 | Double-layer path planning method and device for power inspection of vehicle-mounted unmanned aerial vehicle |
| CN111121783B (en) * | 2018-12-28 | 2023-09-19 | 中国人民解放军国防科技大学 | Double-layer path planning method and device for vehicle-mounted unmanned aerial vehicle power inspection |
| CN110018498A (en) * | 2019-04-18 | 2019-07-16 | 北京智行者科技有限公司 | Prevent the method and device of GNSS stimulated light radar chaff |
| CN110190552A (en) * | 2019-05-08 | 2019-08-30 | 国家电网有限公司 | A kind of hot line maintenance security protection system and its method |
| CN110190552B (en) * | 2019-05-08 | 2020-11-24 | 国家电网有限公司 | Live working safety protection system and method for power transmission line |
| CN112140895A (en) * | 2019-06-28 | 2020-12-29 | 丰田自动车株式会社 | Roof structure of vehicle |
| CN110531437A (en) * | 2019-08-22 | 2019-12-03 | 深圳供电局有限公司 | A kind of power grid inspection car driving assistance system based on artificial intelligence |
| CN114038068A (en) * | 2021-06-07 | 2022-02-11 | 杭州目博科技有限公司 | Video inspection system |
| CN113984082A (en) * | 2021-10-28 | 2022-01-28 | 江苏天汇空间信息研究院有限公司 | Parking lot vehicle inspection management system based on big data |
| CN113984082B (en) * | 2021-10-28 | 2023-12-19 | 江苏天汇空间信息研究院有限公司 | Parking lot vehicle inspection management system based on big data |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105119197A (en) | Self-localization type power transmission line inspection system | |
| CN201497509U (en) | Double-antenna GPS/INS combined navigator | |
| TW201823899A (en) | System and method of dynamically controlling parameters for processing sensor output data for collision avoidance and path planning | |
| CN105242022A (en) | Beidou navigation twin-hull boat for intelligent water quality monitoring | |
| CN108303995A (en) | A kind of substation inspection unmanned plane during flying security system | |
| CN105807779A (en) | Flight control system and method for unmanned aerial vehicle | |
| CN108362294A (en) | Drawing method is built in a kind of more vehicles collaboration applied to automatic Pilot | |
| CN204927975U (en) | Transmission line system of patrolling and examining that can independently fix a position | |
| CN207851890U (en) | Intelligent express system based on the detection of AGV trolleies with unmanned plane communication linkage | |
| US10642284B1 (en) | Location determination using ground structures | |
| CN105676856A (en) | Interaction method, interaction apparatus, and interaction system for unmanned aerial vehicle | |
| EP3754302A1 (en) | Flight control and navigation integrated machine | |
| CN208569400U (en) | Nobody Cooperative Mode control system peculiar to vessel | |
| CN102320248A (en) | Intelligent tour guiding system for tour guiding vehicle | |
| CN105301621A (en) | Vehicle positioning device and intelligent driving exam system | |
| CN114815890A (en) | Design of dynamic target tracking system based on unmanned aerial vehicle | |
| CN205139126U (en) | BeiDou navigation satellite system intelligence water quality monitoring twinhull vessel | |
| CN113945960A (en) | Unmanned aerial vehicle searching and positioning method and system | |
| CN207663485U (en) | A kind of Unmanned Aerial Vehicle Data record system and the unmanned plane using the system | |
| CN109490929A (en) | Fly control and navigation all-in-one machine | |
| CN108896037A (en) | A kind of bluetooth active electronic label and the Navigation of Pilotless Aircraft positioning system being made of it | |
| CN113758482B (en) | Vehicle navigation positioning method, device, base station, system and readable storage medium | |
| CN115793008B (en) | Real-time position tracking method and device based on unmanned plane crash and computer equipment | |
| CN203825467U (en) | Auxiliary control device for preventing unmanned patrol helicopter from mistakenly hitting transmission line | |
| CN109407114A (en) | Portable environment 3 D scanning system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20151202 |