CN106443700A - Multi-laser radar array monitoring method for overhead transmission line - Google Patents
Multi-laser radar array monitoring method for overhead transmission line Download PDFInfo
- Publication number
- CN106443700A CN106443700A CN201611084439.2A CN201611084439A CN106443700A CN 106443700 A CN106443700 A CN 106443700A CN 201611084439 A CN201611084439 A CN 201611084439A CN 106443700 A CN106443700 A CN 106443700A
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- Prior art keywords
- transmission line
- laser
- overhead transmission
- radar array
- monitoring method
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Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO 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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO 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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/04—Systems determining the presence of a target
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO 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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
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- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Electromagnetism (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The invention provides a multi-laser radar array monitoring method for an overhead transmission line. A multi-laser radar array comprises an optical lens set, a laser emitting and receiving system and a data processing system. The multi-laser radar array is adopted for performing layering scanning on the space under a high-voltage power line of the overhead transmission line and monitoring if the objects, including people, vehicles, plants, and the like, which are possible to result in the damage to the overhead transmission line, exist in the space nearby the overhead transmission line. The multi-laser radar array is adopted for performing three-dimensional scanning on the surrounding space of the overhead transmission line; when foreign objects invade into the space nearby the overhead transmission line, the multi-laser radar array can immediately monitor the invading objects and can accurately monitor the practical appearance and size of the invading objects and the practical distance from the transmission line to the invading objects, so that the instantaneity and accuracy of monitoring for the foreign objects invading to the overhead transmission line can be guaranteed; and the real-time data is fed back to an intelligent analysis system, so that the real-time early warning function for the foreign objects invading to the overhead transmission line can be achieved.
Description
【Technical field】
The present invention relates to transmission line of electricity monitoring field, specifically a kind of multilasered optical radar array for overhead transmission line
Monitoring method.
【Background technology】
Overhead transmission line is the visual plant of power transmission, is the important guarantee of power system stability operation.Which is main
Feature is that distributional region is wide, environment is complicated, once breaking down, will major network main system be caused to have a strong impact on.Disobey under line at present
Chapter construction, violating the regulations build a house, the external force such as plant trees violating the regulations is destroyed is the main reason for causing transmission line of electricity to trip, such event is to frame
Empty transmission line of electricity operation maintenance personnel increased great workload, increased operation cost, reduce production efficiency, therefore how carry
The front hidden danger for finding external force destruction, very first time outward force destroys implementer and gives a warning, and the very first time notifies operation maintenance personnel, from
And preventing external force vandalism in time becomes an important topic.
【Content of the invention】
It is an object of the invention to overcoming prior art defect, a kind of multilasered optical radar for overhead transmission line is provided
Array monitoring method, carries out monitor in real time using many array lasers radar array, realizes supervising overhead transmission line in real time
Control, and can very first time outward force destroy implementer give a warning, the very first time notify operation maintenance personnel, so as to external force is broken
Bad behavior is prevented in time.
The present invention is adopted the following technical scheme that：
A kind of multilasered optical radar array monitoring method for overhead transmission line, multilasered optical radar array includes optical frames
Head group, Laser emission and reception system and data handling system；
The effect of optical lens group is that veiling glare is eliminated and the dust-proof process of outdoor environment；
Laser emission and reception system include emitting portion and receiving portion, emitting portion by drive circuit for laser, swash
Light device and laser emission optical system composition, drive circuit for laser is used for driving laser instrument to produce laser pulse signal, laser
Optical transmitting system carries out shaping to laser；Receiving portion is by laser pick-off optical system, photodetector and reception processing electricity
Road constitutes, and laser pick-off optical system is used for the echo shaping to receiving, and photodetector is converted into the signal of telecommunication optical signal, connects
Receive process circuit the signal of telecommunication is filtered processing, reduce the amount of calculation of subsequent data processing unit tolerant fail algorithm；
Data handling system is responsible for system sequence control, data calculating, threshold value of warning setting function；
By whole system high-velocity scanning, three-dimensional scenic is reappeared, equipment by pulse laser emission and receives reflection letter
Number, the distance of object is calculated by time difference；During measurement, laser instrument continuous repeat its transmission and is connect in high-speed rotation
Laser pulse is received, so as to object range data under one group of group difference angle is obtained, in Z-direction by the way of frequency division multiplexing
While there is an a plurality of light scanning, the reproduction to three-dimensional scenic is realized, and is constantly updated, when there is any object in the scene
When position, angle change, caught and positioned.
