CN106226773A - A kind of thermometric based on unmanned plane application and range-measurement system and method - Google Patents

A kind of thermometric based on unmanned plane application and range-measurement system and method Download PDF

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Publication number
CN106226773A
CN106226773A CN201610491500.9A CN201610491500A CN106226773A CN 106226773 A CN106226773 A CN 106226773A CN 201610491500 A CN201610491500 A CN 201610491500A CN 106226773 A CN106226773 A CN 106226773A
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CN
China
Prior art keywords
unmanned plane
plane body
handheld device
temperature
measurement system
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Pending
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CN201610491500.9A
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Chinese (zh)
Inventor
周浩
黄振
李方临
苏凤飞
白晓海
宋炜
杨妮
倪娜
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Xi'an Electric Co Of Guo Wang Shaanxi Prov Power Co
State Grid Corp of China SGCC
Original Assignee
Xi'an Electric Co Of Guo Wang Shaanxi Prov Power Co
State Grid Corp of China SGCC
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Publication date
Application filed by Xi'an Electric Co Of Guo Wang Shaanxi Prov Power Co, State Grid Corp of China SGCC filed Critical Xi'an Electric Co Of Guo Wang Shaanxi Prov Power Co
Priority to CN201610491500.9A priority Critical patent/CN106226773A/en
Publication of CN106226773A publication Critical patent/CN106226773A/en
Pending legal-status Critical Current

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    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06Systems determining position data of a target
    • G01S17/08Systems determining position data of a target for measuring distance only
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01JMEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
    • G01J5/00Radiation pyrometry, e.g. infrared or optical thermometry
    • G01J5/0096Radiation pyrometry, e.g. infrared or optical thermometry for measuring wires, electrical contacts or electronic systems
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88Lidar systems specially adapted for specific applications
    • G01S17/93Lidar systems specially adapted for specific applications for anti-collision purposes
    • G01S17/933Lidar systems specially adapted for specific applications for anti-collision purposes of aircraft or spacecraft

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  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Electromagnetism (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Spectroscopy & Molecular Physics (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

The invention discloses a kind of thermometric based on unmanned plane application and range-measurement system and method, including handheld device, unmanned plane body and be arranged at the flight control system on unmanned plane body, installing rack, GPS system, image real-time acquisition unit, three-axis stability augmentation The Cloud Terrace, for measuring the temperature measurement system of barrier temperature and for providing the electrical source of power of electric energy, this system and method is capable of monitoring real-time, long-range and the measurement of Substation Electric Equipment, safe and reliable.

