CN105633853A - Power transmission line inspection system - Google Patents
Power transmission line inspection system Download PDFInfo
- Publication number
- CN105633853A CN105633853A CN201610024488.0A CN201610024488A CN105633853A CN 105633853 A CN105633853 A CN 105633853A CN 201610024488 A CN201610024488 A CN 201610024488A CN 105633853 A CN105633853 A CN 105633853A
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- CN
- China
- Prior art keywords
- transmission line
- distance value
- video image
- electrofax
- airborne communication
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- 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
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/66—Remote control of cameras or camera parts, e.g. by remote control devices
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/183—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source
Abstract
The invention discloses a power transmission line inspection system, which comprises a distance measuring sensor, a camera, airborne communication equipment and a ground control console, wherein the distance measuring sensor is used for detecting a distance value between an unmanned aerial vehicle and a power line or a tower in a power transmission line and outputting the distance value to the airborne communication equipment; the camera is used for shooting a video image that the unmanned aerial vehicle flies to inspect the power transmission line in real time and outputting the video image to the airborne communication equipment; the airborne communication equipment is used for transmitting the distance value and the video image to the ground control console; and the ground control console is in wireless communication with the unmanned aerial vehicle through the airborne communication equipment and is used for processing the received distance value and video image, transmitting a control command to an electronic camera according to the processing result and controlling and triggering a photographing action of the electronic camera on the unmanned aerial vehicle. The power transmission line inspection system improves the judgment accuracy for the damage conditions of the power line and the tower of the power transmission line, conveniently, timely and accurately takes maintenance measures, and relatively well ensures safe operation of a power system.
Description
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 tour system.
Background technology
Transmission line of electricity distribution is multi-point and wide-ranging, residing with a varied topography, natural environment is severe, near electric lines of force and tower bar, long-time wind rain in the wild shines, easily produce abrasion, corrosion equivalent damage, it is necessary to repair in time or change, it is therefore desirable to detecting the ruuning situation of transmission line of electricity termly, remove a hidden danger in time, it is ensured that safe operation of power system. Traditional is adopt artificial line walking inspection, and workload is big, owing to terrain environment is complicated, checks that difficulty is big. Occur in that transmission line of electricity is taken pictures the technological means patrolled and examined by employing unmanned plane at present, but it is subject to various factors impact when transmission line of electricity is taken pictures by unmanned plane, if the definition of photo is poor, directly affect follow-up judgement, and then causing the degree of impairment of the electric lines of force in transmission line of electricity and tower bar is judged not accurate enough, it is difficult to maintenance ensures safe operation of power system.
Summary of the invention
It is an object of the invention to provide a kind of power transmission line inspection tour system, it is obtained in that transmission line of electricity electric lines of force and the more visible photo of tower bar, and then improve transmission line of electricity electric lines of force and tower bar degree of impairment judgment accuracy, facilitate technology accurately to take maintenance measure, better ensure that the safe operation of power system.
In order to solve above-mentioned technical problem, the present invention provides a kind of power transmission line inspection tour system, including ground control cabinet and the Electrofax, photographic head, distance measuring sensor and the airborne communication control that are arranged on unmanned plane; Described distance measuring sensor, is used for the distance value between electric lines of force or the tower bar detecting in described unmanned plane and transmission line of electricity and exports described airborne communication control; Described photographic head, unmanned plane during flying described in captured in real-time is patrolled and examined the video image of transmission line of electricity and exports described airborne communication control; Described airborne communication control, for being sent 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 received and video image are processed, transmit described control command to described Electrofax according to result transmitting control commands and by described airborne communication control, control to trigger the action of taking pictures of the described Electrofax on described unmanned plane.
Preferably, described airborne communication control includes 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 be more than or equal to first threshold and 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 be 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, the described ground control cabinet described distance value to receiving and video image process, according to result transmitting control commands and by the described airborne communication control described control command of transmission to described Electrofax, control to trigger the action of taking pictures of the described Electrofax on described unmanned plane, particularly as follows:
When the electric lines of force occurring in transmission line of electricity in described video image or tower bar being detected, and when described distance value is less than first threshold, send the first control command and transmit described first control command to described Electrofax by described airborne communication control, making described Electrofax take pictures with the first parametric model and obtain the image of described electric lines of force or tower bar;
When the electric lines of force occurring in transmission line of electricity in described video image or tower bar being detected, and when described distance value is more than first threshold and less than Second Threshold, send the second control command and transmit described second control command to described Electrofax by described airborne communication control, making described Electrofax take pictures with the second parametric model and obtain the image of described electric lines of force or tower bar.