Further, laser beam direction and field of view of receiver direction is swept while carrying out two dimension in space using a tilting mirror
Retouch, coordinate multi-laser beam to realize three dimensions scanning.
Further, the irregular cylinder that the tilting mirror is constituted using 16 reflectings surface.
Further, step is implemented to object scene seizure positioning as follows：
Step one, on high voltage line iron tower, below Distance High Voltage Electricity Transfer, arbitrary position is installed and is sent out by optical lens group, laser
The Smart Detector with reception system composition is penetrated, Smart Detector is arbitrarily spatially carried out below Distance High Voltage Electricity Transfer in real time
Detection, Smart Detector launches multi-frequency multi-angle laser, monitors the echo reflection time；It is more than given size when there is projected length
Object enter into detecting area, system lock target location；
The real time data that step 2, data handling system are detected to Smart Detector is analyzed, judges；Such as it is judged to have
Object invades detecting area, and control night vision device is tracked to intrusion target；
Step 3, data handling system control intelligent sound alarm play warning voice；
Step 4, the picture that night vision device is captured or video are transferred to Yun Jian command centre backstage by wireless communication module
Or mobile job-oriented terminal equipment.
Further, when the object for having projected length to be more than 20cm enters into detecting area, system lock target position in step one
Put.
Further, the wireless communication module is provided with multi-mode communication unit, and including but not limited to 3G communication unit, 4G leads to
Any one in letter unit, WIFI unit or combination in any.
Further, any one or its that the 3G communication unit is at least in WCDMA, CDMA2000, TD-SCDMA is any
Combination.
Further, the 4G communication unit is at least any one in TD-LTE, FDD-LTE or its combination in any.
The present invention is used for the multilasered optical radar array monitoring method of overhead transmission line, and multilasered optical radar array includes optics
Lens group, Laser emission and reception system and data handling system, using multilasered optical radar array, to overhead transmission line high pressure
Space below line carries out demixing scan, and whether monitoring overhead transmission line nearby has personnel, vehicle, vegetation etc. cause in space
The object that overhead transmission line is destroyed.Swept by carrying out 3 D stereo using many laser arrays to overhead transmission line surrounding space
Retouch, when nearby there is foreign object invasion in space to overhead transmission line, multilasered optical radar array will monitor invader in the very first time
Body, and can accurately monitor intrusion object actual look, size and away from transmission line of electricity actual range, it is ensured that to overhead transmission line
The real-time of foreign object intrusion detection and accuracy.These real time datas are fed back to intelligent analysis system, is realized to overhead power transmission
The real-time early warning function of circuit foreign object invasion.
Further, with real-time Transmission such as 4G and wireless WIFI technologies, realize carrying out overhead transmission line monitor in real time, and
And can very first time outward force destroy implementer give a warning, the very first time notify operation maintenance personnel, so as to by external force destroy row
For preventing in time, so as to external force vandalism is prevented in time..
The present invention has further the advantage that：
1. multilasered optical radar array scanning has high real-time, and response time is less than 500ms.
2. multilasered optical radar array can carry out 3 D stereo scanning to overhead transmission line surrounding space, can accurately monitor frame
The outward appearance, size of empty transmission line of electricity intrusion object and apart from transmission line of electricity actual range etc., it is ensured that the accuracy of monitoring effect.
3. according to laser power difference, configurable detecting distance, maximum monitoring radius is up to 1km.
4. multilasered optical radar array carries out 3 D stereo scanning by laser technology, strong environmental adaptability, can dense fog,
Normal work under the weather environments such as sleet.
5. 1550nm iraser is adopted, and monitoring is hidden, and anti-malicious sabotage ability is strong.
