CN106504362A - Power transmission and transformation system method for inspecting based on unmanned plane - Google Patents
Power transmission and transformation system method for inspecting based on unmanned plane Download PDFInfo
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- CN106504362A CN106504362A CN201610908315.5A CN201610908315A CN106504362A CN 106504362 A CN106504362 A CN 106504362A CN 201610908315 A CN201610908315 A CN 201610908315A CN 106504362 A CN106504362 A CN 106504362A
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Abstract
The present invention relates to a kind of power transmission and transformation system method for inspecting, belongs to electric inspection process technical field, and in particular to a kind of power transmission and transformation system method for inspecting based on unmanned plane.Application image treatment technology of the present invention is smoothed to the image that unmanned plane is gathered and is sharpened optimization, solve the image quality issues that hardware is caused, fused images identification and fault detection technique, it is achieved that automatic identification and fault detect, develop power transmission line unmanned machine and patrol and examine image processing system.Achieve automatic, the semi-automatic planning route selection of intelligent optimization based on transmission line of electricity true three-dimension data, forest cutting capacity and housing demolition amount programming count.Achieve and line tower foundation guard space is detected and safe early warning.
Description
Technical field
The present invention relates to a kind of power transmission and transformation system method for inspecting, belongs to electric inspection process technical field, and in particular to Yi Zhongji
Power transmission and transformation system method for inspecting in unmanned plane.
Background technology
China is geographical complicated, and physical features Xi Gaodong is low, and mountain region, high original area are vast, have quite a few overhead transmission line
Need, by the physical features complex area such as forest, high mountain, river, there is substantial amounts of depopulated zone, traffic dead band and communication blind zone, to defeated
The survey and design of electric line, operation maintenance bring huge challenge and difficulty, are particularly even more in bad weathers such as ice disasters
So.Traditional ground artificial mode is because of cycle length, efficiency is low, return poor without hesitation, ageing low deficiency, has not adapted to the modern times
Electrical network, particularly super-pressure, the planning and designing of extra-high voltage grid and operation maintenance require that urgent need passes through the technological meanses of modernization
With planning and designing and operation maintenance of the manual type cooperative achievement to transmission line of electricity, reduce labour intensity and manpower consumption, reduce
Cost, shortens transmission line construction, patrols and examines and the failure solution time, so as to farthest ensure the normal fortune of national economy
OK.
With the development of science and technology, visible ray, special equipment or the survey such as infrared, ultraviolet are built using someone, unmanned vehicle
Measuring appratus are carried out to transmission line of electricity and patrol and examine operation, be solve current predicament there is provided cost-effective technical scheme, and work as
The embodiment of the common concern of front domestic and international power industry.
Unmanned vehicle has the little unique flight advantage of flight low speed, hovering time length, rough air, can achieve various
Transmission line of electricity under landform is super/closely, multi-angle patrol and examine operation, in addition, relative to manned helicopter, unmanned vehicle has
The advantages of small volume, friendly lightweight, portable, flexible, landing condition, more suitable for mountain area transmission line of electricity and harsh weather
Under the conditions of the monitoring of special key area, can effectively supplement with helicopter routing inspection pattern formation.
At present the practical topmost technical bottleneck of unmanned plane line walking be UAV bear a heavy burden limited and flying speed,
Flying height is restricted, need to research and solve in higher speed and compared with long distance under conditions of realize transmission line of electricity integration inspection
Survey, aircraft is automatically analyzed from motion tracking and control, detecting instrument and adjusted, the quick and precisely process of image and Fault Identification etc. are asked
Topic.
It is also that can restriction unmanned plane be applied in practice that the three-dimensional boat of unmanned plane is maked an inspection tour image intelligent and processed with state estimation
One of key factor.The three-dimensional boat of transmission line of electricity makes an inspection tour figure Intelligent treatment, including Image semantic classification, image detection and pattern-recognition
Etc. key technology.Currently, the research of prior art is concentrated mainly in the improvement of stability and picture quality of IMAQ, main
In terms of the Based Intelligent Control of video camera to be applied to, study in terms of the identification of transmission line malfunction and positioning less；Prior art exists
Transmission line of electricity is extracted and the existing initial achievements of aspect such as identification, sag measurement, but wire icing thickness, wire are burnt, lead ground
The image monitoring method research of the major defects such as line is stranded, insulator contamination is less.
Content of the invention
The present invention mainly solves the above-mentioned technical problem existing for prior art, there is provided a kind of based on unmanned plane
Power transmission and transformation system method for inspecting.The method application image treatment technology is smoothed to the image that unmanned plane is gathered and is sharpened excellent
Change, solve the image quality issues that hardware is caused, fused images identification and fault detection technique, it is achieved that automatic identification and event
Barrier detection, develops power transmission line unmanned machine and patrols and examines image processing system.The invention has the advantages that：(1) at application image
Reason technology is smoothed to the image that unmanned plane is gathered and is sharpened optimization, solves the image quality issues that hardware is caused, fusion
Image recognition and fault detection technique, it is achieved that automatic identification and fault detect, develop power transmission line unmanned machine and patrol and examine image
Processing system.(2) automatic, the semi-automatic planning route selection of intelligent optimization based on transmission line of electricity true three-dimension data, forest are achieved
Cutting capacity and housing demolition amount programming count.Achieve and line tower foundation guard space is detected and safe early warning.
Description of the drawings
Fig. 1 is the schematic diagram for carrying out multichannel laser data scanning cruise using the present invention；Before Fig. 2-1 is aerial condutor icing
Twisted wire figure；Fig. 2-2 is the wire edge graph after edge extracting；Fig. 3-1 is ice coating wire gray-scale map；Fig. 3-2 is icing
Wire binary map；Fig. 3-3 is ice coating wire edge graph；Fig. 4 is the schematic diagram after wire is about hindered；Fig. 5 is that remote video transmission is patrolled
Collect figure；Fig. 6 is the Video transmission system schematic diagram of the present embodiment；Fig. 7 is the power transmission line based on three-dimensional laser radar e measurement technology
Circuit planning design cycle schematic diagram；Fig. 8 is the circuit primary election figure based on satellite remote-sensing image；Fig. 9 is based on topographic map data
Circuit primary election figure；Figure 10 is the power transmission line corridor outcome data index schematic diagram of lidar measurement system acquisition；Figure 11 is
Intelligent route selection technology path flow chart；Figure 12 is to plan automatically circuit 3 d effect graph；Figure 13 is house vector data in DLG；
Figure 14 is 8 column foot section direction schematic diagrams of quad straight tower；Figure 15 is 8 column foot section direction schematic diagrams of square corner tower；
Figure 16 is based on traditional traditional circuit operation maintenance schematic flow sheet；Figure 17 is the transmission of electricity based on three-dimensional laser radar e measurement technology
Circuit operational process schematic diagram；Figure 18 is side phase conductor to setting schematic diagram；Figure 19 is the pre-designed effect of bank protection.
