CN105300303A - Ground automatic measurement device for measuring vertical distance between power transmission circuit and tree and method - Google Patents
Ground automatic measurement device for measuring vertical distance between power transmission circuit and tree and method Download PDFInfo
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- CN105300303A CN105300303A CN201510736386.7A CN201510736386A CN105300303A CN 105300303 A CN105300303 A CN 105300303A CN 201510736386 A CN201510736386 A CN 201510736386A CN 105300303 A CN105300303 A CN 105300303A
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Abstract
The invention discloses a ground automatic measurement device for measuring vertical distance between a power transmission circuit and a tree and a method, belonging to the power tour inspection field. The ground automatic measurement device comprises a first laser distance measurement instrument, a second laser distance measurement instrument, an inclination angle sensor, a support, a GPS and a computer. The method disclosed by the invention comprises steps of aligning laser from two paths of laser distance measurement sensors with trees on the basis of the distance measurement mode combining the laser distance measurement and imaging, performing high definition camera imaging in a distance, and manually realizing multi-point vertical distance measurement of the power transmission line and the tree in the image. The invention can perform the vertical distance measurement between the power transmission line and the three in various working distances through configuring distance measurement range of different laser distance measurement instruments, can realize the monitoring and management on the circumference condition of the power transmission line, can reduce the labor intensity of the line patrol of the workers, can reduce the operation maintenance cost, can improve the quality of the routing inspection working level and the working quality, can enhance the automation capability of the power production, and has importance meaning for improving the economic benefit and the social benefit of power automatic routing inspection.
Description
Technical field
The invention belongs to power-line patrolling detection field, be specifically related to ground self-operated measuring unit and the method for a kind of transmission line of electricity and trees vertical interval.
Background technology
China's transmission line of electricity distribution is wide, circuit is long, manyly be distributed in mountain area with a varied topography, meteorology, geologic condition are severe, in order to the normal operation of effective guarantee transmission line of electricity, must regularly effectively patrol and examine transmission line of electricity, a wherein very important task is exactly measure the distance between transmission line of electricity and trees.Because the arboreal growth time is long, be easily subject to the impact of areal rainfall depth, temperature, sag point and half way up the mountain place and power transmission line excessively near, easily bring out the tree sudden strain of a muscle accident of transmission line of electricity, if process not in time, also likely cause forest fire.Regular patrolling and examining must be carried out to transmission line of electricity, grasp the distance situation between circuit and trees, so that Timeliness coverage and removing a hidden danger, generation of preventing accident, thus guarantee transmission line of electricity power supply safety.At present, this part work is main to be relied on transit survey by artificial and record data, and needs to arrange scale near trees; For area with a varied topography, cause extreme difficulty to surveying work, and once can only spot measurement, cause that patrol officer's labour intensity is large, efficiency is low, measuring error is large.
Summary of the invention
In order to solve problems of the prior art, the invention provides ground self-operated measuring unit and the method for a kind of transmission line of electricity and trees vertical interval, set up measurement mechanism on the ground, at a distance the vertical interval of the trees of transmission line of electricity and surrounding is accurately measured, and multimetering can be carried out to the trees of blur-free imaging in camera image, and according to the GPS in device, provide the position coordinates at measured object place.
The technical scheme that technical solution problem of the present invention adopts is as follows:
A ground self-operated measuring unit for transmission line of electricity and trees vertical interval, this device comprises: the first laser range finder, the second laser range finder, obliquity sensor, support, GPS and computing machine; Described first laser range finder, the second laser range finder, high definition camera, obliquity sensor and GPS are arranged in support respectively; First laser range finder and the second laser range finder are arranged on high definition camera both sides, symmetrical with high definition camera, and the first laser range finder, the second laser range finder are parallel with high definition camera optical axis; Computing machine controls Laser output and cut out, high definition camera collection display view data, the angular values obtaining obliquity sensor and the position, GPS measured point of the first laser range finder and the second laser range finder, and process measurement result.
