CN106568441B - Method for carrying out power inspection by using Beidou-based power inspection equipment - Google Patents

Method for carrying out power inspection by using Beidou-based power inspection equipment Download PDF

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Publication number
CN106568441B
CN106568441B CN201611030392.1A CN201611030392A CN106568441B CN 106568441 B CN106568441 B CN 106568441B CN 201611030392 A CN201611030392 A CN 201611030392A CN 106568441 B CN106568441 B CN 106568441B
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China
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inspection
unmanned helicopter
automobile
helicopter
distance
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CN201611030392.1A
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CN106568441A (en
Inventor
许春华
孙维杰
滕超
郑媛媛
王盛璋
姚海燕
宋佩儒
夏伟伟
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Rongcheng Power Supply Co Of State Grid Shandong Electric Power Comany
State Grid Corp of China SGCC
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Rongcheng Power Supply Co Of State Grid Shandong Electric Power Comany
State Grid Corp of China SGCC
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Application filed by Rongcheng Power Supply Co Of State Grid Shandong Electric Power Comany, State Grid Corp of China SGCC filed Critical Rongcheng Power Supply Co Of State Grid Shandong Electric Power Comany
Priority to CN201611030392.1A priority Critical patent/CN106568441B/en
Publication of CN106568441A publication Critical patent/CN106568441A/en
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    • GPHYSICS
    • G01MEASURING; TESTING
    • G01CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/18Stabilised platforms, e.g. by gyroscope
    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02GINSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
    • H02G1/00Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
    • H02G1/02Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables

Abstract

The utility model provides an electric power inspection equipment based on big dipper, includes car and on-vehicle unmanned helicopter, is equipped with big dipper inertia combination gesture position detection device on the helicopter, is equipped with three-dimensional rotation detection nacelle in the helicopter outside or the outer below, installs the top stabilized platform on the nacelle, and visible light camera, ultraviolet imager and all-digital dynamic infrared thermal imager are born the weight of on the top stabilized platform, still are equipped with the radio frequency target identification ware that is used for discerning the radio frequency information of patrolling and examining the shaft tower on the helicopter. The helicopter flight route is planned based on the Beidou positioning system, then the automobile running route is planned according to the patrolled route, the power patrolling can simultaneously advance in the bottom surface and the air, the section-by-section completion is realized, the labor cost is saved, and the operation is convenient and fast.