Specific embodiment
Embodiment：
1st, unmanned plane patrols and examines mode of operation
Mainly around the goal in research that the three-dimensional boat of unmanned plane transmission line of electricity is patrolled is created in the present embodiment, research unmanned plane is patrolled and examined
The various mode of operations of task, and on this basis, carry out line facility and channel status identification and assessment, Analysis of Policy Making, answer
Technological means and the management strategies such as anxious commander.
Unmanned plane can carrying image collection and the task device such as three-dimensional laser radar, with flight low speed, can hover only
Special flight advantage, can overcome complicated landform to patrolling and examining the impact of operation, realize that the transmission line of electricity multitask under various landform is patrolled and examined
Operation；Artificial control boat over long distances can be carried out to patrol or self-navigation tour, and equipment fault and abnormal conditions are carried out short
Distance or fixed point inspection, realize multi-angle walkaround inspection；Pan-shot can be carried out by unmanned plane and three-dimensional laser data are built
Mould, forms panorama line corridor passage, realizes that circuit panorama type makes an inspection tour management.
1) unmanned plane patrols and examines programme of work
Carry out that unmanned plane is multi-level, the boat of multitask patrols work, be to realize basis that unmanned plane circuit three-dimensional boat is patrolled.
(1) unmanned plane medium and long distance boat patrols pattern
Mainly complete the conventional walkaround inspection task of circuit, or carry other particular task equipment to complete special work times
Business, such as no-manned plane three-dimensional laser radar data collection, to set up three-dimensional live line corridor.
This mission mode is applied to big-and-middle-sized depopulated helicopter, requires with certain endurance and load-carrying.
Unmanned plane medium and long distance boat is patrolled pattern and preferably adopts automatic detecting scheme, and which is applied to transmission line of electricity and generally requires monthly
Patrol and examine once, unmanned vehicle very easily can be used for patrolling and examining transmission line of electricity, greatly save manpower and materials.
Automatic detecting need to arrange circuit boat in advance and patrol track, can be with using the following two kinds mode：
A. artificial intervention mode in advance：Shaft tower, insulator, circuit are patrolled initially with manual type, record
The GPS information of vital point, such as initial shaft tower position, sag position, next shaft tower position, and which is stored, and be input into
To in unmanned vehicle memory, patrol later and independent navigation is carried out by the point of this record.
B. independent navigation pattern：Directly input the gps coordinate of each shaft tower, set course line and course, to shaft tower, insulator,
Circuit is patrolled.
So that in the present embodiment research, as a example by Wuhan Feng huangshan Mountain real training circuit boat is patrolled, the line walking flight path of unmanned plane will be by work
Mission requirements arranges the course for coming and going back and forth along transmission line of electricity.Unmanned plane will fly at 100 meters of the side oblique upper of circuit
OK, the flight speed of a ship or plane in 7m/s or so, patrol and complete acquisition tasks automatically by boat.Visible images and other collections in flight course are appointed
Business information passes back to command support car in real time.
(2) unmanned plane short distance or fixed point patrol mode
Fixed point lookup scheme is mainly taken, special project is carried out to equipment deficiency and abnormal conditions by manual flight's control mode
Inspection, or scene is carried out taking photo by plane, emergency command monitoring etc..This mission mode is applied to SUAV, such as four rotor flyings
Device.
The scope of application of fixed point lookup scheme：After line protective devices are alerted, we can only often know approximate range
And reason, as some defects are manually difficult to find, and manual work takes time and effort, and risk is also larger, and therefore nobody flies
Row device can easily be used for searching failure, specifically be divided into several situations again：One is to work as to just know that failure approximate range,
And when cannot be accurately positioned the position of fault, trouble point is made a look up.Two is when failure or abnormal conditions are found, needs to lacking
Row detailed inspection is trapped into, image is obtained and is analyzed for technical staff.
When short distance is taken or fixed point is checked, also specifically carry out unmanned plane walking operation in the present embodiment research portable
Commanding and decision-making is studied.
The mode of operation of fixed point lookup scheme is as follows：
When a. checking to shaft tower, insulator and gold utensil, reached about 30 meters or so near steel tower, so with 5m/s speed
Slowly fly close-target afterwards, when reaching object height and when about 10 meters, stabilized flight device, control the angle of head using video camera and
Camera is taken pictures；
When b. checking to lead wire and earth wire and gold utensil, reached about 30 meters or so near lead wire and earth wire, then with 5m/s speed
Control head is looked squarely, and aircraft slowly flies close-target, and when object height and about 10 meters are reached, stabilized flight device is shot.
Self-navigation mode of operation can be also carried out using four rotor unmanned aircrafts during short out distance is patrolled and examined online：
Before carrying out patrolling and examining work, the working region that will be patrolled and examined is divided for a section according to per 0.6 kilometer, really
Protect, with this point as unmanned vehicle
Takeoff point.
When patrolling and examining work and starting, takeoff point is arrived in the transport of power transmission line unmanned aircraft cruising inspection system.Here launches ground
Stand, check unmanned vehicle machinery, fly the subsystems such as control, communication.After inspection is finished, start unmanned vehicle and start to patrol and examine work
Make.The line walking flight path of unmanned vehicle will complete 0.6 kilometer of an one way, whole 1.2 kilometers C-shaped course along power transmission line.
Unmanned vehicle will flown at 30 meters of the side oblique upper of circuit first, in circuit terminal across power transmission line to another skew back
0.6 kilometer of patrol flight at 30 meters of top.Flown 0.6 kilometer across power transmission line in the other end terminal of circuit again.Finally return
Backhaul.Visible ray and Infrared Image Information in flight course pass back in real time transport/
Commander/service truck.Meanwhile, after unmanned vehicle returns to ground, the data that airborne equipment is recorded are collected, right in earth station
Data analysis is analysed in depth.For other line walking sections are with above-mentioned routine inspection mode.
(3), associated specifications
With regard to unmanned plane and the relative position of transmission line of electricity.Tentatively formulate before flight and flown from circuit side and top
Two schemes of flight.If but if considering security, although side's flight on the line is easy to comprehensively examine line facility
Shooting is looked into, but there is very big potential safety hazard, do not recommend which.Comprehensive analysis understands that the mode of operation that emphasis is taken should
It is to fly in line side face.For this purpose, inventor has organized working flight test for several times on the spot, and confirm the basic energy of side flight
Meet the photographing request patrolled and examined, simply to distalmost end transmission facility to patrol and examine effect relatively slightly worse.
