CN105516685A - Patrol inspection method for power transmission line of power grid - Google Patents

Patrol inspection method for power transmission line of power grid Download PDF

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Publication number
CN105516685A
CN105516685A CN201610024556.3A CN201610024556A CN105516685A CN 105516685 A CN105516685 A CN 105516685A CN 201610024556 A CN201610024556 A CN 201610024556A CN 105516685 A CN105516685 A CN 105516685A
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China
Prior art keywords
communication module
control
ground control
video image
control cabinet
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CN201610024556.3A
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Chinese (zh)
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南彦勃
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南彦勃
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Priority to CN201610024556.3A priority Critical patent/CN105516685A/en
Publication of CN105516685A publication Critical patent/CN105516685A/en
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64DEQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLYING SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D47/00Equipment not otherwise provided for
    • B64D47/08Arrangements of cameras
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/12Target-seeking control
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04LTRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L67/00Network-specific arrangements or communication protocols supporting networked applications
    • H04L67/18Network-specific arrangements or communication protocols supporting networked applications in which the network application is adapted for the location of the user terminal
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04NPICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N5/00Details of television systems
    • H04N5/222Studio circuitry; Studio devices; Studio equipment ; Cameras comprising an electronic image sensor, e.g. digital cameras, video cameras, TV cameras, video cameras, camcorders, webcams, camera modules for embedding in other devices, e.g. mobile phones, computers or vehicles
    • H04N5/225Television cameras ; Cameras comprising an electronic image sensor, e.g. digital cameras, video cameras, camcorders, webcams, camera modules specially adapted for being embedded in other devices, e.g. mobile phones, computers or vehicles
    • H04N5/232Devices for controlling television cameras, e.g. remote control ; Control of cameras comprising an electronic image sensor
    • H04N5/23203Remote-control signaling for television cameras, cameras comprising an electronic image sensor or for parts thereof, e.g. between main body and another part of camera
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04NPICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N5/00Details of television systems
    • H04N5/222Studio circuitry; Studio devices; Studio equipment ; Cameras comprising an electronic image sensor, e.g. digital cameras, video cameras, TV cameras, video cameras, camcorders, webcams, camera modules for embedding in other devices, e.g. mobile phones, computers or vehicles
    • H04N5/225Television cameras ; Cameras comprising an electronic image sensor, e.g. digital cameras, video cameras, camcorders, webcams, camera modules specially adapted for being embedded in other devices, e.g. mobile phones, computers or vehicles
    • H04N5/232Devices for controlling television cameras, e.g. remote control ; Control of cameras comprising an electronic image sensor
    • H04N5/23229Devices for controlling television cameras, e.g. remote control ; Control of cameras comprising an electronic image sensor comprising further processing of the captured image without influencing the image pickup process
    • 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
    • H04N7/183Closed circuit television systems, i.e. systems in which the signal is not broadcast for receiving images from a single remote source
    • H04N7/185Closed circuit television systems, i.e. systems in which the signal is not broadcast for receiving images from a single remote source from a mobile camera, e.g. for remote control

Abstract

The invention discloses a patrol inspection method for a power transmission line of a power grid. The patrol inspection method comprises the following steps: a camera takes video images of a power line or a pole in a flying patrol inspection line of an unmanned plane; onboard communication equipment communicates with a plurality of ground control consoles to acquire position information of each ground control console, selects one ground control console closest to the unmanned plane at present according to different positions of different ground control consoles, and transmits the video images taken at the present to the ground control console; the ground control console receives the current taken video images, and transmits the current taken video images in a way of associating with the position information; a background control center receives a plurality of video images transmitted by all the ground control consoles, respectively displays the multiple video images and the position information of the corresponding ground control consoles correspondingly, and judges damage to the power line and the pole. According to the patrol inspection method, the accuracy of judging the damage to the power line and the pole of the power transmission line can be improved, measures can be conveniently taken in time, and safe operation of a power system is guaranteed.