Preferably, described Electrofax is additionally operable to by described airborne communication control, the image of the take pictures described electric lines of force obtained or tower bar is transferred to described ground control cabinet.
Preferably, described ground control cabinet is additionally operable to when described Electrofax is taken pictures, a frame video pictures image of current point in time is extracted from described video image, definition comparative result according to described video pictures image with the image of the take pictures described electric lines of force obtained or tower bar, it is determined whether resend control command to described Electrofax again to take pictures.
Preferably, described ground control cabinet is additionally operable to when the electric lines of force occurring in transmission line of electricity in described video image or tower bar being detected, 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: detected the electric lines of force in described unmanned plane and transmission line of electricity or the distance value between tower bar by distance measuring sensor and export airborne communication control, unmanned plane during flying described in photographic head captured in real-time is patrolled and examined the video image of transmission line of electricity and exports 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 received and video image are processed, according to result transmitting control commands and by the described airborne communication control described control command of transmission to described Electrofax, the action of taking pictures controlling to trigger the described Electrofax on described unmanned plane obtains electric lines of force or tower bar image, electric lines of force in the transmission line of electricity that the present invention has considered the electric lines of force in unmanned plane and transmission line of electricity or the distance between tower bar and photographic head obtains in real time or two factors of video image of tower bar, result transmitting control commands according to two factors is also transferred to described Electrofax, the action of taking pictures controlling to trigger described Electrofax obtains electric lines of force or tower bar image, it is obtained in that transmission line of electricity electric lines of force and the more visible photo of tower bar, and then improve transmission line of electricity electric lines of force and tower bar degree of impairment judgment accuracy, conveniently promptly and accurately take maintenance measure, better ensure that the safe operation of power system.
Accompanying drawing explanation
Fig. 1 is power transmission line inspection tour system schematic diagram of the present invention.
Detailed description of the invention
Below in conjunction with drawings and embodiments, the present invention is further illustrated.
As it is shown in figure 1, the power transmission line inspection tour system that the invention process exemplifies, including ground control cabinet and the Electrofax, photographic head (such as high-definition camera), distance measuring sensor (such as ultrasonic distance-measuring sensor) and the airborne communication control that are arranged on unmanned plane; Described distance measuring sensor, is used for the distance value between electric lines of force or the tower bar detecting in described unmanned plane and transmission line of electricity and exports described airborne communication control; Described photographic head, unmanned plane during flying described in captured in real-time is patrolled and examined the video image of transmission line of electricity and exports described airborne communication control; Described airborne communication control, for being sent 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 received and video image are processed, transmit described control command to described Electrofax according to result transmitting control commands and by described airborne communication control, control to trigger the action of taking pictures of the described Electrofax on described unmanned plane. It should be noted that other structures of this unmanned plane and control parts are referred to existing mature technology, no longer describe in detail.
The present invention is detected the distance value between the electric lines of force in described unmanned plane and transmission line of electricity or tower bar and exports airborne communication control by distance measuring sensor, and unmanned plane during flying described in photographic head captured in real-time is patrolled and examined the video image of transmission line of electricity and exports 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 received and video image are processed, according to result transmitting control commands and by the described airborne communication control described control command of transmission to described Electrofax, the action of taking pictures controlling to trigger the described Electrofax on described unmanned plane obtains electric lines of force or tower bar image, the image of the take pictures described electric lines of force obtained or tower bar is transferred to described ground control cabinet by described airborne communication control by described Electrofax, to facilitate ground control cabinet that transmission line of electricity electric lines of force 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 power system. ground control cabinet can be made up of a computer with various communication module interface.
Electric lines of force in the transmission line of electricity that the present invention has considered the electric lines of force in unmanned plane and transmission line of electricity or the distance between tower bar and photographic head obtains in real time or two factors of video image of tower bar, result transmitting control commands according to two factors is also transferred to described Electrofax, the action of taking pictures controlling to trigger described Electrofax obtains electric lines of force or tower bar image, it is obtained in that transmission line of electricity electric lines of force and the more visible photo of tower bar, and then improve transmission line of electricity electric lines of force and tower bar degree of impairment judgment accuracy, conveniently promptly and accurately take maintenance measure, better ensure that the safe operation of power system.
