CN105516683A - Power transmission line patrolling method - Google Patents

Power transmission line patrolling method Download PDF

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Publication number
CN105516683A
CN105516683A CN201610024489.5A CN201610024489A CN105516683A CN 105516683 A CN105516683 A CN 105516683A CN 201610024489 A CN201610024489 A CN 201610024489A CN 105516683 A CN105516683 A CN 105516683A
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CN
China
Prior art keywords
transmission line
distance value
unmanned plane
electrofax
video image
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Pending
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CN201610024489.5A
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Chinese (zh)
Inventor
南彦勃
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南彦勃
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Priority to CN201610024489.5A priority Critical patent/CN105516683A/en
Publication of CN105516683A publication Critical patent/CN105516683A/en
Pending legal-status Critical Current

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    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02GINSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
    • H02G1/00Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
    • H02G1/02Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04NPICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00Television systems
    • H04N7/18Closed circuit television systems, i.e. systems in which the signal is not broadcast
    • H04N7/188Capturing isolated or intermittent images triggered by the occurrence of a predetermined event, e.g. an object reaching a predetermined position

Abstract

The invention discloses a power transmission line patrolling method, which comprises the following steps that a distance measuring sensor detects the distance value between tower poles or power lines in a power transmission line and an unmanned plane and outputs the distance value to airborne communication equipment; a camera shoots a video image of a flight routing inspection power transmission line of the unmanned plane in real time and outputs the video image to the airborne communication equipment; the airborne communication equipment sends the distance value and the video image to a ground control panel; the ground control panel and the unmanned plane realize wireless communication through the airborne communication equipment; the received distance value and the received video image are processed; a control command is sent to an electronic camera according to the processing result; the electronic camera arranged on the unmanned plane is controlled and triggered to perform photo taking action. The power transmission line patrolling method has the advantages that the damage condition judgment accuracy of the tower poles and the power lines of the power transmission line is improved, so that overhauling measures can be conveniently and accurately taken in time, and the safe operation of an electric method is better ensured.