Description

Electric power network 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 electric power network 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 safe operation of power system.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 safe operation of power system.
Summary of the invention
The object of this invention is to provide a kind of electric power network 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 electric power system.
In order to solve the problems of the technologies described above, the invention provides a kind of electric power network power transmission line inspection method, be applied to unmanned plane inspection tour system to perform, described system comprises background control center, multiple ground control cabinet and the camera be arranged on unmanned plane and airborne communication control; The method comprises the steps:
Unmanned plane during flying described in described camera captured in real-time is patrolled and examined the video image of power line in transmission line or tower bar and is outputted to described airborne communication control;
Described airborne communication control communicates with multiple described ground control cabinet, obtain the positional information of each ground control cabinet, according to the diverse location residing for different ground control cabinets, select the ground control cabinet that described in current distance, unmanned plane is nearest, the video image of current shooting is sent to a described ground control cabinet recently;
A described ground control cabinet recently receives the video image of described current shooting, is associated by the video image of current shooting with the positional information of self, and the described video image after association is sent to described background control center;
Described background control center communicates with multiple described ground control cabinet, receive the multiple described video image after the association that all ground control cabinets send, the positional information difference correspondence of multiple described video image and corresponding ground control cabinet is shown, and judges the degree of impairment of transmission line power line and tower bar according to multiple described video image.
Preferably, adjacent two mutual radio communications of ground control cabinet in multiple described ground control cabinet.
Further, described video image after association also for the described video image after association is sent to the previous ground control cabinet be adjacent, is sent to described background control center by described previous ground control cabinet by a described ground control cabinet recently.
Preferably, also comprise and be arranged on distance measuring sensor on described unmanned plane and Electrofax; Described distance measuring sensor, outputs to described airborne communication control for the distance value that detects between power line in described unmanned plane and transmission line or tower bar; Described airborne communication control, also for described distance value and video image are sent to described ground control cabinet; Described ground control cabinet, with described unmanned plane by described airborne communication control radio communication, also 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, 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.
Further, described airborne communication control also comprises control module, described first communication module, and second communication module is connected with described control module respectively with third communication module; Wherein, described control module makes described first communication module for controlling switching, and second communication module and third communication module work respectively.
Described control module makes described first communication module for controlling switching, second communication module and third communication module work respectively, be specially: when detecting that the message transmission rate of described first communication module reaches the first predetermined value, described control module controls to start described second communication module work, and now described first communication module and second communication module transmit data simultaneously; When detecting that the message transmission rate of described second communication module reaches the second predetermined value, described control module controls to start described third communication module work, and now described first communication module, second communication module and third communication module transmit data simultaneously.
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.
The invention has the beneficial effects as follows: patrol and examine the video image of power line in transmission line or tower bar by unmanned plane during flying described in camera captured in real-time and output to described airborne communication control; Described airborne communication control communicates with multiple described ground control cabinet, obtain the positional information of each ground control cabinet, according to the diverse location residing for different ground control cabinets, select the ground control cabinet that described in current distance, unmanned plane is nearest, the video image of camera current shooting is sent to a nearest ground control cabinet, the video image of camera current shooting associates with the positional information of self by a nearest ground control cabinet, and the described video image after association is sent to described background control center; Described background control center communicates with multiple described ground control cabinet, for receiving the multiple described video image after association that all ground control cabinets send, the positional information difference correspondence of multiple described video image and corresponding ground control cabinet is shown, and judges the degree of impairment of transmission line power line and tower bar according to multiple described video image.Can diverse location residing for different ground control cabinets by the present invention program, select the ground control cabinet that described in current distance, unmanned plane is nearest, described video image is sent to a described ground control cabinet recently, unmanned plane during flying process dynamics performs this process, video image associates with the positional information of diverse location place ground control cabinet, can obtain and distinguish transmission line zones of different power line and the more accurate clear photograph of tower bar, and then improve transmission line power line and tower bar damage overall condition judgment accuracy, conveniently promptly and accurately take maintenance measure, better ensure that the safe operation of electric power system.
Accompanying drawing explanation
Fig. 1 is embodiment of the present invention unmanned plane inspection tour system schematic diagram;
Fig. 2 is another schematic diagram of embodiment of the present invention unmanned plane inspection tour system.
Embodiment
Below in conjunction with drawings and embodiments, the present invention is further illustrated.
As shown in Figure 1, the execution carrier that the inventive method embodiment relies on, namely unmanned plane inspection tour system comprises background control center, multiple ground control cabinet (Fig. 1 only illustrates 2, is not construed as limiting) and the camera (as high-definition camera) be arranged on unmanned plane and airborne communication control; The inventive method comprises the steps:
Unmanned plane during flying described in step one, described camera captured in real-time is patrolled and examined the video image of power line in transmission line or tower bar and is outputted to described airborne communication control;
Step 2, described airborne communication control communicate with multiple described ground control cabinet, obtain the positional information (concrete ground control cabinet is sent to airborne communication control by arranging GPS locating module acquisition position) of each ground control cabinet, according to the diverse location residing for different ground control cabinets, select the ground control cabinet that described in current distance, unmanned plane is nearest, the video image of current shooting is sent to a described ground control cabinet recently;
Step 3, a described ground control cabinet recently receive the video image of described current shooting, are associated by the video image of current shooting with the positional information of self, and the described video image after association is sent to described background control center;
Step 4, described background control center communicate with multiple described ground control cabinet (as by 4G wireless communication), receive the multiple described video image after the association that all ground control cabinets send, the positional information difference correspondence of multiple described video image and corresponding ground control cabinet is shown, and judges the degree of impairment of transmission line power line and tower bar according to multiple described video image.
The present invention patrols and examines the video image of power line in transmission line or tower bar by unmanned plane during flying described in camera captured in real-time and outputs to described airborne communication control; Described airborne communication control communicates with multiple described ground control cabinet, obtain the positional information of each ground control cabinet, according to the diverse location residing for different ground control cabinets, select the ground control cabinet that described in current distance, unmanned plane is nearest, the video image of camera current shooting is sent to a nearest ground control cabinet, the video image of camera current shooting associates with the positional information of self by a nearest ground control cabinet, and the described video image after association is sent to described background control center; Described background control center communicates with multiple described ground control cabinet, for receiving the multiple described video image after association that all ground control cabinets send, the positional information difference correspondence of multiple described video image and corresponding ground control cabinet is shown, and judges the degree of impairment of transmission line power line and tower bar according to multiple described video image.Can diverse location residing for different ground control cabinets by the present invention program, select the ground control cabinet that described in current distance, unmanned plane is nearest, described video image is sent to a described ground control cabinet recently, unmanned plane during flying process dynamics performs this process, video image associates with the positional information of diverse location place ground control cabinet, can obtain and distinguish transmission line zones of different power line and the more accurate clear photograph of tower bar, 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 electric power system.
Preferably, adjacent two mutual radio communications of ground control cabinet (as 3G or the 4G communication module by arranging separately communicates mutually) in multiple described ground control cabinet.Described video image after association also for the described video image after association is sent to the previous ground control cabinet be adjacent, is sent to described background control center by described previous ground control cabinet by a described ground control cabinet recently.Adopt the program can auxiliary transmission data, the reliability of transfer of data is strengthened greatly, and then ensures the accuracy that follow-up transmission line power line and tower bar degree of impairment judge.
Concrete, in conjunction with referring to Fig. 2, the described unmanned plane inspection tour system that the invention process exemplifies also comprises the Electrofax be arranged on unmanned plane, distance measuring sensor (as ultrasonic distance-measuring sensor); The inventive method also comprises; 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.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 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 power line or the image of tower bar that described Electrofax obtains taking pictures are sent to background control center after being transferred to described ground control cabinet by described airborne communication control, to facilitate, 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 electric power system.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 electric power system.
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.
Further, described airborne communication control also comprises control module, described first communication module, and second communication module is connected with described control module respectively with third communication module; Wherein, described control module makes described first communication module for controlling switching, and second communication module and third communication module work respectively.Concrete, in one embodiment, described control module makes described first communication module for controlling switching, second communication module and third communication module work respectively, be specially: when detecting that the message transmission rate of described first communication module reaches the first predetermined value, described control module controls to start described second communication module work, and now described first communication module and second communication module transmit data simultaneously; When detecting that the message transmission rate of described second communication module reaches the second predetermined value, described control module controls to start described third communication module work, and now described first communication module, second communication module and third communication module transmit data simultaneously.Described first predetermined value and the second predetermined value can pre-set, and those skilled in the art are arranged as the case may be.Adopt this further scheme, plural communication module can be adopted when volume of transmitted data is large time to transmit data simultaneously, make the reliability of transfer of data greatly strengthen further, and then ensure the accuracy that follow-up transmission line power line and tower bar degree of impairment judge.
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 electric power system.
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 electric power system.
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 electric power system.
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 (8)