【Description of the drawings】
Fig. 1 is the monitoring of structures schematic diagram of multilasered optical radar array
Fig. 2 is laser scanning schematic diagram
Fig. 3 is transmitting optical schematic diagram
Fig. 4 is sector region scanning schematic diagram
【Specific embodiment】
With specific embodiment, the present invention is described in further detail below in conjunction with the accompanying drawings, but not as the limit to the present invention
Fixed.
As shown in figure 1, many laser arrays monitoring structure is mainly by optical lens group, transmitting and reception, data handling system
Three parts constitute.The effect of optical lens group is that veiling glare is eliminated and the dust-proof process of outdoor environment.Emitting portion is mainly by laser
Device drive circuit, laser instrument and laser emission optical system composition.Drive circuit for laser is used for driving 1550nm optical-fiber laser
Device produces laser pulse signal, and the effect of laser emission optical system is to carry out shaping to laser.Receiving portion is mainly by laser
Receiving optics, photodetector and receiving processing circuit composition.The effect of laser pick-off optical system is echo shaping, light
Electric explorer is that optical signal is converted into the signal of telecommunication, and receiving processing circuit carries out signal processing to the signal of telecommunication.
Data handling system is responsible for the system level functions such as system sequence control, data are calculated, threshold value of warning is arranged.
By whole system high-velocity scanning, three-dimensional scenic is reappeared, equipment by pulse laser emission and receives reflection letter
Number, the distance of object is calculated by time difference；During measurement, laser instrument continuous repeat its transmission and is connect in high-speed rotation
Laser pulse is received, so as to object range data under one group of group difference angle is obtained, in Z-direction by the way of frequency division multiplexing
While there is an a plurality of light scanning, the reproduction to three-dimensional scenic is realized, and is constantly updated, when there is any object in the scene
When position, angle change, caught and positioned.
Using a tilting mirror in space to laser beam direction and field of view of receiver direction while carrying out two-dimensional scan, cooperation is many
Laser beam can achieve three dimensions scanning.Many laser arrays have the advantages that scanning speed is fast, scanning field of view big and high precision.Turn
The irregular cylinder that mirror is constituted using 16 faces, requires to may be designed as the circle of more reflectings surface composition according to accuracy and speed
Cylinder, each face plating reflectance coating, each face can be individually designed with the angle of central shaft, facilitates subsequent calculations and spatial accuracy to divide
Cloth, the primary structure of tilting mirror is as shown in Figure 2.
1550nm optical fiber laser light-emitting area is L in the length of vertical direction, and Laser Output Beam is in parallel direction
The angle of divergence is θ, and the angle of divergence perpendicular to junction plane direction is α, and the object space focal length of whole optical transmitting system is f, laser instrument
Light-emitting area is located in the focus of whole optical transmitting system, as shown in Figure 3.
As shown in figure 4, being scanned in sector region；In certain angle position, returned by calculating object light wave reflection
The time difference that comes, accurately to calculate distance of the object apart from far point, so as to realize precise positioning.
Step is implemented to object scene seizure positioning as follows：
Step one, on high voltage line iron tower, below Distance High Voltage Electricity Transfer, arbitrary position is installed and is sent out by optical lens group, laser
The Smart Detector with reception system composition is penetrated, Smart Detector is arbitrarily spatially carried out below Distance High Voltage Electricity Transfer in real time
Detection, Smart Detector launches multi-frequency multi-angle laser, monitors the echo reflection time；When the thing for having projected length to be more than 20cm
Body enters into detecting area, system lock target location；
The real time data that step 2, data handling system are detected to Smart Detector is analyzed, judges；Such as it is judged to have
Object invades detecting area, and control night vision device is tracked to intrusion target；
Step 3, data handling system control intelligent sound alarm play warning voice；
Step 4, the picture that night vision device is captured or video are transferred to Yun Jian command centre backstage by wireless communication module
Or mobile job-oriented terminal equipment.
Further, the wireless communication module is provided with multi-mode communication unit, and including but not limited to 3G communication unit, 4G leads to
Any one in letter unit, WIFI unit or combination in any；The 3G communication unit is at least WCDMA, CDMA2000, TD-
Any one in SCDMA or its combination in any.
The 4G communication unit is at least any one in TD-LTE, FDD-LTE or its combination in any.