With regard to unmanned plane and the relative distance of transmission line of electricity.From from working effect, offline road is nearer, checks and shoots
Effect is better, but does not allow in safety, it is necessary to control certain safe distance nargin, finds optimal relative distance.
Certainly this also has certain relation with the security performance of aircraft.The test proof of working flight on the spot of inventor's tissue, four rotors
When aircraft carries out patrolling and examining work, keep the relative distance from side wire 10m to be preferred, can control in 5m in short-term if necessary, but not
Obtain and further break through.It is outer (relative altitude about 100m or so over the ground) that depopulated helicopter boat patrols appropriate to the occasion 30～50m above line side.
Cruising altitude with regard to unmanned plane.As pod is arranged on aircraft bottom, for ease of patrolling and examining inspection and gondola
The optimal shooting of equipment, unmanned vehicle are preferably flown in the oblique upper of circuit.In general, overlooked using certain angle
Effect is best.
(4), associated safety is required
It is in work high above the ground that unmanned plane is patrolled and examined, and there is certain security risk, and security is to overwhelm one during unmanned plane is patrolled and examined
The problem that cuts, flight safety must ex ante analysis it is contemplated that taken precautions against in advance, formulate control measure.Should be to the control of safety
Several respects control such as personnel equipment, working environment and weather impact.
On personnel equipment, the status of equipment of unmanned plane should carry out inspection control by aviation safety management requirement, not violate boat
It is being effectively ensured for flight safety that blank pipe system is required.Patrol and examine in work in unmanned plane, potential safety hazard is readily occurred on the person,
The flight performance of such as driver, mental status, and the mismate countermeasure aircraft operation of staff etc., these are all must
Must control.Therefore, operator's responsibility system is carried out in flight course suggestion, must assure that the spirit of itself before air vehicle operator's operation
Situation, in spite of illness or energy is not good all must not fly by force；According to weather conditions at that time, itself patrol flight experience, health
Etc. factor, operator can integrated decision-making make the decision that can carry out a certain flare maneuver, other staff must not intervene by force.With
When, it is a series of relevant that operator and line attendant should determine flight path, rest place, prompting danger zone etc. before flight
The problem of flight safety, is sufficiently prepared.In addition, staff should be equipped with necessary security protection equipment.
On working environment, affect the factor of flight safety more, such as such as ND barrier, linemen's in navigation channel
Make line facility in environment (be such as difficult note lightning rod of circuit lightning conducter, power station and transformer station etc.), scissors crossing and
Neighbours' circuit or massif etc., be be susceptible to danger where.Unmanned plane during flying mainly visually flies in addition to self-navigation
OK, by control staff visually finding the target of critical flight safety, therefore, flight should be entered under the preferable weather of visibility
OK, so also allow for finding barrier；On the other hand, operator should avoid flying against the sun, prevent sight line to be interfered；Three
It is it should be emphasized that during patrol flight, operator will keep eye contact with circuit consciously at any time, to keep unmanned vehicle
Safe distance with circuit；Finally it is emphasized that danger zone and when losing circuit, aircraft will be lifted, and fly away from Dangerous Place,
Forbid low-latitude flying.In addition, the work of unmanned plane line walking should avoid flying in danger zone, forbid in the middle of parallel circuit,
Fly above circuit and above transformer station and power plant.For the control of flight safety, driver and staff must be familiar with
Working site environment, should arrange necessary flight Warning Mark and set up risk identification system, and definition of proximity is (as defined circuit
In the 50m of both sides), arrange Sign Board/ball, set up flight line walking applied map etc..
Weather in conjunction with unmanned plane mainly by the present situation of visual operation, typically should be made under good weather conditions on affecting
The weather such as industry, strong wind, thunderstorm are forbidden flying, and in addition forbid that night flight is patrolled and examined.In work, it should be noted that fly in leeward line side as far as possible
OK, it is to avoid hover with the wind.Supertension line relative line distance, positioned at different geographic areas, the change of weather also differs
Sample, boat must grasp the weather conditions of land before patrolling, it is ensured that flight safety.
2) multichannel laser data scanning cruise scheme
Patrol in task in unmanned plane boat, carrying three-dimensional laser radar equipment carries out multichannel laser cloud data scanning collection,
To set up panorama line channel corridor, the senior application function that the three-dimensional boats such as corresponding production commander, state estimation are patrolled is realized.
Experience, equipment performance and engineering demand with reference to related specifications, early stage in planning route selection, in wanting for planning route selection
On the basis of asking, the present embodiment increased following data acquisition request for circuit operation maintenance：
With actual transmission line of electricity as center line, acquisition range is no less than each 100m in circuit both sides, circuit starting point, destination county longitudinal direction
Respectively stretch out 20m.
Experiment should carry out multiple differing heights and speed flight, to obtain different point cloud density and accuracy data.Wherein
The requirement of optimal data is as follows：
Image ground resolution is better than 0.05m；Dot density is better than 30p/m2；Height accuracy is better than 0.15m；Plane precision is excellent
In 0.2m.
Made an on-the-spot survey through flying field on the spot, determine flight range.Height and the determination of peripheral facilities distribution situation according to shaft tower
Degree of overlapping between course, flying height and air strips, it is ensured that scanning exhaustive, without dead angle.According to the concrete feature of flying platform,
5 course lines are set, flight terrain clearance is 35m in 100m, boat spacing, and flying speed is in 3-8m/s.The interval plane of flight
Scope is 1400m × 200m.
The three-dimensional boat of 2 unmanned planes is maked an inspection tour image intelligent and is processed and state estimation technology
The application of image processing techniques and GPS technology in field of power is possibly realized helicopter automatic detecting,
Also lay a good foundation for application of the unmanned plane in electric inspection process simultaneously.The three-dimensional boat of transmission line of electricity makes an inspection tour figure Intelligent treatment, including
The key technologies such as Image semantic classification, image detection and pattern-recognition.Currently, foreign study achievement is concentrated mainly on IMAQ
In the improvement of stability and picture quality, in terms of being mainly used in the Based Intelligent Control of video camera, the identification of transmission line malfunction with
Study in terms of positioning less；Studies in China is extracted and the existing initial achievements of aspect such as identification, sag measurement in transmission line of electricity, but right
The image monitoring method research of the major defects such as wire icing thickness, wire are burnt, lead wire and earth wire is stranded, insulator contamination is less,
Therefore this section mainly wire icing thickness, wire are burnt using image intelligent treatment technology, the major defect such as insulator contamination
Launch research, and develop software realization.