A ground method for automatic measurement for transmission line of electricity and trees vertical interval, it is characterized in that, the method comprises the steps:
Step one: control the first laser range finder and the second laser range finder by computing machine and open, and aim at measured tree and find range;
Step 2: control high definition camera imaging by computing machine;
Step 3: the laser spots threshold value setting the first laser range finder and the second laser range finder, be partitioned into laser spots, centroid position is asked by two laser spots, calculate the pixel count d' of vertical direction between laser spots barycenter in the plane of delineation that high definition camera gathers, be the pixel count between 2 center of mass point that the first laser range finder and the second laser range finder on measured tree record;
Control to return focal length numerical value f under the F of different focal position by high definition camera, relation when demarcation pixel number d', focal position F and the angle of pitch are 0 degree between measured tree and the distance L of laser range finder, the pixel number N of laser spots under acquisition camera different focal f
10f; The pixel count d ' in image between two laser center of mass point is calculated according to following formula;
d'＝(10/L)*N
10f
Step 4: the measurement point manually choosing tested transmission line of electricity and trees, the vertical interval according to following formula computing electric power line and trees:
Wherein θ is the angle of pitch, s is the vertical interval of tested transmission line of electricity and trees, s ' is for surveying the pixel count between transmission line of electricity and trees in vertical direction in image, d is the installation interval distance of the first laser range finder and the second laser range finder, be the distance that on measured tree, the first laser range finder and the second laser range finder record, by known θ, s ', d and d ', try to achieve the vertical interval s of tested transmission line of electricity and trees, achieve the measuring method of the ground self-operated measuring unit of transmission line of electricity vertical interval.
The invention has the beneficial effects as follows: the distance measuring method that the present invention is based on laser ranging and image imaging combination, do not need to set up scale on tree side in advance, do not need to aim at power transmission line, only need by the laser alignment measured tree of two-way laser range sensor, outside remote, carry out high definition camera imaging, the multiple spot vertical interval that manually can realize transmission line of electricity and trees is in the picture measured.The ground self-operated measuring unit of transmission line of electricity vertical interval has flexible for installation, simple to operate, economical and practical, the feature such as easy to carry, by arranging the finding range of different laser range finders, the vertical interval can carrying out transmission line of electricity and trees in different operating distances is measured, realize the monitoring management to operating mode around transmission line of electricity, greatly alleviate the labour intensity of workman's line walking, reduce the operation expense of transmission of electricity, improve and patrol and examine level of operation and operation quality, enhance power system automation ability, the economic benefit of patrolling and examining for raising power automation and social benefit have great importance.
Accompanying drawing explanation
The ground self-operated measuring unit structural representation of a kind of transmission line of electricity of Fig. 1 the present invention and trees vertical interval.
The ground method for automatic measurement schematic diagram of a kind of transmission line of electricity of Fig. 2 the present invention and trees vertical interval.
Object distance L=10m place pixel number N in Fig. 3 the present invention
10fwith the relation of focal distance f.
Embodiment
Below in conjunction with drawings and Examples, the present invention is described in further details.
As shown in Figure 1, a ground self-operated measuring unit for transmission line of electricity and trees vertical interval, this device comprises: the first laser range finder 1, high definition camera 2, second laser range finder 3, obliquity sensor 4, GPS5, tripod 6, support frame 7 and computing machine 8; First laser range finder 1, second laser range finder 3, obliquity sensor 4 and GPS5 are arranged in support frame 7 respectively; First laser range finder 1 and the second laser range finder 3 are arranged on high definition camera 2 both sides, symmetrical with high definition camera 2, and the first laser range finder 1, second laser range finder 3 is parallel with high definition camera 2 optical axis; Computing machine 8 controls Laser output and cut out, high definition camera 2 collection display view data, the angular values obtaining obliquity sensor 4 and the position, GPS5 measured point of the first laser range finder 1 and the second laser range finder 3, and process measurement result.