1. an electric power network power transmission line inspection method, be applied to unmanned plane inspection tour system and perform, it is characterized in that, described system comprises background control center, multiple ground control cabinet and the camera be arranged on unmanned plane and airborne communication control; The method comprises the steps:
Unmanned plane during flying described in described camera captured in real-time is patrolled and examined the video image of power line in transmission line or tower bar and is outputted to described airborne communication control;
Described airborne communication control communicates with multiple described ground control cabinet, obtain the positional information of each ground control cabinet, according to the diverse location residing for different ground control cabinets, select the ground control cabinet that described in current distance, unmanned plane is nearest, the video image of current shooting is sent to a described ground control cabinet recently;
A described ground control cabinet recently receives the video image of described current shooting, is associated by the video image of current shooting with the positional information of self, and the described video image after association is sent to described background control center;
Described background control center communicates with multiple described ground control cabinet, receive the multiple described video image after the association that all ground control cabinets send, the positional information difference correspondence of multiple described video image and corresponding ground control cabinet is shown, and judges the degree of impairment of transmission line power line and tower bar according to multiple described video image.
2. electric power network power transmission line inspection method according to claim 1, is characterized in that, adjacent two mutual radio communications of ground control cabinet in multiple described ground control cabinet.
3. electric power network power transmission line inspection method according to claim 2, it is characterized in that, described video image after association is also sent to the previous ground control cabinet be adjacent by a described ground control cabinet recently, by described previous ground control cabinet, the described video image after association is sent to described background control center.
4. electric power network power transmission line inspection method according to any one of claim 1-3, is characterized in that, described system also comprises and is arranged on distance measuring sensor on described unmanned plane and Electrofax; The method also comprises:
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 distance value and described video image are sent to described ground control cabinet by described airborne communication control simultaneously;
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.
5. electric power network power transmission line inspection method according to claim 4, 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.
6. electric power network power transmission line inspection method according to claim 5, it is characterized in that, described airborne communication control also comprises control module, described first communication module, and second communication module is connected with described control module respectively with third communication module; Wherein, described control module makes described first communication module for controlling switching, and second communication module and third communication module work respectively.
7. electric power network power transmission line inspection method according to claim 6, it is characterized in that, described control module makes described first communication module for controlling switching, and second communication module and third communication module work respectively, are specially:
When detecting that the message transmission rate of described first communication module reaches the first predetermined value, described control module controls to start described second communication module work, and now described first communication module and second communication module transmit data simultaneously;
When detecting that the message transmission rate of described second communication module reaches the second predetermined value, described control module controls to start described third communication module work, and now described first communication module, second communication module and third communication module transmit data simultaneously.
8. electric power network power transmission line inspection method according to claim 4, 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.
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CN105610960A (en) * 2016-01-15 2016-05-25 南彦勃 Power grid power transmission line patrolling system
CN105828049A (en) * 2016-05-20 2016-08-03 国网山东省电力公司日照供电公司 Intelligent remote viewing system of transformer substation
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
CN106444811A (en) * 2016-10-26 2017-02-22 徐州飞梦电子科技有限公司 Control method of utilizing signal intensity switching to control plant protection unmanned aerial vehicle
CN106646113A (en) * 2016-11-16 2017-05-10 国家电网公司 Power transformer line safety detection method
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Application publication date: 20160420