Description

Power transmission line inspection method
Technical field
The present invention relates to power network line and make an inspection tour technical field, particularly a kind of power transmission line inspection method.
Background technology
Transmission line distribution is multi-point and wide-ranging, residing with a varied topography, natural environment is severe, power line and the neighbouring long-time wind rain in the wild of tower bar shine, easy generation wearing and tearing, corrosion equivalent damage, must repair in time or change, therefore need the ruuning situation detecting transmission line termly, remove a hidden danger in time, guarantee electrical methods safe operation.Traditional is adopt artificial line walking inspection, and workload is large, because terrain environment is complicated, checks that difficulty is large.Occur adopting unmanned plane to take pictures the technological means of patrolling and examining to transmission line at present, but be subject to various factors impact when unmanned plane is taken pictures on transmission line, if the definition of photo is poor, the follow-up judgement of direct impact, and then cause judging not accurate enough to the degree of impairment of the power line in transmission line and tower bar, be difficult to maintenance and ensure electrical methods safe operation.
Summary of the invention
The object of this invention is to provide a kind of power transmission line inspection method, it can obtain transmission line power line and tower bar comparatively clear photograph, and then improve transmission line power line and tower bar degree of impairment judgment accuracy, facilitate technology accurately to take maintenance measure, better ensure that the safe operation of electrical methods.
In order to solve the problems of the technologies described above, the invention provides a kind of power transmission line inspection method, being applied to unmanned plane inspection tour system, described system comprises ground control cabinet and is arranged on Electrofax, camera, distance measuring sensor and the airborne communication control on unmanned plane; The method comprises the following steps: described distance measuring sensor detects the distance value between power line in described unmanned plane and transmission line or tower bar and outputs to described airborne communication control; Described in described camera captured in real-time, unmanned plane during flying is patrolled and examined the video image of transmission line and outputs to described airborne communication control; Described distance value and video image are sent to described ground control cabinet by described airborne communication control; Described ground control cabinet and described unmanned plane are by described airborne communication control radio communication, the described distance value received and video image are processed, send control command according to result and transmit described control command to described Electrofax by described airborne communication control, controlling the action of taking pictures of the described Electrofax triggered on described unmanned plane.
Preferably, described airborne communication control comprises first communication module, second communication module and third communication module;
When described distance value is less than first threshold, described distance value and video image are sent to described ground control cabinet by described first communication module by described airborne communication control;
When described distance value is more than or equal to first threshold and is less than Second Threshold, described distance value and video image are sent to described ground control cabinet by described second communication module by described airborne communication control;
When described distance value is more than or equal to Second Threshold, described distance value and video image are sent to described ground control cabinet by described third communication module by described airborne communication control; Wherein said first threshold is less than described Second Threshold.
Preferably, described ground control cabinet processes the described distance value received and video image, send control command according to result and transmit described control command to described Electrofax by described airborne communication control, control the action of taking pictures of the described Electrofax triggered on described unmanned plane, be specially:
When detect in described video image there is power line in transmission line or tower bar time, and when described distance value is less than first threshold, send the first control command and by described first control command of described airborne communication control transmission to described Electrofax, described Electrofax taken pictures with the first parameter mode and obtains the image of described power line or tower bar;
When detect in described video image there is power line in transmission line or tower bar time, and when described distance value is greater than first threshold and is less than Second Threshold, send the second control command and by described second control command of described airborne communication control transmission to described Electrofax, described Electrofax taken pictures with the second parameter mode and obtains the image of described power line or tower bar.
Preferably, described Electrofax is also transferred to described ground control cabinet for the described power line that obtains taking pictures or the image of tower bar by described airborne communication control.
Preferably, described ground control cabinet is also for when described Electrofax is taken pictures, a frame video pictures image of current point in time is extracted from described video image, according to the definition comparative result of described video pictures image with the image of the take pictures described power line that obtains or tower bar, determine whether to resend control command to described Electrofax again to take pictures.
Preferably, described ground control cabinet also for when detect in described video image there is power line in transmission line or tower bar time, sending a command to described unmanned plane makes described unmanned plane hover in the given time, sends described first control command or the second control command afterwards.
