CN105610087A - Power transmission line inspection system of power grid - Google Patents
Power transmission line inspection system of power grid Download PDFInfo
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- CN105610087A CN105610087A CN201610024532.8A CN201610024532A CN105610087A CN 105610087 A CN105610087 A CN 105610087A CN 201610024532 A CN201610024532 A CN 201610024532A CN 105610087 A CN105610087 A CN 105610087A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
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Abstract
The invention discloses a power transmission line inspection system of a power grid. The power transmission line inspection system comprises a camera, an onboard communication device, ground control desks and a background control center, wherein the camera is used for shooting a video image of a power line or a tower pole of a power transmission line during flight inspection of an unmanned aerial vehicle and outputting the video image to the onboard communication device; the onboard communication device is in communication with a plurality of ground control desks and is used for acquiring positional information of each ground control desk, selecting the ground control desk at the nearest distance from the unmanned aerial vehicle at current moment according to different positions where different ground control desks are located and sending the video image to the nearest ground control desk; the nearest ground control desk is used for receiving the video image and judging the damage conditions of the power line and the tower pole of the power transmission line; and the background control center is in communication with the plurality of ground control desks and is used for displaying the video image and a judgment result of each ground control desk. By the power transmission line inspection system, the judgment accuracy on the damage conditions of the power line and the tower pole of the power transmission line is improved, a maintenance measure is conveniently and timely taken, and the safety running of the power system is relatively highly ensured.
Description
Technical field
The present invention relates to power network line and make an inspection tour technical field, particularly a kind of power grid transmission line inspection tour system.
Background technology
Transmission line of electricity distributes multi-point and wide-ranging, of living in a varied topography, natural environment is severe, near power line and tower bar, wind rain shines in the wild for a long time, easily produce wearing and tearing, corrosion equivalent damage, must repair in time or change, therefore need to detect termly the ruuning situation of transmission line of electricity, remove a hidden danger in time, guarantee safe operation of power system. Traditional is to adopt artificial line walking inspection, and workload is large, due to terrain environment complexity, checks that difficulty is large. Occur at present adopting unmanned plane to the transmission line of electricity technological means of patrolling and examining of taking pictures, but unmanned plane is subject to various factors impact when transmission line of electricity is taken pictures, if the definition of photo is poor, the directly follow-up judgement of impact, and then cause the degree of impairment of the power line in transmission line of electricity and tower bar to judge not accurate enough, be difficult to maintenance ensure safe operation of power system.
Summary of the invention
The object of this invention is to provide a kind of power grid transmission line inspection tour system, it can obtain transmission line of electricity power line and tower bar compared with clear photograph, and then raising transmission line of electricity power line and tower bar degree of impairment judgment accuracy, facilitate technology accurately to take maintenance measure, better ensured the safe operation of power system.
In order to solve the problems of the technologies described above, the invention provides a kind of power grid transmission line inspection tour system, comprise Background control center, multiple ground control cabinet and be arranged on camera and the airborne communication control on unmanned plane; Described camera, patrols and examines the power line of transmission line of electricity or the video image of tower bar and outputs to described airborne communication control for taking in real time described unmanned plane during flying; Described airborne communication control, for communicating by letter with multiple described ground control cabinets, obtain the positional information of each ground control cabinet, according to the residing diverse location of different ground control cabinets, a nearest ground control cabinet of unmanned plane described in selection current distance, sends to a described nearest ground control cabinet by described video image; A described nearest ground control cabinet, for receiving described video image, judges the degree of impairment of transmission line of electricity power line and tower bar according to described video image; Background control center, communicates by letter with multiple described ground control cabinets, for showing the judged result of described video image and each ground control cabinet.
Preferably, also comprise the distance measuring sensor and the Electrofax that are arranged on described unmanned plane; Described distance measuring sensor, for detection of the distance value between the power line in described unmanned plane and transmission line of electricity or tower bar and output to described airborne communication control; Described airborne communication control, also for sending to described ground control cabinet by described distance value and video image; Described ground control cabinet, with described unmanned plane by described airborne communication control radio communication, also for the described distance value and the video image that receive are processed, send control command and transmit described control command to described Electrofax by described airborne communication control according to result, control the action of taking pictures that triggers the described Electrofax on described unmanned plane.