Description

Method for carrying out power inspection by using Beidou-based power inspection equipment
Technical Field
The invention relates to a power line inspection technology, in particular to a device for combined inspection by using an automobile and an unmanned aerial vehicle.
Background
The power line is patrolled and examined the mode that adopts the manual work to patrol and examine mostly, and it is low to patrol and examine the position rate, often leaks to examine, the wrong detection phenomenon, adopts the pen and paper record trouble defect, and subjective factor is many, and the defect record description differs, can't classify the arrangement fast. In order to reduce the operation cost, improve the operation benefit and strengthen the informatization construction, the power enterprise adopts a modern routing inspection management system.
With the high-speed and comprehensive development of economy in China, the demand on energy sources is more and more large, and ultrahigh-voltage high-capacity power lines are greatly expanded. The line corridor needs to traverse various complex geographic and meteorological environments, such as large-area reservoirs, lakes, chongshan mountains, snowy weather and the like, which bring a lot of difficulties to the detection of the power line. Particularly, when the power line passes through the marginal areas of original forests, the areas of flying forests, the covered areas with high altitude and ice and snow, and frequent landslides, debris flows and other geological disasters exist along the line, and the mountains and the high slopes in most areas are steep, and traffic and communication are not developed, how to solve the daily detection of the power line becomes a great problem which puzzles the power industry. Meanwhile, social and economic development puts higher and higher requirements on energy safety, and sudden large-scale transmission faults can cause huge economic loss and influence the stable operation and social stability of economy. Therefore, the power line detection is required to be more accurate and timely, and powerful guarantee is provided for energy safety.
At present, the inspection work of the power line in China is mainly completed manually, and the manual inspection has the problems of safety, low efficiency, poor accuracy and the like. The current high-voltage power line reaches more than hundreds of volts, and the traditional manual inspection adopts a mode of climbing a power line iron tower, so that great potential safety hazards exist. A large number of power lines pass through an unmanned area, manual inspection is severely limited geographically, the range of human activities is restricted by physical ability, and the detection distance is limited. The power line is observed manually, whether the line has faults or not is judged by experience, faults are easily caused, and the accuracy is low. The daily inspection work of replacing manpower to carry out the power line by using a helicopter abroad is popular, the daily inspection work is also explored at home, the defects of poor adaptability, low safety and the like of completely manually driving the helicopter to carry out the power line detection are fed back from the use experience at home and abroad, the overhead height of the power line is low, the helicopter is required to fly along the low-altitude line when being used for inspection, the air condition is complex, a pilot needs to keep sight line contact with the line at any time and carry out normal flying operation, the operation difficulty is greatly increased, the regulation of avoiding flying close to a high-voltage wire is provided in a general pilot manual, the line inspection flight is carried out in a reverse way, the line inspection flight and the high-voltage wire keep close-distance parallel flight, the flight speed is high, the danger is greatly increased, and the inspection accident of the helicopter is repeatedly caused abroad.
With the development of the robot technology, the robot is gradually attracting attention to patrol the power line. At present, the domestic research on the power line detection robot focuses on the direction of the walking robot. The principle and the current development level of the walking robot for power line detection are elaborated in two articles, namely, overhead power line inspection robot review, Zhao Xiao, Beam self-luster, Tan Min, and the like published in 26 th volume and 5 th volume of robot 2004 by Automation institute of Chinese academy of sciences, and high-voltage power line walking robot simulation, published in 32 th volume of journal of university of Chinese science and technology, respectively, and the walking robot for power line detection adopts an overhead ground wire autonomous walking robot mode.
In order to overcome the defects of the prior art, the invention provides a combined inspection mode of the unmanned helicopter and the automobile, which is quick and rapid and greatly improves the inspection operation environment. The Beidou-based power inspection equipment can automatically navigate, inspect lines and inspect towers according to planned lines, accurately position, simultaneously acquire and fuse various high-definition spectral images, and store and display mass portable data, can perform manual intervention operation on unmanned planes, and can master inspection conditions and line conditions in real time.
Disclosure of Invention
The technical scheme of the invention is as follows:
the electric power inspection equipment based on the Beidou comprises an automobile and a vehicle-mounted unmanned helicopter, wherein a Beidou inertial combination attitude and orientation detection device is arranged on the helicopter, a three-coordinate rotation detection nacelle is arranged outside or below the helicopter, a gyroscope stabilization platform is installed on the nacelle, a visible light camera, an ultraviolet imager and a full-digital dynamic infrared thermal imager are carried on the gyroscope stabilization platform, a radio frequency target identifier for identifying radio frequency information of an inspected tower is further arranged on the helicopter, in addition, a ground communication system is further arranged on the helicopter, the ground control can be received through the communication system, real-time data transmission of the helicopter inspection to a control host of a ground automobile can also be achieved, and the control host comprises a display unit and an operating handle.
Also be equipped with big dipper inertia combination gesture position detection device on the car, be equipped with the charging device who charges for the helicopter simultaneously, with the communication device and the antenna of helicopter communication. The vehicle-mounted control host on the automobile can provide a map of a routing inspection line and a ground traffic map, and the vehicle can be driven to run under Beidou navigation based on Beidou.