2.1 wire icing Thickness sensitivity algorithms
In power transmission and transformation system, the icing phenomenon of transmission line of electricity is very universal, and icing can cause conductor galloping, fall bar, disconnected
The major accident such as line and insulator arc-over, seriously threatens the safe operation of power system, and causes huge economic loss.This
System detected to lead wire and earth wire ice covering thickness by image processing techniques, meets the side of modern power transmission line intelligentization development
To.
The difference of the pixel of the lower edges before and after the Main Basiss icing that ice covering thickness is calculated, is turned by pixel value difference
Turn to the thickness after icing.If Fig. 2-1 is the twisted wire figure before aerial condutor icing, the edge image after edge extracting is as schemed
2-2.
As shown in Fig. 3-1 to Fig. 3-3, Fig. 3-1 ice coating wire gray-scale maps, first to its Threshold segmentation, are translated into two-value
Figure, such as Fig. 3-2, finally carry out rim detection using Canny operators and obtain Fig. 3-3, count total picture of lower edges to Fig. 3-2
Element, calculates the mean pixel of lower edges after wire icing.
2.2 wires are burnt a detection algorithm
Wire easily occurs burning a little or even occurring breaking after being struck by lightning, and human eye easily discovers lightning-caused breaking, but is difficult to sentence
Burn after disconnected thunderbolt an area, therefore the system occurs burning to wire after thunderbolt and be a little analyzed and detect, can be transmission line of electricity
Failure provides reference.
It can be seen from figure 4 that after burning occurs in wire, its unburned areas is rendered as white, just and often wire is in image
Middle color should be pitchy, therefore at wire and the place of burning gray value has a significant difference, therefore can be by counting the picture at the place that burn
Percentage shared by vegetarian refreshments sum accounts for the area percentage of the section lead to determine its degree that damages.
3. the transmission line of electricity monitor in real time and emergency command technology based on unmanned plane
The main purpose of research tele-video transmission system is that the transmission line of electricity live video information for shooting unmanned plane is passed
Rear production Police Command Center is returned, monitor in real time and the commander of operation field situation is realized, is that remote emergency commander is provided with
The technical guarantee of power, improves the mobility and quick-reaction capability of transmission line of electricity emergency command, it is ensured that to the real-time of breakout defects
Monitoring and quick emergency response.
The transmission line of electricity monitor in real time and emergency command technology of unmanned plane view is by unmanned aerial vehicle station, remote mobile video
Transmission equipment, three big node of commanding in the rear center composition, as shown in Figure 5.Wherein, earth station is mainly used in receiving unmanned plane transmitting
The image video signal for returning, equivalent to a unmanned ground receiver, as the signal source of remote transmission；Remote video transmission sets
Standby first collection video image, is compressed coding, then passes through network and compressed video data is sent to server；Command centre
For the receiving terminal of video image remote transmission, for live video information is received, it is easy to remote monitoring and emergency command.
3.1 images and video data acquiring and remote transmission
Image mainly realizes following functions with video data acquiring equipment：Image capture device mainly to power transmission line, shaft tower,
The observation of the target objects such as gold utensil carries out the collection of high resolution picture, and then analysis circuit equipment defective eigenpairs；Ground control
Personnel then according to the video information of Airborne camera, carry out flight control to unmanned vehicle.
At present, due to effectively carrying out in the case of unmanned vehicle communication transfer generally intervisibility, and unmanned vehicle is to taking
The restriction for carrying equipment volume and weight result in the limited of transmitter power, so its communication distance is 4-5 kilometers, be unfavorable for letter
The remote transmission of breath.For guaranteeing the video of unmanned vehicle shooting and image information outside being back to three or four hundred kilometers in time (by lake
North O＆M routine calculation inside the province) rear production command centre, inventor by the terrestrial information reception system of unmanned plane with long-range
Wireless video transmission technology combines, and realizes the real-time monitoring and control of emergency commading system.
1) selection of network transmission pattern
Realize that the technology of video image remote transmission mainly has microwave wireless bridge, COFDM, CDMA/GPRS/3G at present
Deng.Microwave wireless bridge：Working frequency points are 2.4G, 5.8G, but are mainly used to data transfer of the fixing point to fixing point, it is impossible to should
The radio communication being used between the unmanned vehicle and ground control's car of high-speed mobile.
COFDM：COFDM (COFDM) modulation technique is newest Radio Transmission Technology, actually used
In achieve the high speed data transfer (2-20Mbps) of " resistance gear ", " non line of sight ", " communication in moving ", show brilliance " around
Penetrate ", " penetrating " performance.Digital video transmission module adopts COFDM technology, the gathered electricity of the video camera that unmanned vehicle is carried
, to earth station, Radio Link anti-interference is good, and there is encryption function, remote with flight for the Image Real-time Transmission of line of force road and steel tower
Journey remote control task, automatic Pilot task are perfect compatible, and excellent air link characteristic ensure that the stable transmission in high-speed flight.
GSM/GPRS/3G：GSM/GPRS is mobile communication public network technology, very ripe, but transfer rate is typically in 100Kbps
Left and right, it is impossible to high quality graphic of the transmission more than 2Mbps；And privacy mechanism is unsound, video pictures time delay 5～10 seconds, nothing
Method meets the requirement of unmanned vehicle Realtime Capability of Communication.And CDMA 3G, used as the ripe communication network of telecommunications industry, performance is steady
It is fixed, it is easy to accomplish, and possess stronger word and image transmission capabilities.
By the comparative analysis of above-mentioned network transmission technology, the present embodiment selects the CDMA 3G of telecommunications as video image
The bearer network of Long-distance Transmission Technologies.
2) design of transmission equipment
Remote video transmission device is the core content of this research link, its be one collection video acquisition, Real Time Compression and
The embedded device that the functions such as process, network transmission are integrated, the logic chart of the device are as shown in Figure 6.
The function and ins and outs of wherein modules is as follows：
1. video acquisition module
Mainly by earth station's vision signal input collection, it is provided that continual information source, video acquisition simulation are regarded
Every two field picture in frequency sequence, and incoming for these data PC systems before next two field picture is gathered.
2. Real Time Compression and processing module
Wherein Image Coding is a step of most critical in Video Long-distance Transfer System Controled, and H.264 video compression coding using compiling
Code, it obtain the compression performance much better Bi H.263++ using the compact design of " returning basic " without numerous options.
3. network transmission module
In network transmission, greatest problem is to there is Rayleigh decay and multi-user interference in wireless channel, reduces weight
Build the quality of image.In order to realize the transmission of video of good quality, it is necessary to the transmission characteristic of combining wireless channel, take certain
Fault-tolerant measure.Inventor had found by test, and it is more smooth that 2 CDMA cards transmit image than simple 1 CDMA card, and by accident
The image at scene is after overcompression and packet by cdma wireless network transmission to Surveillance center.