Wherein the first laser range finder 1 and the second laser range finder 3 are visible red laser range finder; High definition camera 2 is slr camera, and by being connected by Wifi with computing machine 8, the high resolving power and the height that realize image imaging are dynamic, especially in the place of direct sunlight, are more conducive to the high-resolution imaging of image, eliminate line-hit, are conducive to device and safeguard.The obliquity sensor 4 measurement mechanism angle of pitch, the vertical interval as transmission line of electricity and trees projects to the projected angle of the plane of delineation.Support frame 7 is the weight of the framed structure of aluminium section bar and carbon fiber board composition, energy alleviator, is conducive to single carrying.First laser range finder 1, second laser range finder 3, obliquity sensor 4 are connected with computing machine 8 connecting line respectively with GPS5.
A ground method for automatic measurement for transmission line of electricity and trees vertical interval, as shown in Figure 2, the method comprises the steps:
Step one: control the first laser range finder 1 by computing machine 8 and the second laser range finder 3 is opened, and aim at measured tree and find range;
Step 2: control high definition camera 2 imaging by computing machine 8;
Step 3: the laser spots threshold value setting the first laser range finder 1 and the second laser range finder 3, be partitioned into laser spots, centroid position is asked by two laser spots, calculate the pixel count d' of vertical direction between laser spots barycenter in the plane of delineation that high definition camera 2 gathers, be the pixel count between two center of mass point that on measured tree, the first laser range finder 1 and the second laser range finder 3 record;
Control under the F of different focal position, return focal length numerical value f (scope is 0 ~ 100) by high definition camera 2, relation when demarcation pixel number d', focal position F and the angle of pitch are 0 degree between measured tree and the distance L of two laser range finders, the pixel number N10f of laser spots under acquisition camera different focal f; The pixel count d ' in image between two laser center of mass point is calculated according to following formula;
d'＝(10/L)*N
10f
Step 4: the measurement point manually choosing tested transmission line of electricity and trees, the vertical interval according to following formula computing electric power line and trees:
Wherein, as shown in Figure 2, θ is the angle of pitch, s is the vertical interval of tested transmission line of electricity and trees, s ' is for surveying the pixel count between transmission line of electricity and trees in vertical direction in image, d is the installation interval distance of the first laser range finder 1 and the second laser range finder 3, be the first laser range finder 1 and the second laser range finder on measured tree and survey 3 distances obtained, by known θ, s ', d and d ', try to achieve the vertical interval s of tested transmission line of electricity and trees, achieve the measuring method of the ground self-operated measuring unit of transmission line of electricity vertical interval.
In the present embodiment, the laser spot distance d=126mm that two laser range finders send, works as L=l
1=l
2when=10m, θ=0, focal length numerical value f, from 0 to 100 changes, measures the value of the d' under different focal f respectively, i.e. d shared number of pixels N in the picture
10f.N shown in Fig. 3
10fcalibration result.In measuring process, laser range finder obtains distance value L, by formula d'=(10/L) * N
10fobtain the value of the d' under current focal distance f.
This self-operated measuring unit is after demarcating, and in UHV (ultra-high voltage) corridor, circuit has carried out practicality inspection, has carried out the test of 52m, 89m, 135m third gear object distance respectively, uses transit survey result to carry out error ratio pair as standard simultaneously.Test findings is in table 1.
Claims (8)
1. a ground self-operated measuring unit for transmission line of electricity and trees vertical interval, is characterized in that, this device comprises: the first laser range finder, the second laser range finder, obliquity sensor, support, GPS and computing machine; Described first laser range finder, the second laser range finder, high definition camera, obliquity sensor and GPS are arranged in support respectively; First laser range finder and the second laser range finder are arranged on high definition camera both sides, symmetrical with high definition camera, and the first laser range finder, the second laser range finder are parallel with high definition camera optical axis; Computing machine controls Laser output and cut out, high definition camera collection display view data, the angular values obtaining obliquity sensor and the position, GPS measured point of the first laser range finder and the second laser range finder, and process measurement result.
2. the ground self-operated measuring unit of a kind of transmission line of electricity according to claim 1 and trees vertical interval, is characterized in that, described first laser range finder and the second laser range finder are visible red laser range finder.