Preferably, described airborne communication control comprises first communication module, second communication module and third communication module;
In the time that described distance value is less than first threshold, described airborne communication control sends to described ground control cabinet by described distance value and video image by described first communication module;
In the time that described distance value is more than or equal to first threshold and is less than Second Threshold, described airborne communication control sends to described ground control cabinet by described distance value and video image by described second communication module;
In the time that described distance value is more than or equal to Second Threshold, described airborne communication control sends to described ground control cabinet by described distance value and video image by described third communication module; Wherein said first threshold is less than described Second Threshold.
Preferably, described ground control cabinet is processed the described distance value and the video image that receive, send control command and transmit described control command to described Electrofax by described airborne communication control according to result, control the action of taking pictures that triggers the described Electrofax on described unmanned plane, be specially:
In the time the power line that occurs in described video image in transmission line of electricity or tower bar being detected, and in the time that described distance value is less than first threshold, send the first control command and transmit described the first control command to described Electrofax by described airborne communication control, make described Electrofax take pictures and obtain the image of described power line or tower bar with the first parameter mode;
In the time the power line that occurs in described video image in transmission line of electricity or tower bar being detected, and in the time that described distance value is greater than first threshold and is less than Second Threshold, send the second control command and transmit described the second control command to described Electrofax by described airborne communication control, make described Electrofax take pictures and obtain the image of described power line or tower bar with the second parameter mode.
The shooting clear degree of described Electrofax in the time of the second parameter mode is greater than the shooting clear degree in the time of the first parameter mode.
The invention has the beneficial effects as follows: take in real time described unmanned plane during flying by camera and patrol and examine the video image of power line in transmission line of electricity or tower bar and output to described airborne communication control; Described airborne communication control is communicated by letter with multiple described ground control cabinets, obtain the positional information of each ground control cabinet, according to the residing diverse location of different ground control cabinets, a nearest ground control cabinet of unmanned plane described in selection current distance, sends to a described nearest ground control cabinet by described video image; A described nearest ground control cabinet receives described video image, judges the degree of impairment of transmission line of electricity power line and tower bar according to described video image; Communicating by letter with multiple described ground control cabinets in Background control center, receives the judged result that shows described video image and each ground control cabinet. By the present invention program can be according to different ground control cabinets residing diverse location, a nearest ground control cabinet of unmanned plane described in selection current distance, described video image is sent to a described nearest ground control cabinet to be judged, this process of Dynamic Execution, can obtain transmission line of electricity power line and the more accurate clear photograph of tower bar, and then raising transmission line of electricity power line and tower bar degree of impairment judgment accuracy, conveniently promptly and accurately take maintenance measure, better ensured the safe operation of power system.
Brief description of the drawings
Fig. 1 is power grid transmission line inspection tour system schematic diagram of the present invention;
Fig. 2 is another schematic diagram of power grid transmission line inspection tour system of the present invention.
Detailed description of the invention
Below in conjunction with drawings and embodiments, the present invention is further illustrated.
As shown in Figure 1, the power grid transmission line inspection tour system that the invention process exemplifies, comprise Background control center, multiple ground control cabinet (Fig. 1 only illustrates 2, is not construed as limiting) and be arranged on camera (as high-definition camera) and the airborne communication control on unmanned plane; Described camera, patrols and examines the power line of transmission line of electricity or the video image of tower bar and outputs to described airborne communication control for taking in real time described unmanned plane during flying; Described airborne communication control, for communicating by letter with multiple described ground control cabinets, obtain the positional information (concrete ground control cabinet can obtain position and sends to airborne communication control by GPS locating module is set) of each ground control cabinet, according to the residing diverse location of different ground control cabinets, a nearest ground control cabinet of unmanned plane described in selection current distance, sends to a described nearest ground control cabinet by described video image; A described nearest ground control cabinet, for receiving described video image, judges the degree of impairment of transmission line of electricity power line and tower bar according to described video image; Background control center, communicates by letter with multiple described ground control cabinets (as 4G wireless network), for receiving the judged result that shows described video image and each ground control cabinet.