Video acquisition module, Real Time Compression and processing module, network transmission module are built according to above-mentioned technical requirements
Transmitting device is filled into image.
4. the transmission tine planning based on unmanned plane is designed
1) route selection is planned
Lidar measurement technology is carried with depopulated helicopter quickly can carry out high precision three-dimensional measurement to line corridor,
So as to for the design of transmission line of electricity, operation, maintenance, management enterprise and professional provide more rapidly, more efficient and more scientific
Means.Using lidar measurement system, line corridor high-precision laser point cloud and high-resolution aviation number can be directly gathered
Code image, and then obtain high-precision three-dimensional line corridor topography and geomorphology, line facility equipment, and the accurate three-dimensional of corridor atural object
Spatial information, including shaft tower, hanging wire point position, electric wire sag, trees, building etc., so as to designing for transmission tine planning, transporting
Row is safeguarded and provides high precision measuring data achievement.
A. general thought general introduction
Transmission line of electricity has stringent condition to limit to passing through space, is extremely careful with a complicated job.General and
Speech, transmission line of electricity route selection is first 1:10000 or 1:A preferable path is primarily determined that on 50000 topographic maps, in conjunction with each
Key area is made an on-the-spot survey carries out local variation.Topographic map data is typically provided by mapping mechanism.Due to traditional drawing be two-dimentional,
Three-dimensional information can only be showed by contour or altitude note, and product is single, not directly perceived, the final design that designer submits to
Achievement is also drawing and explanatory note data.As the used small-scale topographical map of China is the 70-80 ages in 20th century mostly
Or survey and draw earlier, thus cannot more accurately reflect the situation of current landform, atural object；Using conventional meanses institute testing landform
Figure, speed are slow, long in time limit, and as artificial field route selection work is largely by experience and the visual field shadow of designer
Ring, can only ensure as far as possible circuit can walk logical, it is difficult to be optimized；So currently designed unit generally makees line using remote sensing image
The primary election on road, the technology can move field condition three-dimensional environment interior in a big way to interior, and designer can be indoors
It is sufficiently familiar with grasping circuit geographical environment information, for traditional work survey means, it is easier to realizing route and tower bit optimization.
Depopulated helicopter carries lidar measurement technology relative to aerophotogrammetry technology, can not only be designer
More accurate, more subjective line corridor field true environment information is provided, and these information are totally digitilized, can be multiple
Conventional software and hardware supports, operates and apply more flexible and convenient, applies the technology not only greatly save design, survey expense use,
Shorten duty cycle, make design more reasonable, and can quickly realize Complex Power, the networking of electric network information and visualization pipe
Reason, can produce good economic benefit and social benefit.
B. general technical flow process
On the basis of lidar measurement technology is grasped, require in conjunction with transmission line of electricity route selection work flow, inventor sets
Count and the transmission tine planning design cycle (as shown in Figure 7) of lidar measurement technology, flow process key ring have been gone straight up to based on nobody
Section is described as follows：
(1) first, with 1:10000 or 1:50000 topographic map data or satellite remote-sensing image data are reference, preliminary true
A fixed preferable transmission line of electricity path, completes circuit primary election outgoing route achievement.As shown in Figure 8, Figure 9.
(2) based on primary election line route, 4, air strips width is usually 2-3km.To gather laser radar data carry out plus
Work process, obtains laser point cloud data, digital orthoimage DOM, digital surface model DSM, digital complex demodulation and numeral
Line layout figure DLG, and these data are supplied to design department carry out path initial optimization.As shown in Figure 10.(3) survey speciality skill
Art personnel are adjusted using laser radar data output and are drawn, and carry out fieldwork measurement.(4) laser radar data, annotation result are combined
Data and other assistance datas, transmission line of electricity optimal routing design software (such as this enforcement that designer is developed in custom-made
Example in " transmission line of electricity three-dimensional live AMS ") in, carry out line route automatically select, line route manually excellent
The location and design achievements such as change, walkthrough tower position, and outgoing route achievement, image path profile, three-dimensional sight.
(5) carry out surveying position and construction lofting eventually using location and design achievement to scene.
(6) the measuring and design achievement of route selection can also provide basic data for the management of later stage electrical network three-dimensional visualization.
C. engineering practice
Using data product DEM, DOM and DLG, can (in this test, application be Wuhan University's exploitation in software platform
" transmission line of electricity three-dimensional live AMS ") in build three-dimensional scenic true to nature, designer can be regarded from different
Atural object that angle is checked around circuit, geomorphic feature, can measure the distance of various influential atural object distance lines, can pass through
Amplify, reduce, roam it can also be seen that the orographic condition of complete trails, can consider communications and transportation along the line, construction and fortune
Complexity that row is safeguarded, the impact to atural object and affected by landform so that circuit to walk footpath more rationally more economical, to attached
The impact of near-ambient and resident is reduced to minimum.The present embodiment is successfully realized intelligent route selection, house first in software platform
The functions such as the automatic acquisition of removal amount programming count, forest cutting capacity programming count and column foot section.
(1) intelligent route selection
First, user is needed by fieldwork measurement data typing software platform, according to the influence factor size to route selection result,
Influence factor can be classified.After the completion of typing, then carry out relative parameters setting, the input of circuit starting point coordinate and guiding point
Select etc., then system will be limited according to actual landform landforms and Complex Constraints condition etc. and carry out operational analysis.By opposite
Into mulitpath be compared analysis, finally determine and generate qualified two optimal paths, shown in systems
Show.Implement technology path as illustrated in flow chart figure 11：
Wherein, arrange and be divided into parameter setting and circuit setting, parameter setting includes that strain section maximum length, strain section are minimum
Length, the hard-over number of degrees and ruling grade etc.；Circuit is arranged to be included：Circuit name, electric pressure, starting point coordinate are (manually defeated
Enter, read file or mouse click etc.) etc., as shown in figure 12.
(2) human-edited
Human-edited is real-time monitored of the user by three-dimensional scenic, to carrying out where intelligent route selection result Shortcomings
Human intervention, edit-modify is reaching preferred plan effect.Designer can utilize human-edited's function that system is provided, such as
Add the editing and processing that the functions such as branch line, automatic connecting, insertion shaft tower and mobile shaft tower enter row line in two dimensional surface；
(3) housing demolition amount programming count
The present embodiment collection obtains transmission line of electricity clearance area houseclearing, and automatically generates transmission line of electricity removal amount calculating report
Table.Key step is as follows：The digital orthoimage DOM superposition cloud datas of (a) using three-dimensional laser radar data genaration, accurately
Transmission line of electricity clearance area outline of house and house cloud data is obtained, with this data genaration Digital Architecture thing model DBM, to DBM
Carry out the gradient to calculate to determine type of house；B () is normalized to digital building model DBM with digital complex demodulation,
In conjunction with type of house, house is calculated averagely to ground level, generate height of house data set, to obtain clearance area height of house；(c)
House floor height is obtained with clearance area height of house data set；D () determines the house number of plies, floor space with the result of c, b；E () is used
The above results combined circuit routing information exports transmission line of electricity removal amount accounting report.