When the power line is patrolled and examined, the control host computer detects the electric quantity and the flight journey of helicopter, based on electric quantity and flight journey, plans helicopter flight route according to power line diagram and big dipper positioning system, then plans the route of going of car according to the route of patrolling and examining, calculates flight time and travel time respectively according to helicopter flight route and the information of car route of going both, according to flight time and travel time information calculated, confirms the next place that the car went.
The helicopter navigates the flight line based on the Beidou system in the inspection process, the inspection video is transmitted to the control host in the ground automobile in real time, and when the abnormal situation is found, an operator can mark the position of the section where the abnormal line is located in the host. When the inspection is finished, the helicopter confirms the position of the automobile, directly flies to the place where the automobile is located, and then the next circuit inspection is carried out. Therefore, time is saved, and continuous inspection of the circuit can be achieved.
The scheme of the invention is as follows:
the utility model provides an equipment is patrolled and examined to electric power based on big dipper which characterized in that: the unmanned helicopter is also provided with a fault diagnosis system and a ground communication system, receives ground control through the communication system and/or transmits real-time data of the unmanned helicopter to a control host in the ground patrol automobile and transmits the primary judgment result to the patrol automobile together, the controller host respectively plans the driving routes of the unmanned helicopter and the inspection automobile according to the inspection electric power route map and the local traffic map, respectively calculates the driving time of the unmanned helicopter and the inspection automobile according to the driving routes, determines the real driving routes of the unmanned helicopter and the inspection automobile by taking the smaller of the driving time of the unmanned helicopter and the inspection automobile as a reference, and keeps the unmanned helicopter and the inspection automobile to synchronously advance to inspect the electric power route.
Preferably, the patrolled tower is provided with a radio frequency information tag so that the unmanned helicopter can identify the tower, the control host stores basic information of a patrolled line, including the altitude of the tower, the position coordinates of the tower and the like, and the control host also stores a local map so as to calculate the stroke length of the patrolled line and the stroke length of the patrolling automobile.
Preferably, the control host comprises a display unit and an operating handle, and is also provided with a charging device for charging the unmanned helicopter, a communication device for communicating with the unmanned helicopter and an antenna, wherein if necessary, the control handle is used for controlling the flight attitude and the flight path of the unmanned helicopter, and the display unit displays the video and the parameters transmitted back from the unmanned helicopter.
Preferably, the unmanned helicopter and the inspection automobile mutually determine and track the positions of the other side according to a Beidou positioning system, and the unmanned helicopter returns to the inspection automobile according to the position information of the inspection automobile after inspection is finished.
Preferably, the control host and the unmanned helicopter both comprise an unmanned helicopter electric quantity monitoring and mileage calculating module.
A method for carrying out power inspection by using the power inspection equipment is characterized by comprising the following steps:
(1) the control host detects the electric quantity of the unmanned helicopter and the oil quantity of the inspection automobile and determines the endurance mileage of the unmanned helicopter and the inspection automobile;
(2) the control host pre-calculates a first inspection distance of the unmanned helicopter according to the condition of the circuit to be inspected, and pre-calculates a first inspection distance of the automobile to be inspected according to a local map;
(3) the control host calculates the return distance of the unmanned helicopter according to the first routing inspection distance of the unmanned helicopter and the first routing inspection distance of the routing inspection automobile;
(4) calculating respective time consumed by the unmanned helicopter when the unmanned helicopter meets the inspection vehicle;
(5) if the sum of the first inspection distance of the unmanned helicopter and the return distance of the unmanned helicopter is smaller than the endurance mileage of the unmanned helicopter and/or the first inspection distance of the inspection automobile is smaller than the endurance mileage of the inspection automobile, and simultaneously, the time consumed by the unmanned helicopter and the inspection automobile when meeting is smaller than a preset first threshold value, determining an inspection route, beginning to inspect the route, and recording the inspection route and the inspection parameters in real time.
And if the sum of the first inspection distance of the unmanned helicopter and the return distance of the unmanned helicopter is greater than the endurance mileage of the unmanned helicopter, and/or the first inspection distance of the inspection automobile is greater than the endurance mileage of the inspection automobile, and/or the time spent by the unmanned helicopter when meeting the inspection automobile is greater than a preset second threshold value, returning to the second step, and re-determining the inspection route.
Preferably, the predetermined first threshold value is 10 minutes and the predetermined second threshold value is 20 minutes.
Preferably, the first patrol distance of the pre-calculated unmanned helicopter is one third to one half of the cruising range of the unmanned helicopter
Preferably, the first patrol distance of the pre-calculated unmanned helicopter is one third of the cruising range of the unmanned helicopter.
Preferably, the routing inspection path and the routing inspection parameters are recorded in real time, the positions and the paths of the unmanned helicopter and the routing inspection automobile are recorded in real time, and videos and other parameters transmitted back by the unmanned helicopter are recorded in real time.