Description

A kind of thermometric based on unmanned plane application and range-measurement system and method
Technical field
The invention belongs to electric device maintenance field, relate to a kind of thermometric based on unmanned plane application and range-measurement system and side Method.
Background technology
In power industry, the tour of Substation Electric Equipment is an important routine work of power transformation operation maintenance personnel.When The position of electrical equipment is too high, and when being not easy to observe, the bushing arranged such as eminence and oil colours oil level thereof, operation maintenance personnel cannot Clearly, being accurately observed, therefore can not judge equipment operation condition exactly, the safe operation for equipment hides some dangers for.
When electrical equipment generation problem, need operation maintenance personnel that electrical equipment is tentatively judged, but to part The personal safety of operation maintenance personnel may be injured when problem device checks, such as transformer station's breaking out of fire, chopper, LH, YH body seriously generates heat, 10kV single-phase earthing in standing, and SF6 gas serious leak, equipment outer insulation seriously discharge these hazardness During big fault, a kind of long-range operation the method that can monitor in real time and measure are the most particularly important.
Summary of the invention
It is an object of the invention to the shortcoming overcoming above-mentioned prior art, it is provided that a kind of thermometric based on unmanned plane application And range-measurement system and method, this system and method is capable of monitoring real-time, long-range and measurement, the safety of Substation Electric Equipment Reliably.
For reaching above-mentioned purpose, thermometric based on unmanned plane application of the present invention and range-measurement system include hand-held setting Standby, unmanned plane body and be arranged at the flight control system on unmanned plane body, installing rack, GPS system, image are adopted in real time Collect unit, three-axis stability augmentation The Cloud Terrace, be used for measuring the temperature measurement system of barrier temperature and for providing the power current of electric energy Source;
Unmanned plane body is provided with obstacle avoidance system, and the outfan of obstacle avoidance system is connected with the input of flight control system Connecing, flight control system is connected with handheld device;
Temperature measurement system is fixed on the bottom of unmanned plane body by installing rack, and GPS system is fixed on unmanned plane body Top, image real-time collecting system is fixed on the bottom of unmanned plane body by three-axis stability augmentation The Cloud Terrace, the output of GPS system The outfan of end, the outfan of image real-time collecting system and temperature measurement system is all connected with handheld device, three-axis stability augmentation The control end controlling end and installing rack of The Cloud Terrace is connected with handheld device.
Described unmanned plane body include fixing cabin cover, lower fixing cabin cover, contraction type undercarriage, some horns, with And the brushless electric machine that is fixed on horn and propeller blade, upper fixing cabin cover is interlocked with lower fixing cabin cover, contraction type Undercarriage is arranged at the bottom of lower fixing cabin cover, and each horn is circumferentially distributed along upper fixing cabin cover, and one end of horn is with upper The outside of fixing cabin cover is fixing to be connected, and obstacle avoidance system and brushless electric machine 4 are fixed on the other end of horn, and brushless electric machine 4 is fixed In the upper surface of horn end, obstacle avoidance system is fixed on the end face of horn, and propeller blade 1 is fixed on the output of brushless electric machine On axle, brushless electric machine 4 is connected with flight control system by electron speed regulator.
Propeller blade is fixed on the output shaft of brushless electric machine by fastening screw.
Described obstacle avoidance system includes laser range sensor and data processing unit, the outfan of laser range sensor with The input of data processing unit is connected, and data processing unit is connected with flight control system.
Temperature measurement system is infrared temperature probe.
Thermometric based on unmanned plane application of the present invention and distance-finding method comprise the following steps:
Handheld device controls unmanned plane body by flight control system and flies in Substation Electric Equipment, unmanned Machine body is in flight course, and GPS system obtains the positional information of unmanned plane body in real time, and is forwarded to by described positional information In handheld device, image real-time acquisition unit uses the image information of unmanned plane body local environment in real time simultaneously, and by described Image information is forwarded in handheld device, and temperature measurement system gathers the temperature information of Substation Electric Equipment simultaneously, and by institute Stating temperature information to be forwarded in handheld device, handheld device judges the temperature of Substation Electric Equipment according to described temperature information, When the temperature of Substation Electric Equipment is more than or equal to preset value, then produces alarm signal, the first control signal and second and control Signal, and described first control signal and the second control signal are forwarded in the control end of installing rack and three-axis stability augmentation cloud respectively In the control end of platform, installing rack drives temperature measurement system to carry out 180 ° of rotations according to described first control signal, makes temperature survey Amount system measures the temperature information of heating Substation Electric Equipment the most continuously, and three-axis stability augmentation The Cloud Terrace is according to second simultaneously Control signal drives image real-time acquisition unit to carry out 360 ° of rotary takings, it is achieved the transformer station of continuous acquisition heating from different perspectives The image information of electrical equipment, user can check temperature information and the image of heating Substation Electric Equipment by handheld device Information;
Unmanned plane body is in flight course, and obstacle avoidance system obtains the distance letter of unmanned plane body and peripheral obstacle in real time Breath, and judge the distance of unmanned plane body and peripheral obstacle according to described range information, when unmanned plane body and surrounding obstacles When the distance of thing is less than or equal to pre-set threshold value, then produces the 3rd control signal, and described 3rd control signal is forwarded to flight Control system, flight control system makes unmanned plane body hover according to described 3rd control signal, produces alerting signal simultaneously, and Described alerting signal is forwarded in handheld device, reminds user again to plan the course of unmanned plane body.
The method have the advantages that