The present invention takes in real time described unmanned plane during flying by camera and patrols and examines the video image of power line in transmission line of electricity or tower bar and output to described airborne communication control; Described airborne communication control is communicated by letter with multiple described ground control cabinets, obtain the positional information of each ground control cabinet, according to the residing diverse location of different ground control cabinets, a nearest ground control cabinet of unmanned plane described in selection current distance, sends to a described nearest ground control cabinet by described video image; A described nearest ground control cabinet receives described video image, judges the degree of impairment of transmission line of electricity power line and tower bar according to described video image; Communicating by letter with multiple described ground control cabinets in Background control center, receives the judged result that shows described video image and each ground control cabinet. By the present invention program can be according to different ground control cabinets residing diverse location, a nearest ground control cabinet of unmanned plane described in selection current distance, described video image is sent to a described nearest ground control cabinet to be judged, this process of Dynamic Execution, can obtain transmission line of electricity power line and the more accurate clear photograph of tower bar, and then raising transmission line of electricity power line and tower bar degree of impairment judgment accuracy, conveniently promptly and accurately take maintenance measure, better ensured the safe operation of power system.
Concrete, in conjunction with referring to Fig. 2, the power grid transmission line inspection tour system that the invention process exemplifies also comprises the Electrofax, the distance measuring sensor (as ultrasonic distance-measuring sensor) that are arranged on unmanned plane; Described distance measuring sensor, for detection of the distance value between the power line in described unmanned plane and transmission line of electricity or tower bar and output to described airborne communication control; Described camera, patrols and examines the video image of transmission line of electricity and outputs to described airborne communication control for taking in real time described unmanned plane during flying; Described airborne communication control, for sending to described ground control cabinet by described distance value and video image; Described ground control cabinet, with described unmanned plane by described airborne communication control radio communication, for the described distance value and the video image that receive are processed, send control command and transmit described control command to described Electrofax by described airborne communication control according to result, control the action of taking pictures that triggers the described Electrofax on described unmanned plane. It should be noted that, other structures of this unmanned plane and control assembly can, with reference to existing mature technology, no longer describe in detail.
The present invention is detected the distance value between power line or the tower bar in described unmanned plane and transmission line of electricity and is outputed to airborne communication control by distance measuring sensor, and camera is taken in real time described unmanned plane during flying and patrolled and examined the video image of transmission line of electricity and output 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 the described distance value and the video image that receive are processed, send control command and transmit described control command to described Electrofax by described airborne communication control according to result, control the action of taking pictures of the described Electrofax triggering on described unmanned plane and obtain power line or tower bar image, the described power line that described Electrofax obtains taking pictures or the image of tower bar are transferred to described ground control cabinet by described airborne communication control, to facilitate ground control cabinet to transmission line of electricity power line and the judgement of tower bar degree of impairment, conveniently promptly and accurately take corresponding maintenance measure, thereby better ensure the safe operation of power system. ground control cabinet can be made up of a computer with various communication module interfaces.
The present invention has considered power line in the transmission line of electricity of distance between power line or the tower bar in unmanned plane and transmission line of electricity and camera Real-time Obtaining or two factors of video image of tower bar, send control command and be transferred to described Electrofax according to the result of two factors, control the action of taking pictures of the described Electrofax of triggering and obtain power line or tower bar image, can obtain transmission line of electricity power line and tower bar compared with clear photograph, and then raising transmission line of electricity power line and tower bar degree of impairment judgment accuracy, the convenient maintenance measure of promptly and accurately taking, better ensure the safe operation of power system.
Concrete, in order to improve the reliability and stability of 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); In the time that described distance value is less than first threshold (as 500 meters), ground control cabinet described airborne communication control sends to described distance value and video image by described first communication module (as microwave communication module) as described in, described ground control cabinet correspondence is provided with microwave communication module. In the time that described distance value is more than or equal to first threshold and be less than Second Threshold (1000 meters), ground control cabinet described airborne communication control sends to described distance value and video image by described second communication module (as 3G or 4G communication module) as described in, described ground control cabinet correspondence is provided with 3G or 4G communication module. In the time that described distance value is more than or equal to Second Threshold, ground control cabinet described airborne communication control sends to described distance value and video image by described third communication module (as satellite communication module) as described in; 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, described distance value and vedio data by this scheme unmanned plane collection can send to ground control cabinet in different ways according to the distance adjustment between the power line in unmanned plane and transmission line of electricity or tower bar, improve the reliability and stability of the transfer of data of unmanned plane and ground control cabinet
In one embodiment, described ground control cabinet is processed the described distance value and the video image that receive, send control command and transmit described control command to described Electrofax by described airborne communication control according to result, control the action of taking pictures that triggers the described Electrofax on described unmanned plane, be specially: in the time the power line that occurs in described video image in transmission line of electricity or tower bar being detected, and in the time that described distance value is less than first threshold (as 500 meters), now close together, send the first control command and transmit described the first control command to described Electrofax by described airborne communication control, make described Electrofax take pictures and obtain the image of described power line or tower bar with the first parameter mode, in the time the power line that occurs in described video image in transmission line of electricity or tower bar being detected, and in the time that 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 transmit described the second control command to described Electrofax by described airborne communication control, make described Electrofax take pictures and obtain the image of described power line or tower bar with the second parameter mode. the shooting clear degree of described Electrofax in the time of the second parameter (as focal length) pattern is greater than the shooting clear degree in the time of the first parameter (as focal length) pattern. can further obtain transmission line of electricity power line and tower bar compared with clear photograph by this scheme, and then improve follow-up transmission line of electricity power line and tower bar degree of impairment judgment accuracy, the convenient maintenance measure of promptly and accurately taking, ensures the safe operation of power system.