Drawings
The invention is further described with reference to the following figures and detailed description.
FIG. 1 is a schematic diagram of the power line inspection apparatus of the present invention;
FIG. 2 is a schematic diagram of the Beidou based power inspection equipment inspection;
101-unmanned helicopter, 102-power supply line, 103-data transmission line, 104-control host, 105-control handle, 106-inspection automobile and 107-antenna
Detailed Description
In this embodiment, equipment is patrolled and examined to electric power based on big dipper, including patrolling and examining the car, on-vehicle unmanned helicopter 101, the car passes through power supply line 102 and charges to the helicopter, control host 104 through data transmission line 103 or wireless communication's mode with unmanned helicopter 101 carries out the communication, control host 104 includes the control unit, display element and control handle 105. The tail or other parts of the inspection vehicle are provided with an antenna 107 for communication transmission.
The power line inspection helicopter 101 comprises a helicopter body, a Beidou inertial combination attitude and orientation detection device is arranged in the helicopter body, and a three-coordinate rotation detection nacelle is arranged on the outer side of the helicopter body and is positioned below the left front side. And a gyro stabilizing platform is arranged on the pod. And a radio frequency target identifier for identifying the radio frequency information of the tower to be inspected is arranged on the helicopter or the nacelle.
The gyro stable platform consists of a frame system as a platform body, a servo sensor and an electronic servo control assembly. The frame system is a four-frame system and comprises an outer frame assembly and an inner frame assembly, wherein the outer frame assembly comprises an outer azimuth shafting frame and an outer elevation shafting frame, and the inner frame assembly comprises an inner azimuth shafting frame and an inner pitching shafting frame. The visible light camera, the ultraviolet imager and the all-digital dynamic thermal infrared imager are arranged on the inner frame assembly.
The Beidou inertial combination attitude and azimuth detection device is used for sending positioning and communication requests, receiving positioning and communication results of the central control system and providing positioning, navigation, communication and time service for various use occasions of land, sea and air; a pod control center connected to the communication port through a remote control handle 105 or a control host to control the pod and its internal visible light camera, ultraviolet imager, and all-digital dynamic infrared imager. Meanwhile, the flight attitude of the airplane can be controlled, so that the manual intervention on the flight attitude can be completed under necessary conditions.
The display unit of the control host respectively displays a system control program interface, an infrared thermal imager image and a superposed image of visible light and an ultraviolet imager:
after an application program module for executing flight track command monitoring and a tower target identification program module are assembled on an airborne server of the helicopter, the system can identify the current tower and the current lead according to target coordinates, the flight track of the airplane, the attitude of the airplane and radio frequency identification. The airborne inspection application program processes the acquired data and automatically stores the image and other related information of the fault target in the disk array. And a detection data acquisition program module and a detection device/pod control program module arranged in the airborne server control the pod and the all-digital dynamic thermal infrared imager, the ultraviolet camera and the high-speed visible light camera to acquire all information in real time through a detection data acquisition program and automatically store the information, set the pod to automatically track the tower and set the tracking time.
The helicopter realizes the navigation of the airplane and the two-way communication with the ground through a Beidou inertial combination attitude and azimuth detection device, a Beidou receiver and a Beidou positioning and communication machine, automatically controls the horizontal and longitudinal positions of the pod by the manual fine adjustment of a software control system and a hardware device integrated controller and combining information of the Beidou positioning communication machine, the Beidou inertial combination attitude and azimuth detection device, a radio frequency target recognizer, an airborne power system, display equipment and the like, automatically aligns to a tested tower, a lead or other electrical component targets provided with a radio frequency card, and acquires the image and data information of a full-digital dynamic thermal infrared imager, an ultraviolet camera and a high-speed visible light camera; and finally, useful image data information is processed and stored on line through the server.
When the power line is patrolled, the control host 104 detects the electric quantity of the helicopter 101 and calculates the flight travel, plans the helicopter flight route according to the power line diagram and the Beidou positioning system based on the electric quantity and the flight travel, plans the automobile running route according to the patrolled route, respectively calculates the flight time and the automobile running time according to the information of the helicopter flight route and the automobile running route, and determines the next place where the automobile runs according to the calculated flight time and the running time information.
In the inspection process, the helicopter 101 navigates the flight line based on the Beidou system, inspection data and videos are transmitted to a control host in a ground automobile in real time, and when an anomaly is found, the system automatically records and an operator can mark the position of a section where the anomaly line is located in the host. When the inspection is finished, the helicopter confirms the position of the automobile, directly flies to the place where the automobile is located, and then the next circuit inspection is carried out. Therefore, time is saved, and continuous inspection of the circuit can be achieved.
The detailed description is to be construed as exemplary only and does not limit other embodiments of the invention, which are within the scope of the appended claims.