Thermometric based on unmanned plane application of the present invention and range-measurement system and method are when concrete operations, with unmanned plane For carrying platform, realize the location to unmanned plane body by GPS system, realized transformer station by image real-time acquisition unit The employing collection of electrical equipment image, realizes the temperature acquisition to Substation Electric Equipment by temperature measurement system, and user is i.e. Can know whether Substation Electric Equipment breaks down according to the image of Substation Electric Equipment and temperature, it is achieved to transformer station's electricity The long-range monitoring of gas equipment, it is to avoid artificially detect the security risk brought.Simultaneously in order to adapt to transformer station's narrow space, unmanned Machine body is provided with obstacle avoidance system, is obtained the range information of unmanned plane body and barrier by obstacle avoidance system, when unmanned plane basis When the distance of body and barrier is less than or equal to pre-set threshold value, then controls the hovering of unmanned plane body, and remind user to adjust unmanned plane The flight path of body, so that unmanned plane is applicable to narrow and small transformer station space, simple in construction, easy to operate.
Accompanying drawing explanation
Fig. 1 is the structural representation of the present invention;
Fig. 2 is top view of the present invention.
Wherein, 1 be propeller blade, 2 for GPS system, 3 for fastening screw, 4 for brushless electric machine, 5 for electron speed regulator, 6 For flight control system, 7 be electrical source of power, 8 be laser range sensor, 9 be horn, 10 be contraction type undercarriage, 11 for upper Fixing cabin cover, 12 be lower fixing cabin cover, 13 be installing rack, 14 be temperature measurement system.
Detailed description of the invention
Below in conjunction with the accompanying drawings the present invention is described in further detail:
With reference to Fig. 1 and Fig. 2, thermometric based on unmanned plane application of the present invention and range-measurement system include handheld device, Unmanned plane body and the flight control system 6 being arranged on unmanned plane body, installing rack 13, GPS system 2, image are adopted in real time Collect unit, three-axis stability augmentation The Cloud Terrace, be used for measuring the temperature measurement system 14 of barrier temperature and for providing the power of electric energy Power supply 7;Unmanned plane body is provided with obstacle avoidance system, and the outfan of obstacle avoidance system is connected with the input of flight control system 6, Flight control system 6 is connected with handheld device;Temperature measurement system 14 is fixed on the end of unmanned plane body by installing rack 13 Portion, GPS system 2 is fixed on the top of unmanned plane body, and image real-time collecting system is fixed on unmanned by three-axis stability augmentation The Cloud Terrace The bottom of machine body, the outfan of GPS system 2, the outfan of image real-time collecting system and the output of temperature measurement system 14 End is all connected with handheld device, and the control end controlling end and installing rack 13 of three-axis stability augmentation The Cloud Terrace is connected with handheld device.
Described unmanned plane body includes fixing cabin cover 11, lower fixing cabin cover 12, contraction type undercarriage 10, Ruo Ganji Arm 9 and the brushless electric machine 4 being fixed on horn 9 and propeller blade 1, upper fixing cabin cover 11 and lower fixing cabin cover 12 Being interlocked, contraction type undercarriage 10 is arranged at the bottom of lower fixing cabin cover 12, and each horn 9 is along the circumference of upper fixing cabin cover 11 Distribution, one end of horn 9 is fixing with the outside of upper fixing cabin cover 11 to be connected, and obstacle avoidance system and brushless electric machine 4 are fixed on horn 9 The other end, brushless electric machine 4 is fixed on the upper surface of horn 9 end, and obstacle avoidance system is fixed on the end face of horn 9, propeller Blade 1 is fixed on the output shaft of brushless electric machine 4, and brushless electric machine 4 is connected with flight control system 6 by electron speed regulator 5; Propeller blade 1 is fixed on the output shaft of brushless electric machine 4 by fastening screw 3.
Described obstacle avoidance system includes laser range sensor 8 and data processing unit, the outfan of laser range sensor 8 Being connected with the input of data processing unit, data processing unit is connected with flight control system 6;Temperature measurement system 14 For infrared temperature probe.
Thermometric based on unmanned plane application of the present invention and distance-finding method comprise the following steps:
Handheld device controls unmanned plane body by flight control system 6 and flies in Substation Electric Equipment, nothing Man-machine body is in flight course, and GPS system 2 obtains the positional information of unmanned plane body in real time, and is turned by described positional information Sending in handheld device, image real-time acquisition unit uses the image information of unmanned plane body local environment in real time simultaneously, and will Described image information is forwarded in handheld device, and temperature measurement system 14 gathers the temperature information of Substation Electric Equipment simultaneously, And described temperature information is forwarded in handheld device, handheld device judges Substation Electric Equipment according to described temperature information Temperature, when the temperature of Substation Electric Equipment is more than or equal to preset value, then produces alarm signal, the first control signal and second Control signal, and described first control signal and the second control signal are forwarded in the control end of installing rack 13 and three axles respectively Increasing in the control end of steady The Cloud Terrace, installing rack 13 drives temperature measurement system 14 to carry out 180 ° of rotations according to described first control signal Turning, make temperature measurement system 14 measure the temperature information of heating Substation Electric Equipment from different perspectives continuously, three axles increase simultaneously Steady The Cloud Terrace drives image real-time acquisition unit to carry out 360 ° of rotary takings according to the second control signal, it is achieved the most continuous Gathering the image information of heating Substation Electric Equipment, user can check heating Substation Electric Equipment by handheld device Temperature information and image information;
Unmanned plane body is in flight course, and obstacle avoidance system obtains the distance letter of unmanned plane body and peripheral obstacle in real time Breath, and judge the distance of unmanned plane body and peripheral obstacle according to described range information, when unmanned plane body and surrounding obstacles When the distance of thing is less than or equal to pre-set threshold value, then produces the 3rd control signal, and described 3rd control signal is forwarded to flight Control system 6, flight control system 6 makes unmanned plane body hover according to described 3rd control signal, produces alerting signal simultaneously, And described alerting signal is forwarded in handheld device, remind user again to plan the course of unmanned plane body.