In one embodiment, described ground control cabinet is also in the time that described Electrofax is taken pictures, the video image coming from described camera transmission, extract a frame video pictures image of current point in time, definition comparative result according to 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, the take pictures described power line that obtains or the image of tower bar of image by power line that camera is obtained or tower bar and electronic camera carries out definition comparison, the definition of the image of the described power line obtaining when taking pictures or the image of tower bar and power line that high-definition camera obtains or tower bar is all lower than predetermined threshold value, or when the definition of the power line that the definition of the image of the take pictures described power line that obtains or tower bar is obtained lower than high-definition camera or the image of tower bar reaches a threshold value, judge that photo is unavailable, control and again take pictures. the image synthesis that ground control cabinet can obtain in conjunction with these two kinds of modes judges according to transmission line of electricity power line and tower bar degree of impairment, further improve transmission line of electricity power line and tower bar degree of impairment judgment accuracy, conveniently promptly and accurately take maintenance measure, better ensured the safe operation of power system.
Preferably, described ground control cabinet is also in the time detecting that power line in transmission line of electricity or tower bar appear in described video image, sending a command to described unmanned plane hovers described unmanned plane in the given time, send afterwards described the first control command or the second control command, prevent from like this taking pictures and causing definition poor in flight course, improve the definition of the photo of taking pictures, and then raising transmission line of electricity power line and tower bar degree of impairment judgment accuracy, conveniently promptly and accurately take maintenance measure, better ensured the safe operation of power system.
The invention has the beneficial effects as follows: detected the distance value between power line or the tower bar in described unmanned plane and transmission line of electricity and outputed to airborne communication control by distance measuring sensor, camera is taken in real time described unmanned plane during flying and patrolled and examined the video image of transmission line of electricity and output 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 the described distance value and the video image that receive are processed, send control command and transmit described control command to described Electrofax by described airborne communication control according to result, control the action of taking pictures of the described Electrofax triggering on described unmanned plane and obtain power line or tower bar image, the present invention has considered power line in the transmission line of electricity of distance between power line or the tower bar in unmanned plane and transmission line of electricity and camera Real-time Obtaining or two factors of video image of tower bar, send control command and be transferred to described Electrofax according to the result of two factors, control the action of taking pictures of the described Electrofax of triggering and obtain power line or tower bar image, can obtain transmission line of electricity power line and tower bar compared with clear photograph, and then raising transmission line of electricity power line and tower bar degree of impairment judgment accuracy, the convenient maintenance measure of promptly and accurately taking, better ensure the safe operation of power system.
Above the present invention is described in detail, has applied specific case herein principle of the present invention and embodiment are set forth. The explanation of above embodiment is just for helping to understand core concept of the present invention; , 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 meanwhile.
Claims (5)
1. a power grid transmission line inspection tour system, is characterized in that, comprises Background control center, multiple ground control cabinet and is arranged on camera and the airborne communication control on unmanned plane;
Described camera, patrols and examines the power line of transmission line of electricity or the video image of tower bar and outputs to described airborne communication control for taking in real time described unmanned plane during flying;
Described airborne communication control, for communicating by letter with multiple described ground control cabinets, obtain the positional information of each ground control cabinet, according to the residing diverse location of different ground control cabinets, a nearest ground control cabinet of unmanned plane described in selection current distance, sends to a described nearest ground control cabinet by described video image;
A described nearest ground control cabinet, for receiving described video image, judges the degree of impairment of transmission line of electricity power line and tower bar according to described video image;
Background control center, communicates by letter with multiple described ground control cabinets, for showing the judged result of described video image and each ground control cabinet.