The invention has the beneficial effects as follows: detect the distance value between power line in described unmanned plane and transmission line or tower bar by distance measuring sensor and output to airborne communication control, unmanned plane during flying described in camera captured in real-time is patrolled and examined the video image of transmission line and outputted to described airborne communication control; Described distance value and video image are sent to described ground control cabinet by described airborne communication control; described ground control cabinet and described unmanned plane are by described airborne communication control radio communication, for processing the described distance value received and video image, send control command according to result and transmit described control command to described Electrofax by described airborne communication control, the action of taking pictures controlling to trigger the described Electrofax on described unmanned plane obtains power line or tower bar image, the present invention has considered video image two factors of power line in the transmission line of distance between power line in unmanned plane and transmission line or tower bar and camera Real-time Obtaining or tower bar, result according to two factors sends control command and is transferred to described Electrofax, the action of taking pictures controlling to trigger described Electrofax obtains power line or tower bar image, transmission line power line and tower bar comparatively clear photograph can be obtained, and then improve transmission line power line and tower bar degree of impairment judgment accuracy, conveniently promptly and accurately take maintenance measure, better ensure that the safe operation of electrical methods.
Accompanying drawing explanation
Fig. 1 is power transmission line inspection method schematic flow sheet of the present invention;
Fig. 2 is unmanned plane inspection tour system schematic diagram of the present invention.
Embodiment
Below in conjunction with drawings and embodiments, the present invention is further illustrated.
As shown in Figure 1, for the power transmission line inspection method that the invention process exemplifies, be applied to unmanned plane inspection tour system, referring to Fig. 2, described system comprises ground control cabinet and is arranged on Electrofax, camera (as high-definition camera), distance measuring sensor (as ultrasonic distance-measuring sensor) and the airborne communication control on unmanned plane, it should be noted that, other structures of this unmanned plane and control assembly with reference to existing mature technology, no longer can describe in detail.The method comprises the steps:
Step one, described distance measuring sensor detect the distance value between power line in described unmanned plane and transmission line or tower bar and output to described airborne communication control;
Described in step 2, described camera captured in real-time, unmanned plane during flying is patrolled and examined the video image of transmission line and outputs to described airborne communication control;
Described distance value and video image are sent to described ground control cabinet by step 3, described airborne communication control;
Step 4, described ground control cabinet and described unmanned plane are by described airborne communication control radio communication, the described distance value received and video image are processed, send control command according to result and transmit described control command to described Electrofax by described airborne communication control, controlling the action of taking pictures of the described Electrofax triggered on described unmanned plane.
The present invention detects the distance value between power line in described unmanned plane and transmission line or tower bar by distance measuring sensor and outputs to airborne communication control, and unmanned plane during flying described in camera captured in real-time is patrolled and examined the video image of transmission line and outputted to described airborne communication control; Described distance value and video image are sent to described ground control cabinet by described airborne communication control; Described ground control cabinet and described unmanned plane are by described airborne communication control radio communication, for processing the described distance value received and video image, send control command according to result and transmit described control command to described Electrofax by described airborne communication control, the action of taking pictures controlling to trigger the described Electrofax on described unmanned plane obtains power line or tower bar image.Described Electrofax is also transferred to described ground control cabinet for the described power line that obtains taking pictures or the image of tower bar by described airborne communication control, to facilitate ground control cabinet, transmission line power line and tower bar degree of impairment are judged, the convenient maintenance measure promptly and accurately taking correspondence, thus better ensure that the safe operation of electrical methods.The computer that ground control cabinet can have various communication module interface by one is formed.
The present invention has considered video image two factors of power line in the transmission line of distance between power line in unmanned plane and transmission line or tower bar and camera Real-time Obtaining or tower bar, result according to two factors sends control command and is transferred to described Electrofax, the action of taking pictures controlling to trigger described Electrofax obtains power line or tower bar image, transmission line power line and tower bar comparatively clear photograph can be obtained, and then improve transmission line power line and tower bar degree of impairment judgment accuracy, conveniently promptly and accurately take maintenance measure, better ensure that the safe operation of electrical methods.
Concrete, in order to improve the reliability and stability of the transfer of data of unmanned plane and ground control cabinet, described airborne communication control comprises first communication module, second communication module and third communication module (not shown); When described distance value is less than first threshold (as 500 meters), ground control cabinet as described in described distance value and video image are sent to by described first communication module (as microwave communication module) by described airborne communication control, described ground control cabinet correspondence is provided with microwave communication module.When described distance value is more than or equal to first threshold and is less than Second Threshold (1000 meters), ground control cabinet as described in described distance value and video image are sent to by described second communication module (as 3G or 4G communication module) by described airborne communication control, described ground control cabinet correspondence is provided with 3G or 4G communication module.When described distance value is more than or equal to Second Threshold, ground control cabinet as described in described distance value and video image are sent to by described third communication module (as satellite communication module) by described airborne communication control; Described ground control cabinet correspondence is provided with satellite communication module.Wherein said first threshold is less than described Second Threshold.Along with the conversion of flying height and distance, data transmission credibility bad stability, the described distance value gathered by program unmanned plane and vedio data can be sent to ground control cabinet in different ways according to the power line in unmanned plane and transmission line or the distance between tower bar adjustment, improve the reliability and stability of the transfer of data of unmanned plane and ground control cabinet