Claims (6)

1. one kind based on unmanned plane application thermometric and range-measurement system, it is characterised in that include handheld device, unmanned plane body, And be arranged on unmanned plane body flight control system (6), installing rack (13), GPS system (2), image real-time acquisition list Unit, three-axis stability augmentation The Cloud Terrace, for measuring the temperature measurement system (14) of barrier temperature and for providing the power current of electric energy Source (7);
Unmanned plane body is provided with obstacle avoidance system, and the outfan of obstacle avoidance system is connected with the input of flight control system (6), Flight control system (6) is connected with handheld device;
Temperature measurement system (14) is fixed on the bottom of unmanned plane body by installing rack (13), and GPS system (2) is fixed on unmanned The top of machine body, image real-time collecting system is fixed on the bottom of unmanned plane body, GPS system by three-axis stability augmentation The Cloud Terrace (2) outfan of outfan, the outfan of image real-time collecting system and temperature measurement system (14) all with handheld device phase Connecting, the control end of the control end of three-axis stability augmentation The Cloud Terrace and installing rack (13) is connected with handheld device.
Thermometric based on unmanned plane application the most according to claim 1 and range-measurement system, it is characterised in that described unmanned plane Body includes fixing cabin cover (11), lower fixing cabin cover (12), contraction type undercarriage (10), some horns (9), Yi Jigu Brushless electric machine (4) on horn (9) and propeller blade (1), upper fixing cabin cover (11) and lower fixing cabin cover (12) Being interlocked, contraction type undercarriage (10) is arranged at the bottom of lower fixing cabin cover (12), and each horn (9) is along upper fixing cabin cover (11) circumferentially distributed, one end of horn (9) is fixing with the outside of upper fixing cabin cover (11) to be connected, obstacle avoidance system and brushless electricity Machine (4) is fixed on the other end of horn (9), and brushless electric machine (4) is fixed on the upper surface of horn (9) end, and obstacle avoidance system is fixed On the end face of horn (9), propeller blade (1) is fixed on the output shaft of brushless electric machine (4), and brushless electric machine (4) is by electricity Sub-speed regulator (5) is connected with flight control system (6).
Thermometric based on unmanned plane application the most according to claim 2 and range-measurement system, it is characterised in that propeller blade (1) it is fixed on the output shaft of brushless electric machine (4) by fastening screw (3).
Thermometric based on unmanned plane application the most according to claim 1 and range-measurement system, it is characterised in that described avoidance system System includes laser range sensor (8) and data processing unit, the outfan of laser range sensor (8) and data processing unit Input be connected, data processing unit is connected with flight control system (6).
Thermometric based on unmanned plane application the most according to claim 1 and range-measurement system, it is characterised in that temperature survey system System (14) is infrared temperature probe.
6. one kind based on unmanned plane application thermometric and distance-finding method, it is characterised in that based on described in claim 1 based on nothing The thermometric of man-machine application and range-measurement system, comprise the following steps:
Handheld device controls unmanned plane body by flight control system (6) and flies in Substation Electric Equipment, unmanned Machine body is in flight course, and GPS system (2) obtains the positional information of unmanned plane body in real time, and is turned by described positional information Sending in handheld device, image real-time acquisition unit uses the image information of unmanned plane body local environment in real time simultaneously, and will Described image information is forwarded in handheld device, and temperature measurement system (14) gathers the temperature letter of Substation Electric Equipment simultaneously Breath, and described temperature information is forwarded in handheld device, according to described temperature information, handheld device judges that transformer station electrically sets Standby temperature, when Substation Electric Equipment temperature more than or equal to preset value time, then produce alarm signal, the first control signal and Second control signal, and described first control signal and the second control signal are forwarded in the control end of installing rack (13) respectively And in the control end of three-axis stability augmentation The Cloud Terrace, installing rack (13) drives temperature measurement system (14) to enter according to described first control signal Row 180 ° rotation, makes temperature measurement system (14) measure the temperature information of heating Substation Electric Equipment from different perspectives continuously, Three-axis stability augmentation The Cloud Terrace drives image real-time acquisition unit to carry out 360 ° of rotary takings according to the second control signal simultaneously, it is achieved never With the image information of angle continuous acquisition heating Substation Electric Equipment, user can check heating transformer station by handheld device The temperature information of electrical equipment and image information;
Unmanned plane body is in flight course, and obstacle avoidance system obtains the range information of unmanned plane body and peripheral obstacle in real time, And judge the distance of unmanned plane body and peripheral obstacle according to described range information, when unmanned plane body and peripheral obstacle When distance is less than or equal to pre-set threshold value, then produces the 3rd control signal, and described 3rd control signal is forwarded to flight control System (6), flight control system (6) makes unmanned plane body hover according to described 3rd control signal, produces alerting signal simultaneously, And described alerting signal is forwarded in handheld device, remind user again to plan the course of unmanned plane body.
CN201610491500.9A 2016-06-28 2016-06-28 A kind of thermometric based on unmanned plane application and range-measurement system and method Pending CN106226773A (en)