Step (a) carries out the gradient and calculates to determine that type of house is referred to DBM, calculates each floor area center in DBM
The discrepancy in elevation between grid is closed on center, the house facade gradient is calculated with this discrepancy in elevation.
Clearance area gradient threshold value is set as 4 ° -6 °, the relation of surface gradient and threshold value is judged, judges flat-roofed house with point with this
They are counted and are numbered output by top room respectively.After line route is decided, a buffering area can be set,
The house vector data in DLG can be therefrom extracted, and the number of plies in house is judged by measuring height of house, then calculated whole
The house gross area in individual buffer area, is shown in Figure 13, so as to estimate damages, makes transmission line construction cost budgeting more section
Learn.
(4) forest cutting capacity programming count
The trend of forest, distribution are had a major impact to the design and operation of transmission line of electricity, and the addressing of shaft tower is covered by forest
The impact of lid regional geology condition, the change of forest area microclimate mima type microrelief condition also can produce impact to the design of circuit.
Generally, the design that transmission line of electricity has the different degrees of area through all kinds of vegetal covers, transmission line of electricity will be examined
Consider the impact that forest crosses over, either the field of development and utilization, coniferous forest, broad-leaf forest, or the nature without exploitation
Protection zone, therefore, reasonable selection transmission line of electricity path and trend are avoiding cut down forest especially rare protection plant and minimizing
Coordination is reached in terms of transmission line of electricity investment two, be the critical problem that economical rationality designs overhead transmission line.Can using DEM and DSM
To obtain trees height, in conjunction with DOM and fieldwork measurement data, tree type is can determine.
According to the line route for finally determining, buffering area scope is set, the forest vector file extracted in DLG is automatically extracted
The forest scope that need to cut down simultaneously calculates the forest area that need to be cut down, and estimates forest damages.
(5) automatic, high precision of column foot section is obtained
As line construction specialty needs, need to survey the tower base sectional drawing of every first stage tower position in the construction drawing stage
Amount.In conventional engineering experience, often occur to cause situation about relocating as angle tower column foot position topography variation is larger.
It is therefore desirable to the line electricity person's of making angry route selection is completed later every one-level angle tower position carry out indoor tower base sectional drawing from
Dynamic high accuracy is drawn.Traditional Aerial Surveying Technology is poor due to height accuracy, it is impossible to meet requirement of engineering.And by three-dimensional laser radar
Far above traditional Aerial Surveying Technology, therefore draw the automatic, high precision of tower base sectional drawing becomes the DEM height accuracies of technical limit spacing
Reality.
After line route determines, as origin elevation, and 8 sides can be extracted by extraction column position center elevation in DEM
To elevation section.As shown in figure 14, ABCD is the direction of four tower legs to 8 direction schematic diagrams of column foot section, and mutual angle is
90 °, 45 °, 135 °, 225 ° and 315 ° are followed successively by with direction of retreat angle.EFGH is remaining four direction, and mutual angle is 90 °.
The two neighboring angular separations of ABCD and EFGH are 45 °.
Figure 15 is 8 column foot section direction schematic diagrams of square corner tower, and ABCD is the direction of four tower legs, and mutual angle is
90 °, E and G is the angular bisector of circuit direction of advance and direction of retreat, tetra- legs of ABCD and E angular separations be followed successively by 45 °, 135 °,
225 ° and 315 °.EFGH is remaining four direction, and mutual angle is 90 °.The two neighboring angular separations of ABCD and EFGH are 45 °.
After elected knot fruit determines, tower base sectional drawing output can be carried out to certain tower position.
2) operation maintenance
Operation maintenance is primarily directed to existing circuit and carries out maintenance management, mainly includes equipment measurement, state estimation, side slope
Distance measuring and revetment design etc.；Wherein, equipment is measured and is referred mainly to by manual type to wire pitch, wire to distance
Measured from embodiments such as, two grades of sags, system is responsible for carrying out early warning analysis to measuring value；State estimation is then according to circuit
The air gap distance threat degree of surrounding enviroment change and live wire is divided into Three Estate and carries out early warning, and different brackets delays
Rush area to divide in different colors；Side slope distance measuring and bank protection pre-designed mainly by user to three-dimensional virtual scene in the middle of
Topography and geomorphology carries out observation analysis and according to actual needs, the revetment design of decision-making shaft tower landform.
A. general thought general introduction
Transmission line of electricity O＆M is included to the room barrier screen of trees cleaning in shaft tower, the range measurement of lead wire and earth wire, path protection area, side
The work such as the measurement on slope, the measurement of system platform are exactly quick, concisely understand line with the main purpose of the functions of modules such as assessment
Line pole tower equipment situation, reduces impact of the defect to transmission line of electricity, so as to improve O＆M level.
Power equipment space length near, discharge fault each other can be caused.For overhead transmission line all kinds of classes away from
From,《Overhead transmission line circuit operation rule code》In to have the distance between clearly regulation, circuit charging equipment to have strict
Regulation, but as the elongated and environment of run time is because of the impact of factor, its distance can change.Once charging equipment it
Between hypotelorism, cause more serious defect.In order to prevent the generation of such defect, do not affecting charging equipment operation and protecting
In the case of card safety, the distance between measurement circuitry equipment is just particularly important.Due to artificial outwork largely
On be limited by experience and the visual field of designer, can only ensure as far as possible to measure as far as possible accurately, and three-dimensional laser radar can be by line
The three-dimensional environment at road scene is set up in system platform, and survey crew accurately can grasp line conditions, relative to traditional hand
For section, it is easier to realize precision and controllableization.
B. general technical flow process
Based on traditional circuit operation maintenance, it is by the existing operation management pattern of circuit, relies on level orderly management
Realize, be mainly reflected in that a line attendant has found relevant issues to line facility inspection, higher level is reported and submitted with papery, electronic version
After administrative department, which arranges commercial measurement related personnel scene to actually accomplish data collection task, the equipment phase such as including lead wire and earth wire
Adjust the distance measurement, screen of trees, room barrier statistical analysis process, overhead line structures basis protection zone side slope situation of change in route protection area
Deng.Figure 16 is based on traditional circuit operation maintenance schematic flow sheet.