Claims (8)
1. a kind of multilasered optical radar array monitoring method for overhead transmission line, it is characterised in that：Multilasered optical radar array
Including optical lens group, Laser emission and reception system and data handling system；
The effect of optical lens group is that veiling glare is eliminated and the dust-proof process of outdoor environment；
Laser emission and reception system include emitting portion and receiving portion, and emitting portion is by drive circuit for laser, laser instrument
Constitute with laser emission optical system, drive circuit for laser is used for driving laser instrument to produce laser pulse signal, Laser emission
Optical system carries out shaping to laser；Receiving portion is by laser pick-off optical system, photodetector and receiving processing circuit group
Become, laser pick-off optical system is used for the echo shaping to receiving, photodetector is converted into the signal of telecommunication, receiving area optical signal
Reason circuit is filtered processing to the signal of telecommunication, reduces the amount of calculation of subsequent data processing unit tolerant fail algorithm；
Data handling system is responsible for system sequence control, data calculating, threshold value of warning setting function；
By whole system high-velocity scanning, three-dimensional scenic is reappeared, equipment by pulse laser emission and receives reflected signal,
The distance of object is calculated by time difference；During measurement, laser instrument continuous repeat its transmission and reception in high-speed rotation swash
Light pulse, so as to obtain object range data under one group of group difference angle, Z-direction by the way of the frequency division multiplexing simultaneously
There is an a plurality of light scanning, the reproduction to three-dimensional scenic is realized, and is constantly updated, when there is any object position in the scene
Put, when angle changes, caught and position.
2. the multilasered optical radar array monitoring method of overhead transmission line is used for as claimed in claim 1, it is characterised in that：Adopt
With a tilting mirror in space to laser beam direction and field of view of receiver direction while carrying out two-dimensional scan, cooperation multi-laser beam is realized
Three dimensions are scanned.
3. the multilasered optical radar array monitoring method of overhead transmission line is used for as claimed in claim 1, it is characterised in that：Institute
The irregular cylinder that tilting mirror is constituted is stated using 16 reflectings surface.
4. the multilasered optical radar array monitoring method for overhead transmission line as described in claim 1,2 or 3, its feature exists
In catching positioning to object scene, to implement step as follows：
Step one, on high voltage line iron tower, below Distance High Voltage Electricity Transfer arbitrary position install by optical lens group, Laser emission and
The Smart Detector of reception system composition, Smart Detector is arbitrarily spatially visited below Distance High Voltage Electricity Transfer in real time
Survey, Smart Detector launches multi-frequency multi-angle laser, monitor the echo reflection time；It is more than given size when there is projected length
Object enters into detecting area, system lock target location；
The real time data that step 2, data handling system are detected to Smart Detector is analyzed, judges；Such as it is judged to there is object
Detecting area is invaded, control night vision device is tracked to intrusion target；
Step 3, data handling system control intelligent sound alarm play warning voice；
Step 4, the picture that night vision device is captured or video are transferred to Yun Jian command centre backstage or shifting by wireless communication module
Action industry terminal unit.
5. the multilasered optical radar array monitoring method of overhead transmission line is used for as claimed in claim 4, it is characterised in that：Step
When the object for having projected length to be more than 20cm enters into detecting area, system lock target location in rapid one.
6. the multilasered optical radar array monitoring method of overhead transmission line is used for as claimed in claim 4, it is characterised in that：Institute
State wireless communication module and be provided with multi-mode communication unit, including but not limited to 3G communication unit, 4G communication unit, in WIFI unit
Any one or combination in any.
7. the multilasered optical radar array monitoring method of overhead transmission line is used for as claimed in claim 4, it is characterised in that：Institute
State any one in 3G communication unit at least WCDMA, CDMA2000, TD-SCDMA or its combination in any.