3. the ground self-operated measuring unit of a kind of transmission line of electricity according to claim 1 and trees vertical interval, is characterized in that, described high definition camera is slr camera.
4. the ground self-operated measuring unit of a kind of transmission line of electricity according to claim 1 and trees vertical interval, is characterized in that, described support is made up of support frame and tripod.
5. the ground self-operated measuring unit of a kind of transmission line of electricity according to claim 4 and trees vertical interval, is characterized in that, described support frame is the framed structure of aluminium section bar and carbon fiber board composition.
6. the ground self-operated measuring unit of a kind of transmission line of electricity according to claim 1 and trees vertical interval, is characterized in that, the first laser range finder, the second laser range finder, obliquity sensor are connected with computer connection wire respectively with GPS; High definition camera is connected by Wifi with computing machine.
7., based on the measuring method of the ground self-operated measuring unit of a kind of transmission line of electricity and trees vertical interval, it is characterized in that, the method comprises the steps:
Step one: control the first laser range finder and the second laser range finder by computing machine and open, and aim at measured tree and find range;
Step 2: control high definition camera imaging by computing machine;
Step 3: the laser spots threshold value setting the first laser range finder and the second laser range finder, be partitioned into laser spots, centroid position is asked by two laser spots, calculate the pixel count d' of vertical direction between laser spots barycenter in the plane of delineation that high definition camera gathers, be the pixel count between two center of mass point that on measured tree, the first laser range finder and the second laser range finder record;
Step 4: the measurement point manually choosing tested transmission line of electricity and trees, the vertical interval according to following formula computing electric power line and trees:
Wherein θ is the angle of pitch, and s is the vertical interval of tested transmission line of electricity and trees, s
'for surveying the pixel count between transmission line of electricity and trees in vertical direction in image, d is the installation interval distance of the first laser range finder and the second laser range finder, be the distance that on measured tree, the first laser range finder and the second laser range finder record, by known θ, s ', d and d ', try to achieve the vertical interval s of tested transmission line of electricity and trees, achieve the measuring method of the ground self-operated measuring unit of transmission line of electricity vertical interval.
8. measuring method according to claim 7, it is characterized in that, the pixel count d' of vertical direction between laser spots barycenter in the plane of delineation of high definition camera collection is calculated in described step 3, calculate by the following method: control to return focal length numerical value f under the F of different focal position by high definition camera, relation when demarcation pixel number d', focal position F and the angle of pitch are 0 degree between measured tree and the distance L of laser range finder, the pixel number N of laser spots under acquisition camera different focal f
10f; The pixel count d ' in image between two laser center of mass point is calculated according to following formula;
d'＝(10/L)*N
10f。
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106646481A (en) * | 2016-11-09 | 2017-05-10 | 国家电网公司 | UAV ranging device used for power transmission line and ranging method of said UAV ranging device |
| CN109816643A (en) * | 2019-01-16 | 2019-05-28 | 云南电网有限责任公司昭通供电局 | It is a kind of based on line defct identification tree line apart from intelligent analysis method |
| CN110320566A (en) * | 2019-07-12 | 2019-10-11 | 谌昕 | High-tension line branch increases early warning system |
| CN113446948A (en) * | 2021-08-13 | 2021-09-28 | 中建安装集团有限公司 | Non-contact portable length measuring device |
| CN113810660A (en) * | 2021-08-25 | 2021-12-17 | 深圳市恺恩科技有限公司 | External damage prevention detection device for power transmission line and tower with same |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106646481A (en) * | 2016-11-09 | 2017-05-10 | 国家电网公司 | UAV ranging device used for power transmission line and ranging method of said UAV ranging device |
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| CN110320566A (en) * | 2019-07-12 | 2019-10-11 | 谌昕 | High-tension line branch increases early warning system |
| CN113446948A (en) * | 2021-08-13 | 2021-09-28 | 中建安装集团有限公司 | Non-contact portable length measuring device |
| CN113810660A (en) * | 2021-08-25 | 2021-12-17 | 深圳市恺恩科技有限公司 | External damage prevention detection device for power transmission line and tower with same |
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