Concrete, that data in order to improve unmanned plane and ground control cabinet are transmitted reliability and stability, described airborne communication control includes first communication module, second communication module and third communication module (not shown); When described distance value is less than first threshold (such as 500 meters), described airborne communication control by described distance value and video image by described first communication module (such as microwave communication module) be sent to as described in ground control cabinet, described ground control cabinet is correspondingly provided with microwave communication module. When described distance value is be more than or equal to first threshold and less than Second Threshold (1000 meters), described airborne communication control by described distance value and video image by described second communication module (such as 3G or 4G communication module) be sent to as described in ground control cabinet, described ground control cabinet is correspondingly provided with 3G or 4G communication module. When described distance value is be more than or equal to Second Threshold, described airborne communication control by described distance value and video image by described third communication module (such as satellite communication module) be sent to as described in ground control cabinet; Described ground control cabinet is correspondingly provided with satellite communication module. Wherein said first threshold is less than described Second Threshold. Conversion along with 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 electric lines of force in unmanned plane and transmission line of electricity or the distance adjustment between tower bar, improve the reliability and stability that the data of unmanned plane and ground control cabinet are transmitted
In one embodiment, the described ground control cabinet described distance value to receiving and video image process, according to result transmitting control commands and by the described airborne communication control described control command of transmission to described Electrofax, control to trigger the action of taking pictures of the described Electrofax on described unmanned plane, particularly as follows: when the electric lines of force occurring in transmission line of electricity in described video image or tower bar being detected, and when described distance value is less than first threshold (such as 500 meters), now close together, send the first control command and by described airborne communication control described first control command of transmission to described Electrofax, make described Electrofax take pictures with the first parametric model and obtain the image of described electric lines of force or tower bar, when the electric lines of force occurring in transmission line of electricity in described video image or tower bar being detected, and when described distance value is more than first threshold (such as 500 meters) and less than Second Threshold (such as 1000 meters), now distant, send the second control command and transmit described second control command to described Electrofax by described airborne communication control, making described Electrofax take pictures with the second parametric model and obtain the image of described electric lines of force or tower bar. shooting clear degree when described Electrofax is in the second parameter (such as focal length) pattern is more than shooting clear degree when being in the first parameter (such as focal length) pattern. transmission line of electricity electric lines of force and the more visible photo of tower bar can be obtained by the program further, and then improve follow-up transmission line of electricity electric lines of force and tower bar degree of impairment judgment accuracy, convenient promptly and accurately take maintenance measure, it is ensured that the safe operation of power system.
In one embodiment, described ground control cabinet is additionally operable to 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, definition comparative result according to described video pictures image with the image of the take pictures described electric lines of force obtained or tower bar, it is determined whether resend control command to described Electrofax again to take pictures. described video pictures image includes the electric lines of force of current point in time appearance or the image of tower bar, carry out definition compare by take pictures with the electronic camera image of the described electric lines of force obtained or tower bar of the image of the electric lines of force that photographic head is obtained or tower bar, when the definition of the image of the take pictures described electric lines of force obtained or tower bar and the image of the electric lines of force of high-definition camera acquisition or tower bar is below predetermined threshold value, or when the definition of the image of the electric lines of force that the definition of the image of the take pictures described electric lines of force obtained 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. ground control cabinet judges according to transmission line of electricity electric lines of force and tower bar degree of impairment in combinations with the image synthesis that both modes obtain, improve transmission line of electricity electric lines of force and tower bar degree of impairment judgment accuracy further, conveniently promptly and accurately take maintenance measure, better ensure that the safe operation of power system.
Preferably, described ground control cabinet is additionally operable to when the electric lines of force occurring in transmission line of electricity in described video image or tower bar being detected, 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, so preventing takes pictures in flight course causes that definition is poor, improve the definition of the photo taken pictures, and then improve transmission line of electricity electric lines of force and tower bar degree of impairment judgment accuracy, conveniently promptly and accurately take maintenance measure, better ensure that the safe operation of power system.
The invention has the beneficial effects as follows: detected the electric lines of force in described unmanned plane and transmission line of electricity or the distance value between tower bar by distance measuring sensor and export airborne communication control, unmanned plane during flying described in photographic head captured in real-time is patrolled and examined the video image of transmission line of electricity and exports 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 received and video image are processed, according to result transmitting control commands and by the described airborne communication control described control command of transmission to described Electrofax, the action of taking pictures controlling to trigger the described Electrofax on described unmanned plane obtains electric lines of force or tower bar image, electric lines of force in the transmission line of electricity that the present invention has considered the electric lines of force in unmanned plane and transmission line of electricity or the distance between tower bar and photographic head obtains in real time or two factors of video image of tower bar, result transmitting control commands according to two factors is also transferred to described Electrofax, the action of taking pictures controlling to trigger described Electrofax obtains electric lines of force or tower bar image, it is obtained in that transmission line of electricity electric lines of force and the more visible photo of tower bar, and then improve transmission line of electricity electric lines of force and tower bar degree of impairment judgment accuracy, conveniently promptly and accurately take maintenance measure, better ensure that the safe operation of power system.