On the basis of lidar measurement technology is grasped, require in conjunction with transmission line of electricity O＆M work flow, inventor sets
The transmission line of electricity operation maintenance flow process that lidar measurement technology is carried based on depopulated helicopter has been counted, as shown in figure 17.
C. engineering practice
Using basic surveying and mapping product DEM, DOM and DLG, can the present embodiment research and development " transmission line of electricity three-dimensional live should
With management system " in build three-dimensional live, from different visual angles, staff can check that the atural object of circuit periphery, landforms are special
Levy, measure the distance between each Target scalar and circuit, by amplifying, reducing, complete trails orographic condition is checked in roaming, is considered
The complexity of along the line communications and transportation, construction and operation maintenance, the impact to atural object and affected by landform, realized that circuit is walked
Footpath is more rationally more economical, and the impact to neighbouring environment and resident is reduced to minimum.By this research, in transmission line of electricity operation maintenance
Application aspect, is successfully realized equipment measurement, state estimation, side slope measurement and function, the application effect such as early warning, bank protection be pre-designed
Upper have the features such as three-dimensional panorama displaying, measurement directly perceived and multiple task management.
1. equipment is measured
Depopulated helicopter laser radar can be realized measuring simultaneously according to all kinds of operation safe distance requirements after being scanned through
Multiple tasks are such as：Conducting wire sag, scissors crossing, wire are to ground danger (trees, house, river, at a high speed transmission line of electricity, public affairs
Road etc.) etc. embodiment measurement.In our current research based on the accurate measurement that can realize space length using laser point cloud, emphasis
Applying and three-dimensional live power transmission line corridor being set up in the operation management of transmission line of electricity, panorama shows transmission line equipment
State, can realize the distance measuring in arbitrary space, can be to data messages such as scissors crossing, conducting wire sag, phase spacings
Multitask measurement and displaying is carried out, data analysis and differentiation is intuitively measured, there is provided new operation maintenance management means.
In the present embodiment research, using the transmission of electricity of the data and practical situations setting measured after LiDAR device scans
Equipment standard value is compared：If the data that scanning is measured are less than standard value, system alarm, and indicated with red font；Greatly
It is qualified then to monitor in standard value, is indicated with blue font.Measurement result exports to Excel file preservation.In our current research for just
In achievement to be efficiently applied in practice, the setting authority of related operation standard value can be according to transmission line equipment voltage
The adjustment of the external factor such as grade, pole tower forms, terrain environment is arranged, and Microsoft Excel is arrived in as a result output
2. state estimation
At the transmission line construction initial stage, in order to erect power transmission lines, generally require view and clean out electric transmission line channel, pass through
Run after a while the external environment conditions such as the trees around the line channel of change, Geotechnical Environment, house can also occur certain
Change.In order to effectively ensure transmission facility safety, real accomplishes dynamic grasp equipment periphery situation, and statistic of classification is each
Plant hidden failure, there is provided safe early warning, and carry out carrying out transmission facility repair based on condition of component, it is necessary to can dynamically grasp line in real time
Road periphery situation.In our current research using three-dimensional live platform real scene image, realize multitask at the same measure etc. functional characteristics, right
Security control in passage trees proposes the concept of buffering area, between the air according to the change of circuit surrounding enviroment and live wire
Stand-off distance is divided into Three Estate from threat degree and carries out early warning conclusion, threatens the right of line facility safety to process in time
As the potential risk for existing is grasped in monitoring.Engineering survey to be applied in actual O＆M, it is necessary to according to electric pressure, bar
The composite factors such as turriform formula, base form, shaft tower geologic feature, tree families come consider set buffer area every numerical value,
It is easy to the management for formulating specific aim analytical plan and technical staff.Theoretical model research is carried out by taking 500kV transmission lines of electricity as an example, such as
Shown in Figure 18.
In this research, the characteristics of using platform panoramic picture displaying, Multitask Data, setting buffers are carried out, with
As a example by 500kV circuits, buffering area need to consider following factor：
First-level buffer area：The distance of maximum to tree for wire specified in transport regulation windage yaw L=7m is set to limit value.Setting is led
Line distance to the ground h1=22m, sets the production of the miscellaneous tree kind highly for as a example by h2=18m, then Qi Shu and side phase conductor distanceD '=15+5.7=20.7m, it is considered to the margin of safety of sag and windage yaw, the first order delay
Rush Division and can set 21m, its color is divided into redness.
Secondary buffer defines value L=15m, d '=29.5, it is considered to the margin of safety of sag and windage yaw, second level buffering area
Divide and can set 30m, its color is divided into blueness.
Three-level buffering area defines value L=20m, d '=34.5, it is considered to the margin of safety of sag and windage yaw, third level buffering area
Divide and can set 35m, its color is divided into green.
3. side slope distance measuring
As the accident that pole and tower foundation problem is caused happens occasionally, overhead line structures basis is present in different geological conditions rings
In border, easily it is affected by the external environment.The design of pole and tower foundation and construction will consider the shadow to basal perimeter Geotechnical Environment
Ring, for pole and tower foundation pattern and soil property feature along the line, by taking rock build-in basis and digging foundation as an example, set different protection models
Enclose value as follows：
1 500kV transmission line tower foundation protection domains of table
In this research, mainly conducted a research with the recurrent slope failure of transmission line of electricity and protection.It is being based on side slope
On the basis of direct measurement, it is considered to the protection domain established standardses value of foundation pattern；Consideration operation protective range sets pre-
Alert value.When the scope that scanning is obtained is less than basic protection domain value, show " early warning ", prompting is red to warn color.When scanning is obtained
Scope more than basic protection domain value, software shows " qualified ", points out blue to warn color.The protection domain value on basis is by software
User of service sets.According to the concrete condition of tower position, effectively bank protection mode is taken rationally, is both the guarantor of tower position safety and stability
Card, can also reduce the destruction to column foot environment.
4. bank protection is pre-designed
Due to the geological conditions residing for pole and tower foundation or exploration, the error in design process, construction quality be bad, mudstone
Many reasons such as the outer broken event occurred in natural calamity and the runnings such as stream, be likely to result in pole and tower foundation deformation,
Differential settlement, causes shaft tower to incline even tower.The reason such as build additionally, due to Planning changes, highway and cause power transmission line
The service condition on road changes, and not enough, these all become the hidden danger of transmission line safety stable operation to safe distance.Therefore open
The occurrence of improvement and design methods such as the strengthening of foundation of exhibition shaft tower, correcting offset of base, basis displacement, basic jacking are to tackle above-mentioned
There is very important realistic meaning.