2. power grid transmission line inspection tour system according to claim 1, is characterized in that, also comprises the distance measuring sensor and the Electrofax that are arranged on described unmanned plane;
Described distance measuring sensor, for detection of the distance value between the power line in described unmanned plane and transmission line of electricity or tower bar and output to described airborne communication control;
Described airborne communication control, also for send to described ground control cabinet by described distance value and described video image simultaneously;
Described ground control cabinet, with described unmanned plane by described airborne communication control radio communication, also for the described distance value and the video image that receive are processed, send control command and transmit described control command to described Electrofax by described airborne communication control according to result, control the action of taking pictures that triggers the described Electrofax on described unmanned plane.
3. power grid transmission line inspection tour system according to claim 2, is characterized in that, described airborne communication control comprises first communication module, second communication module and third communication module;
In the time that described distance value is less than first threshold, described airborne communication control sends to described ground control cabinet by described distance value and video image by described first communication module;
In the time that described distance value is more than or equal to first threshold and is less than Second Threshold, described airborne communication control sends to described ground control cabinet by described distance value and video image by described second communication module;
In the time that described distance value is more than or equal to Second Threshold, described airborne communication control sends to described ground control cabinet by described distance value and video image by described third communication module; Wherein said first threshold is less than described Second Threshold.
4. power grid transmission line inspection tour system according to claim 3, it is characterized in that, described ground control cabinet is processed the described distance value and the video image that receive, send control command and transmit described control command to described Electrofax by described airborne communication control according to result, control the action of taking pictures that triggers the described Electrofax on described unmanned plane, be specially:
In the time the power line that occurs in described video image in transmission line of electricity or tower bar being detected, and in the time that described distance value is less than first threshold, send the first control command and transmit described the first control command to described Electrofax by described airborne communication control, make described Electrofax take pictures and obtain the image of described power line or tower bar with the first parameter mode;
In the time the power line that occurs in described video image in transmission line of electricity or tower bar being detected, and in the time that described distance value is greater than first threshold and is less than Second Threshold, send the second control command and transmit described the second control command to described Electrofax by described airborne communication control, make described Electrofax take pictures and obtain the image of described power line or tower bar with the second parameter mode.
5. power grid transmission line inspection tour system according to claim 4, is characterized in that, the shooting clear degree of described Electrofax in the time of the second parameter mode is greater than the shooting clear degree in the time of the first parameter mode.
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| CN201610024532.8A CN105610087B (en) | 2016-01-15 | 2016-01-15 | Power grid transmission line inspection tour system |
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| CN106451222A (en) * | 2016-12-06 | 2017-02-22 | 广东电网有限责任公司肇庆供电局 | Floating-and-hung object removing equipment |
| CN106602468A (en) * | 2017-02-14 | 2017-04-26 | 广东容祺智能科技有限公司 | Unmanned aerial vehicle automatic inspection power transmission line system based on image identification and differential GPS |
| CN106646113A (en) * | 2016-11-16 | 2017-05-10 | 国家电网公司 | Power transformer line safety detection method |
| CN106998052A (en) * | 2017-04-14 | 2017-08-01 | 国网福建省电力有限公司 | Power transmission network ice damage prevention and control system and method |
| CN108698693A (en) * | 2017-10-23 | 2018-10-23 | 深圳市大疆创新科技有限公司 | Control method, unmanned vehicle, server and computer readable storage medium |
| CN110794873A (en) * | 2019-11-28 | 2020-02-14 | 云南电网有限责任公司电力科学研究院 | Automatic inspection system and method for power transmission line |
| CN111739184A (en) * | 2020-06-28 | 2020-10-02 | 国网宁夏电力有限公司检修公司 | Power transmission line inspection system based on power transmission line tower pole |
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| CN111739184A (en) * | 2020-06-28 | 2020-10-02 | 国网宁夏电力有限公司检修公司 | Power transmission line inspection system based on power transmission line tower pole |
Also Published As
| Publication number | Publication date |
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| CN105610087B (en) | 2018-02-13 |
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