Above the present invention being described in detail, principles of the invention and embodiment are set forth by specific case used herein. The explanation of above example is only intended to help to understand the core concept of the present invention; Simultaneously for one of ordinary skill in the art, according to the thought of the present invention, all will change in specific embodiments and applications, in sum, this specification content should not be construed as limitation of the present invention.
Claims (6)
1. a power transmission line inspection tour system, it is characterised in that include ground control cabinet and the Electrofax, photographic head, distance measuring sensor and the airborne communication control that are arranged on unmanned plane;
Described distance measuring sensor, is used for the distance value between electric lines of force or the tower bar detecting in described unmanned plane and transmission line of electricity and exports described airborne communication control;
Described photographic head, unmanned plane during flying described in captured in real-time is patrolled and examined the video image of transmission line of electricity and exports described airborne communication control;
Described airborne communication control, for being sent 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 received and video image are processed, transmit described control command to described Electrofax according to result transmitting control commands and by described airborne communication control, control to trigger the action of taking pictures of the described Electrofax on described unmanned plane.
2. power transmission line inspection tour system according to claim 1, it is characterised in that described airborne communication control includes 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 be more than or equal to first threshold and 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 be 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 tour system according to claim 2, it is characterized in that, the described ground control cabinet described distance value to receiving and video image process, according to result transmitting control commands and by the described airborne communication control described control command of transmission to described Electrofax, control to trigger the action of taking pictures of the described Electrofax on described unmanned plane, particularly as follows:
When the electric lines of force occurring in transmission line of electricity in described video image or tower bar being detected, and when described distance value is less than first threshold, send the first control command and transmit described first control command to described Electrofax by described airborne communication control, making described Electrofax take pictures with the first parametric model and obtain the image of described electric lines of force or tower bar;
When the electric lines of force occurring in transmission line of electricity in described video image or tower bar being detected, and when described distance value is more than first threshold and less than Second Threshold, send the second control command and transmit described second control command to described Electrofax by described airborne communication control, making described Electrofax take pictures with the second parametric model and obtain the image of described electric lines of force or tower bar.
4. power transmission line inspection tour system according to claim 3, it is characterised in that described Electrofax is additionally operable to by described airborne communication control, the image of the take pictures described electric lines of force obtained or tower bar is transferred to described ground control cabinet.
5. power transmission line inspection tour system according to claim 4, it is characterized in that, described ground control cabinet is additionally operable to when described Electrofax is taken pictures, a frame video pictures image of current point in time is extracted from described video image, definition comparative result according to described video pictures image with the image of the take pictures described electric lines of force obtained or tower bar, it is determined whether resend control command to described Electrofax again to take pictures.
6. power transmission line inspection tour system according to any one of claim 3-5, it is characterized in that, described ground control cabinet is additionally operable to when the electric lines of force occurring in transmission line of electricity in described video image or tower bar being detected, 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.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610024488.0A CN105633853A (en) | 2016-01-15 | 2016-01-15 | Power transmission line inspection system |
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| CN201610024488.0A CN105633853A (en) | 2016-01-15 | 2016-01-15 | Power transmission line inspection system |
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| CN105633853A true CN105633853A (en) | 2016-06-01 |
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| CN201610024488.0A Pending CN105633853A (en) | 2016-01-15 | 2016-01-15 | Power transmission line inspection system |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106646113A (en) * | 2016-11-16 | 2017-05-10 | 国家电网公司 | Power transformer line safety detection method |
| CN109116729A (en) * | 2017-06-23 | 2019-01-01 | 无锡飞天侠科技有限公司 | A kind of control method of unmanned plane |
| CN109270948A (en) * | 2017-07-18 | 2019-01-25 | 无锡飞天侠科技有限公司 | A kind of agriculture unmanned plane of sowing |
| CN109270943A (en) * | 2017-07-18 | 2019-01-25 | 无锡飞天侠科技有限公司 | A kind of agricultural unmanned plane operational method |
| CN113485417A (en) * | 2021-06-30 | 2021-10-08 | 杭州天巡者科技有限公司 | Autonomous power inspection system, method and device of VBA unmanned aerial vehicle and electronic equipment |
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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 |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106646113A (en) * | 2016-11-16 | 2017-05-10 | 国家电网公司 | Power transformer line safety detection method |
| CN109116729A (en) * | 2017-06-23 | 2019-01-01 | 无锡飞天侠科技有限公司 | A kind of control method of unmanned plane |
| CN109270948A (en) * | 2017-07-18 | 2019-01-25 | 无锡飞天侠科技有限公司 | A kind of agriculture unmanned plane of sowing |
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Application publication date: 20160601 |