Claims (5)

1. A method for carrying out power inspection by utilizing Beidou-based power inspection equipment comprises an inspection automobile, an unmanned helicopter carried on the inspection automobile, Beidou inertial combination attitude and orientation detection devices respectively arranged on the unmanned helicopter and the inspection automobile, a three-coordinate rotation detection nacelle arranged outside or below the unmanned helicopter, a gyro stabilizing platform arranged on the nacelle, a visible light camera, an ultraviolet imager and a full-digital dynamic infrared thermal imager carried on the gyro stabilizing platform, a radio frequency target recognizer used for recognizing radio frequency information of an inspected tower and tower, a fault diagnosis system and a ground communication system arranged on the unmanned helicopter, and a control host used for receiving ground control and/or transmitting real-time data of the unmanned helicopter to the ground inspection automobile through the communication system and transmitting the preliminary judgment to the ground inspection automobile The results are transmitted back to the inspection vehicle, the controller host respectively plans the driving routes of the unmanned helicopter and the inspection vehicle according to the inspection electric power route map and the local traffic map, respectively calculates the driving time of the unmanned helicopter and the inspection vehicle according to the driving routes, the real driving routes of the unmanned helicopter and the inspection automobile are determined by taking the smaller of the driving time of the unmanned helicopter and the driving time of the inspection automobile as a reference, the unmanned helicopter and the inspection automobile are kept to synchronously advance to inspect the power line, the tower to be inspected is provided with a radio frequency information label, the control host is stored with a local map so as to calculate the stroke length of the line to be inspected and the stroke length of the inspection automobile; the control host comprises a display unit and an operating handle, the display unit displays videos and parameters transmitted back from the unmanned helicopter, the flight attitude and the flight path of the unmanned helicopter are controlled through the operating handle, and meanwhile, a charging device for charging the unmanned helicopter, a communication device for communicating with the unmanned helicopter and an antenna are arranged; the unmanned helicopter and the inspection automobile mutually determine and track the positions of the other sides according to a Beidou positioning system, and the unmanned helicopter returns to the inspection automobile according to the position information of the inspection automobile after inspection is finished; the control host and the unmanned helicopter both comprise an unmanned helicopter electric quantity monitoring and mileage calculating module; the method is characterized in that:
(1) the control host detects the electric quantity of the unmanned helicopter and the oil quantity of the inspection automobile and determines the endurance mileage of the unmanned helicopter and the inspection automobile;
(2) the control host pre-calculates a first inspection distance of the unmanned helicopter according to the condition of the circuit to be inspected, and pre-calculates a first inspection distance of the automobile to be inspected according to a local map;
(3) the control host calculates the return distance of the unmanned helicopter according to the first routing inspection distance of the unmanned helicopter and the first routing inspection distance of the routing inspection automobile;
(4) calculating respective time consumed by the unmanned helicopter when the unmanned helicopter meets the inspection vehicle;
(5) if the sum of the first inspection distance of the unmanned helicopter and the return distance of the unmanned helicopter is smaller than the endurance mileage of the unmanned helicopter and/or the first inspection distance of the inspection automobile is smaller than the endurance mileage of the inspection automobile, and simultaneously, the time consumed by the unmanned helicopter and the inspection automobile when meeting is smaller than a preset first threshold value respectively, determining an inspection route, starting to inspect the route, and recording the inspection route and the inspection parameters in real time;
and if the sum of the first inspection distance of the unmanned helicopter and the return distance of the unmanned helicopter is greater than the endurance mileage of the unmanned helicopter, and/or the first inspection distance of the inspection automobile is greater than the endurance mileage of the inspection automobile, and/or the time spent by the unmanned helicopter when meeting the inspection automobile is greater than a preset second threshold value, returning to the second step, and re-determining the inspection route.
2. The method of claim 1, wherein: the predetermined first threshold value is 10 minutes and the predetermined second threshold value is 20 minutes.
3. The method of claim 1, wherein: the first routing inspection distance of the pre-calculated unmanned helicopter is one third to one half of the cruising range of the unmanned helicopter.
4. The method of claim 1, wherein: the first routing inspection distance of the pre-calculated unmanned helicopter is one third of the endurance mileage of the unmanned helicopter.
5. The method of claim 1, wherein: the method comprises the steps of recording the routing inspection path and routing inspection parameters in real time, recording the positions and the paths of the unmanned helicopter and the routing inspection automobile in real time, and recording videos and other parameters transmitted back by the unmanned helicopter in real time.
CN201611030392.1A 2016-11-16 2016-11-16 Method for carrying out power inspection by using Beidou-based power inspection equipment Active CN106568441B (en)

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CN107453912B (en) * 2017-08-14 2019-02-19 宁波甬凌新材料科技有限公司 A kind of power remote monitoring system device
CN109387741B (en) * 2018-10-18 2021-06-15 国网河北省电力有限公司沧州供电分公司 Line fault first-aid repair method based on Beidou positioning system
CN109754485A (en) * 2018-12-27 2019-05-14 高戎戎 A kind of road furniture cruising inspection system based on radio frequency identification
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CN111157919A (en) * 2020-03-19 2020-05-15 江西省科学院能源研究所 Lightning arrester on-line monitoring system based on cloud and mist cooperation
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