In this research, can be bound to needing to build the position of bank protection, effect, scope, concurrently set build scope
Earthwork estimation is carried out, scope is built to bank protection color finally and is estimated.
A () scope is defined：By to Point Cloud Processing, and the landslide colour picture by shooting is contrasted.Foundation
《Aerial power transmission line operating standard》Require, according to different bank protection protection domains, selectively to pole and tower foundation periphery side slope
Soil changing unit carries out revetment design.The position that can be built with intuitive judgment bank protection in systems and scope, typically with warning
It is worth and is selected for boundary.
(b) Earthwork Calculation：Although pole and tower foundation reforming processing experience of successful Application in Practical Project is more and more,
But the artificial experience of excessive dependence during pole and tower foundation is transformed.Computer simulation technique research can be simulated and be calculated
Earthwork in basic rebuilding construction, changes the situation of past artificial experience, simulates structure, the change of stressing conditions of shaft tower
And the aspect such as the safe and stable control in operation process.
(c) recruitment evaluation：For ensure shaft tower being perfectly safe in work progress, we by scanning after three-dimensional live mould
Type carries out processing modeling for the column foot landform that there may be landslide hazard carries out compilation and design, and it is (i.e. outer to arrange bank protection type
Table texture).On the basis of transmission line of electricity outdoor scene Tower Model is set up, the modularized design and analysis of pole and tower foundation are applied,
Based on remodeling method scientific evaluation and theoretical direction are provided.
According to above-mentioned flow process, show that design sketch is as shown in figure 19.
Specific embodiment described herein is only to the spiritual explanation for example of the present invention.Technology neck belonging to of the invention
The technical staff in domain can be made various modifications or supplement or replaced using similar mode to described specific embodiment
Generation, but without departing from the spiritual of the present invention or surmount scope defined in appended claims.
Claims (3)
1. a kind of power transmission and transformation system method for inspecting based on unmanned plane, it is characterised in that include：
Ice covering thickness detecting step, for calculating the ice covering thickness of wire, including：Extract the wire figure before aerial condutor icing simultaneously
Carry out edge treated and obtain wire edge image；Wire icing image is shot using unmanned plane and is converted to wire gray-scale map, so
Laggard row threshold division, is translated into bianry image；Rim detection is carried out using Canny operators to bianry image finally, is united
Meter lower edges total pixel, according to icing before wire edge image calculate wire icing after lower edges mean pixel；
Wire is burnt detecting step, shoots wire image using unmanned plane, carries out two-value process to image, calculating process after figure
As in, colour of insulated conductor is the shared ratio in wire pixel of the pixel of white portion；
Also, when carrying out the shooting of image using unmanned plane, including step chosen below：Medium and long distance boat patrols step, unmanned plane
Short distance and fixed point patrol and examine step；
Wherein, medium and long distance boat patrols the step walkaround inspection task conventional for completing circuit, or carries other particular tasks and set
For special task is completed, such as no-manned plane three-dimensional laser radar data collection, to set up three-dimensional live line corridor；Nobody
Visible images and other acquisition tasks information in machine flight course pass back to command support car in real time；Automatic detecting need to be carried
Front setting circuit boat patrols track, can be with using the following two kinds mode：(1) artificial intervention mode in advance：Initially with manual type
Shaft tower, insulator, circuit are patrolled, records the GPS information of vital point, such as initial shaft tower position, sag position, next
Individual shaft tower position, and which is stored, and be input in unmanned vehicle memory, the point that is patrolled i.e. by this record later
Carry out independent navigation.(2) independent navigation pattern：The gps coordinate of each shaft tower is directly inputted, course line and course is set, to shaft tower, absolutely
Edge, circuit are patrolled；
Wherein, unmanned plane short distance and fixed point are patrolled and examined step and are mainly used in taking fixed point lookup scheme, by manual flight's control
Mode carries out special inspection to equipment deficiency and abnormal conditions, or scene is carried out taking photo by plane, emergency command monitoring etc.；Fixed point is searched
The scope of application of scheme includes：When just knowing that failure approximate range, and when cannot be accurately positioned the position of fault, trouble point is carried out
Search, and/or when failure or abnormal conditions are found, need to carry out defect detailed inspection, obtain image and enter for technical staff
Row analysis；
The mode of operation of fixed point lookup scheme is as follows：(1), when checking to shaft tower, insulator and gold utensil, arrived with 5m/s speed
Up near steel tower about 30 meters or so, then slowly fly close-target, when object height and about 10 meters are reached, stabilized flight device,
The angle of control head is taken pictures using video camera and camera, when (2) are checked to lead wire and earth wire and gold utensil, with 5m/s speed
Degree is reached about 30 meters or so near lead wire and earth wire, and then control head is looked squarely, and aircraft slowly flies close-target, high when target is reached
Degree and when about 10 meters, stabilized flight device is shot；
During short out distance is patrolled and examined online, self-navigation mode of operation can be carried out：Before carrying out patrolling and examining work, the work that will patrol and examine
Region is divided for a section according to per 0.6 kilometer, it is ensured that can be by unmanned vehicle near the intermediate point in each region
Transport/commander/service truck is reached, the takeoff point with this as unmanned vehicle；When patrolling and examining work and starting, by power transmission line unmanned
Takeoff point is arrived in the transport of aircraft cruising inspection system；Here launches earth station, checks unmanned vehicle machinery, flies the subsystems such as control, communication
System；After inspection is finished, start unmanned vehicle and start to patrol and examine work；Visible ray and Infrared Image Information in flight course is real-time
Pass back to transport/commander/service truck, meanwhile, after unmanned vehicle returns to ground, collect the number recorded of airborne equipment
According to analysing in depth to data analysis in earth station, for other line walking sections are with above-mentioned routine inspection mode；
Also, when image taking is carried out using unmanned plane, also carrying three-dimensional laser radar equipment carries out multichannel laser point cloud number
According to scanning collection, to set up panorama line channel corridor, the height that the three-dimensional boats such as corresponding production commander, state estimation are patrolled is realized
Level application.
2. a kind of power transmission and transformation system method for inspecting based on unmanned plane according to claim 1, it is characterised in that work as utilization
When quadrotor carries out patrolling and examining work, keep with a distance from more than side wire 5m；When using depopulated helicopter boat patrol appropriate to the occasion
Above line side outside 30-50m.
3. a kind of power transmission and transformation system method for inspecting based on unmanned plane according to claim 1, it is characterised in that with multiple
Differing heights and speed flight, to obtain different point cloud density and accuracy data, the requirement of wherein optimal data is as follows：Image
Ground resolution is better than 0.05m；Dot density is better than 30p/m2；Height accuracy is better than 0.15m；Plane precision is better than 0.2m.
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