In one embodiment, described ground control cabinet processes the described distance value received and video image, send control command according to result and transmit described control command to described Electrofax by described airborne communication control, control the action of taking pictures of the described Electrofax triggered on described unmanned plane, be specially: when detect in described video image there is power line in transmission line or tower bar time, and when described distance value is less than first threshold (as 500 meters), now close together, send the first control command and transmit described first control command to described Electrofax by described airborne communication control, described Electrofax is taken pictures with the first parameter mode and obtains the image of described power line or tower bar, when detect in described video image there is power line in transmission line or tower bar time, and when described distance value is greater than first threshold (as 500 meters) and is less than Second Threshold (as 1000 meters), now distant, send the second control command and by described second control command of described airborne communication control transmission to described Electrofax, described Electrofax taken pictures with the second parameter mode and obtains the image of described power line or tower bar.Shooting clear degree when described Electrofax is in the second parameter (as focal length) pattern is greater than shooting clear degree when being in the first parameter (as focal length) pattern.Transmission line power line and tower bar comparatively clear photograph can be obtained further by the program, and then improve follow-up transmission line power line and tower bar degree of impairment judgment accuracy, conveniently promptly and accurately take maintenance measure, ensure the safe operation of electrical methods.
In one embodiment, described ground control cabinet is also for when described Electrofax is taken pictures, a frame video pictures image of current point in time is extracted from the video image that described thecamera head comes, according to the definition comparative result of described video pictures image with the image of the take pictures described power line that obtains or tower bar, determine whether to resend control command to described Electrofax again to take pictures.Described video pictures image comprises the power line of current point in time appearance or the image of tower bar, carry out definition compare by the take pictures image of the described power line that obtains or tower bar of the image of power line that camera is obtained or tower bar and electronic camera, the definition of the power line of the described power line obtained when taking pictures or the image of tower bar and high-definition camera acquisition or the image of tower bar is all lower than predetermined threshold value, or when the definition of the image of the power line that the definition of the image of the take pictures described power line that obtains or tower bar obtains lower than high-definition camera or tower bar reaches a threshold value, judge that photo is unavailable, then control again to take pictures.The image synthesis that ground control cabinet can obtain in conjunction with these two kinds of modes judges according to transmission line power line and tower bar degree of impairment, further raising transmission line power line and tower bar degree of impairment judgment accuracy, conveniently promptly and accurately take maintenance measure, better ensure that the safe operation of electrical methods.
Preferably, described ground control cabinet also for when detect in described video image there is power line in transmission line or tower bar time, sending a command to described unmanned plane makes described unmanned plane hover in the given time, send described first control command or the second control command afterwards, preventing like this takes pictures in flight course causes definition poor, improve the definition of the photo of taking pictures, and then improve transmission line power line and tower bar degree of impairment judgment accuracy, conveniently promptly and accurately take maintenance measure, better ensure that the safe operation of electrical methods.
The invention has the beneficial effects as follows: detect the distance value between power line in described unmanned plane and transmission line or tower bar by distance measuring sensor and output to airborne communication control, unmanned plane during flying described in camera captured in real-time is patrolled and examined the video image of transmission line and outputted to described airborne communication control; Described distance value and video image are sent to described ground control cabinet by described airborne communication control; described ground control cabinet and described unmanned plane are by described airborne communication control radio communication, for processing the described distance value received and video image, send control command according to result and transmit described control command to described Electrofax by described airborne communication control, the action of taking pictures controlling to trigger the described Electrofax on described unmanned plane obtains power line or tower bar image, the present invention has considered video image two factors of power line in the transmission line of distance between power line in unmanned plane and transmission line or tower bar and camera Real-time Obtaining or tower bar, result according to two factors sends control command and is transferred to described Electrofax, the action of taking pictures controlling to trigger described Electrofax obtains power line or tower bar image, transmission line power line and tower bar comparatively clear photograph can be obtained, and then improve transmission line power line and tower bar degree of impairment judgment accuracy, conveniently promptly and accurately take maintenance measure, better ensure that the safe operation of electrical methods.
Above to invention has been detailed introduction, applying specific case herein and principle of the present invention and execution mode are set forth.The explanation of above embodiment just understands core concept of the present invention for helping; Meanwhile, for one of ordinary skill in the art, according to thought of the present invention, all will change in specific embodiments and applications, in sum, this description should not be construed as limitation of the present invention.