8. the multilasered optical radar array monitoring method of overhead transmission line is used for as claimed in claim 4, it is characterised in that：Institute
State any one in 4G communication unit at least TD-LTE, FDD-LTE or its combination in any.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611084439.2A CN106443700A (en) | 2016-11-30 | 2016-11-30 | Multi-laser radar array monitoring method for overhead transmission line |
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| CN201611084439.2A CN106443700A (en) | 2016-11-30 | 2016-11-30 | Multi-laser radar array monitoring method for overhead transmission line |
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| CN106443700A true CN106443700A (en) | 2017-02-22 |
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| CN201611084439.2A Pending CN106443700A (en) | 2016-11-30 | 2016-11-30 | Multi-laser radar array monitoring method for overhead transmission line |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106985706A (en) * | 2017-04-01 | 2017-07-28 | 中铁第勘察设计院集团有限公司 | The radar protection system of mobile catenary |
| CN107104971A (en) * | 2017-05-03 | 2017-08-29 | 哈尔滨工业大学 | A kind of joint-monitoring method based on laser radar and video, apparatus and system |
| CN108363068A (en) * | 2018-05-18 | 2018-08-03 | 广东电网有限责任公司 | Online monitoring device and system applied to power transmission line corridor hidden danger |
| CN108490419A (en) * | 2018-06-04 | 2018-09-04 | 电子科技大学 | A kind of vehicle-mounted multi-line laser radar system of automatic Pilot |
| CN108919293A (en) * | 2018-09-28 | 2018-11-30 | 广东电网有限责任公司 | Monitoring by Lidar device and electric pole |
| CN109472959A (en) * | 2018-01-05 | 2019-03-15 | 嘉兴市恒创电力设备有限公司 | Mutually switch the power test high pressure field protective device of realization by multiband |
| CN112731438A (en) * | 2020-12-23 | 2021-04-30 | 国网福建省电力有限公司莆田供电公司 | Radar with high-precision judgment and high-precision scanning for power transmission line |
| CN114839642A (en) * | 2022-03-15 | 2022-08-02 | 广东电网有限责任公司广州供电局 | Electric transmission line external damage prevention online monitoring method and device based on TOF camera |
| CN114966616A (en) * | 2022-07-26 | 2022-08-30 | 深圳市速腾聚创科技有限公司 | Laser radar and storage medium |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106985706A (en) * | 2017-04-01 | 2017-07-28 | 中铁第勘察设计院集团有限公司 | The radar protection system of mobile catenary |
| CN107104971A (en) * | 2017-05-03 | 2017-08-29 | 哈尔滨工业大学 | A kind of joint-monitoring method based on laser radar and video, apparatus and system |
| CN107104971B (en) * | 2017-05-03 | 2021-05-28 | 哈尔滨工业大学 | Combined monitoring method based on laser radar and video |
| CN109472959A (en) * | 2018-01-05 | 2019-03-15 | 嘉兴市恒创电力设备有限公司 | Mutually switch the power test high pressure field protective device of realization by multiband |
| CN108363068A (en) * | 2018-05-18 | 2018-08-03 | 广东电网有限责任公司 | Online monitoring device and system applied to power transmission line corridor hidden danger |
| CN108490419A (en) * | 2018-06-04 | 2018-09-04 | 电子科技大学 | A kind of vehicle-mounted multi-line laser radar system of automatic Pilot |
| CN108490419B (en) * | 2018-06-04 | 2021-12-10 | 电子科技大学 | Automatic driving vehicle-mounted multi-line laser radar system |
| CN108919293A (en) * | 2018-09-28 | 2018-11-30 | 广东电网有限责任公司 | Monitoring by Lidar device and electric pole |
| CN112731438A (en) * | 2020-12-23 | 2021-04-30 | 国网福建省电力有限公司莆田供电公司 | Radar with high-precision judgment and high-precision scanning for power transmission line |
| CN114839642A (en) * | 2022-03-15 | 2022-08-02 | 广东电网有限责任公司广州供电局 | Electric transmission line external damage prevention online monitoring method and device based on TOF camera |
| CN114839642B (en) * | 2022-03-15 | 2024-03-26 | 广东电网有限责任公司广州供电局 | online monitoring method and device for preventing external damage of power transmission line based on TOF camera |
| CN114966616A (en) * | 2022-07-26 | 2022-08-30 | 深圳市速腾聚创科技有限公司 | Laser radar and storage medium |
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Application publication date: 20170222 |
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| WD01 | Invention patent application deemed withdrawn after publication |