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Cited By (7)

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CN106708091A (en) * 2016-12-26 2017-05-24 昊翔电能运动科技(昆山)有限公司 Obstacle avoidance device
CN107031838A (en) * 2017-03-27 2017-08-11 国网山东省电力公司威海供电公司 Line selection apparatus based on unmanned air vehicle technique
CN107256034A (en) * 2017-06-08 2017-10-17 西安交通大学 A kind of changed into switchhouse multidrop environment data collecting system based on unmanned plane
CN108195470A (en) * 2017-11-27 2018-06-22 国网上海市电力公司 Grid equipment fault detection method, unmanned plane and unmanned aerial vehicle (UAV) control station
CN108974360A (en) * 2018-08-24 2018-12-11 国网黑龙江省电力有限公司哈尔滨供电公司 The three-dimensional method maked an inspection tour is made to substation using unmanned plane
CN109470368A (en) * 2018-12-17 2019-03-15 国网福建省电力有限公司 A kind of online checking system of the infrared temperature sensing device of unmanned plane power equipment
CN109489828A (en) * 2018-12-17 2019-03-19 国网福建省电力有限公司 A kind of online method of inspection of the infrared temperature sensing device of unmanned plane power equipment

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CN103605369A (en) * 2013-11-22 2014-02-26 航天科工深圳(集团)有限公司 Solar cell assembly hot spot monitoring system and method based on unmanned plane
CN104843176A (en) * 2015-04-28 2015-08-19 武汉大学 Unmanned-gyroplane system used for automatic-inspection of bridges and tunnels and navigation method
CN105346710A (en) * 2015-11-30 2016-02-24 江苏优埃唯智能科技有限公司 Six-rotor unmanned plane
CN205287611U (en) * 2016-01-19 2016-06-08 四川景飞无人机科技有限公司 Model aeroplane and model ship unmanned aerial vehicle with temperature -detecting device

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Publication number Priority date Publication date Assignee Title
CN103605369A (en) * 2013-11-22 2014-02-26 航天科工深圳(集团)有限公司 Solar cell assembly hot spot monitoring system and method based on unmanned plane
CN104843176A (en) * 2015-04-28 2015-08-19 武汉大学 Unmanned-gyroplane system used for automatic-inspection of bridges and tunnels and navigation method
CN105346710A (en) * 2015-11-30 2016-02-24 江苏优埃唯智能科技有限公司 Six-rotor unmanned plane
CN205287611U (en) * 2016-01-19 2016-06-08 四川景飞无人机科技有限公司 Model aeroplane and model ship unmanned aerial vehicle with temperature -detecting device

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106708091A (en) * 2016-12-26 2017-05-24 昊翔电能运动科技(昆山)有限公司 Obstacle avoidance device
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CN107031838A (en) * 2017-03-27 2017-08-11 国网山东省电力公司威海供电公司 Line selection apparatus based on unmanned air vehicle technique
CN107256034A (en) * 2017-06-08 2017-10-17 西安交通大学 A kind of changed into switchhouse multidrop environment data collecting system based on unmanned plane
CN107256034B (en) * 2017-06-08 2019-12-31 西安交通大学 Change distribution room multiple spot environmental data collection system based on unmanned aerial vehicle
CN108195470A (en) * 2017-11-27 2018-06-22 国网上海市电力公司 Grid equipment fault detection method, unmanned plane and unmanned aerial vehicle (UAV) control station
CN108974360A (en) * 2018-08-24 2018-12-11 国网黑龙江省电力有限公司哈尔滨供电公司 The three-dimensional method maked an inspection tour is made to substation using unmanned plane
CN109470368A (en) * 2018-12-17 2019-03-15 国网福建省电力有限公司 A kind of online checking system of the infrared temperature sensing device of unmanned plane power equipment
CN109489828A (en) * 2018-12-17 2019-03-19 国网福建省电力有限公司 A kind of online method of inspection of the infrared temperature sensing device of unmanned plane power equipment

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Application publication date: 20161214