Claims (6)

1. a power transmission line inspection method, is applied to unmanned plane inspection tour system, it is characterized in that, described system comprises ground control cabinet and is arranged on Electrofax, camera, distance measuring sensor and the airborne communication control on unmanned plane; The method comprises the following steps;
Described distance measuring sensor detects the distance value between power line in described unmanned plane and transmission line or tower bar and outputs to described airborne communication control;
Described in described camera captured in real-time, unmanned plane during flying is patrolled and examined the video image of transmission line and outputs to described airborne communication control;
Described distance value and video image are sent to described ground control cabinet by described airborne communication control;
Described ground control cabinet and described unmanned plane are by described airborne communication control radio communication, the described distance value received and video image are processed, send control command according to result and transmit described control command to described Electrofax by described airborne communication control, controlling the action of taking pictures of the described Electrofax triggered on described unmanned plane.
2. power transmission line inspection method according to claim 1, it is characterized in that, described airborne communication control comprises first communication module, second communication module and third communication module;
When described distance value is less than first threshold, described distance value and video image are sent to described ground control cabinet by described first communication module by described airborne communication control;
When described distance value is more than or equal to first threshold and is less than Second Threshold, described distance value and video image are sent to described ground control cabinet by described second communication module by described airborne communication control;
When described distance value is more than or equal to Second Threshold, described distance value and video image are sent to described ground control cabinet by described third communication module by described airborne communication control; Wherein said first threshold is less than described Second Threshold.
3. power transmission line inspection method according to claim 2, it is characterized in that, described ground control cabinet processes the described distance value received and video image, send control command according to result and transmit described control command to described Electrofax by described airborne communication control, control the action of taking pictures of the described Electrofax triggered on described unmanned plane, be specially:
When detect in described video image there is power line in transmission line or tower bar time, and when described distance value is less than first threshold, send the first control command and by described first control command of described airborne communication control transmission to described Electrofax, described Electrofax taken pictures with the first parameter mode and obtains the image of described power line or tower bar;
When detect in described video image there is power line in transmission line or tower bar time, and when described distance value is greater than first threshold and is less than Second Threshold, send the second control command and by described second control command of described airborne communication control transmission to described Electrofax, described Electrofax taken pictures with the second parameter mode and obtains the image of described power line or tower bar.
4. power transmission line inspection method according to claim 3, is characterized in that, described Electrofax is also transferred to described ground control cabinet for the image of the described power line that obtains taking pictures or tower bar by described airborne communication control.
5. power transmission line inspection method according to claim 4, it is characterized in that, described ground control cabinet is also for when described Electrofax is taken pictures, a frame video pictures image of current point in time is extracted from described video image, according to the definition comparative result of described video pictures image with the image of the take pictures described power line that obtains or tower bar, determine whether to resend control command to described Electrofax again to take pictures.
6. power transmission line inspection method according to any one of claim 3-5, it is characterized in that, described ground control cabinet also for when detect in described video image there is power line in transmission line or tower bar time, sending a command to described unmanned plane makes described unmanned plane hover in the given time, sends described first control command or the second control command afterwards.
CN201610024489.5A 2016-01-15 2016-01-15 Power transmission line patrolling method Pending CN105516683A (en)

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106056693A (en) * 2016-06-07 2016-10-26 国网福建省电力有限公司 Online inspection method and system of thermal imaging picture data on basis of mobile terminal
CN106646113A (en) * 2016-11-16 2017-05-10 国家电网公司 Power transformer line safety detection method
CN107071352A (en) * 2017-03-30 2017-08-18 安徽森度科技有限公司 Send substation equipment maintenance and repair wisdom eye system

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CN102186018A (en) * 2011-04-29 2011-09-14 信源通科技(深圳)有限公司 Camera focusing method and device
CN202043246U (en) * 2011-05-17 2011-11-16 云南电网公司普洱供电局 Remote data collector for fixed wing unmanned plane line inspection
CN202094531U (en) * 2011-03-29 2011-12-28 山东鲁能智能技术有限公司 Power transmission line inspection device suitable for unmanned aerial vehicle

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2003008962A (en) * 2001-06-26 2003-01-10 Toshiba Corp Power-line carrier communication ip monitor camera
CN202094531U (en) * 2011-03-29 2011-12-28 山东鲁能智能技术有限公司 Power transmission line inspection device suitable for unmanned aerial vehicle
CN102186018A (en) * 2011-04-29 2011-09-14 信源通科技(深圳)有限公司 Camera focusing method and device
CN202043246U (en) * 2011-05-17 2011-11-16 云南电网公司普洱供电局 Remote data collector for fixed wing unmanned plane line inspection

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106056693A (en) * 2016-06-07 2016-10-26 国网福建省电力有限公司 Online inspection method and system of thermal imaging picture data on basis of mobile terminal
CN106646113A (en) * 2016-11-16 2017-05-10 国家电网公司 Power transformer line safety detection method
CN107071352A (en) * 2017-03-30 2017-08-18 安徽森度科技有限公司 Send substation equipment maintenance and repair wisdom eye system

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Application publication date: 20160420