CN106848922A - A kind of intelligent electric power line walking device and method - Google Patents
A kind of intelligent electric power line walking device and method Download PDFInfo
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- CN106848922A CN106848922A CN201710111668.7A CN201710111668A CN106848922A CN 106848922 A CN106848922 A CN 106848922A CN 201710111668 A CN201710111668 A CN 201710111668A CN 106848922 A CN106848922 A CN 106848922A
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- 239000000284 extract Substances 0.000 claims description 3
- 238000007689 inspection Methods 0.000 claims description 3
- 238000013461 design Methods 0.000 claims description 2
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- APTZNLHMIGJTEW-UHFFFAOYSA-N pyraflufen-ethyl Chemical compound C1=C(Cl)C(OCC(=O)OCC)=CC(C=2C(=C(OC(F)F)N(C)N=2)Cl)=C1F APTZNLHMIGJTEW-UHFFFAOYSA-N 0.000 description 1
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Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
- B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
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- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
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- Automation & Control Theory (AREA)
- Traffic Control Systems (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention relates to power-line patrolling technical field, it is directed to a kind of intelligent electric power line walking device and method that existing circuit line walking efficiency is low, cannot realize long distance and high precision line walking and provide.Including unmanned plane, the battery powered to unmanned plane, it is connected with unmanned plane：Line skid, laser radar, tower bar automatic identification module, Decision Control module are ridden, Decision Control module control unmanned plane is ridden on power line when laser radar detects power line；Decision Control module control unmanned plane leap tower bar when tower bar automatic identification module detects tower bar during unmanned plane is ridden.The present invention improves unmanned plane endurance using line slip is ridden, it is to avoid frequently unmanned plane rises and falls manipulation, alleviates personnel's amount of labour, improves line walking efficiency, is more suitable for line walking Mission Operations on a large scale；Improve the wind loading rating of equipment.
Description
Technical field
The invention belongs to power-line patrolling technical field, more particularly to a kind of intelligent electric power line walking device and method.
Background technology
As the requirement of power transmission is improved constantly, Transmission level more and more higher, high pressure/super-pressure line walking upkeep operation pair
The effect of security, stability and improved efficiency in network system is particularly important.Region residing for transmission line of electricity is generally nature ring
Severe, the hard to get to field in border, power line is subject to mechanical tensile forces, thunderbolt, temperature change, sleet sky for a long time in natural environment
, easily there is the phenomenon such as the inclination of tower bar, strand breakage of circuit, aging, corrosion in the influence of gas, and the insulator on electric power transmission tower bar is in nature
Also easily occur damaging in environment, growth of power line periphery trees etc. is required to patrol and examine power line.Traditional is artificial
, using range estimation, inefficiency, labour intensity are big, patrol and examine the low problem of precision for routine inspection mode, and in part circuit line walking task
In, personnel are unable to reach, and significantly limit the efficiency and validity of artificial line walking.Unmanned aerial vehicle-mounted laser radar system goes out
It is existing, the efficiency and application scenarios of power-line patrolling are improve to a certain extent, but unmanned plane cruising time is short, track flight essence
Degree is low, it is impossible to accomplish to fly over long distances, in high precision.Therefore in the urgent need to exploitation is a kind of over long distances, high-precision line walking equipment.
The content of the invention
The purpose of the present invention is directed to that existing circuit line walking efficiency is low, cannot realize long distance and high precision line walking and provide
A kind of intelligent electric power line walking device and method.
To achieve these goals, the technical solution used in the present invention is：
A kind of intelligent electric power line walking equipment, including unmanned plane, the battery powered to unmanned plane, are connected with unmanned plane：
Line skid is ridden, the device that can be slided or roll on high-tension bus-bar；
Laser radar, for scan data and the position of detection power line, enables to ride line skid and accurately hangs over electric power
On line；
Tower bar automatic identification module, for recognizing tower bar, tower bar is leaped when shaft tower is run into by controlling unmanned plane；
Decision Control module, for controlling unmanned plane during flying situation；
Decision Control module control unmanned plane is ridden on power line when laser radar detects power line；Work as unmanned plane
Decision Control module control unmanned plane leap tower bar when tower bar automatic identification module detects tower bar during riding.
Described line skid of riding is including at least one pulley, the support bar of support pulley, by support bar and unmanned plane
The connecting rod of connection, the circumferential centre position of the pulley is provided with the chute that the power supply line of force is snapped in.
Described support bar is used to support whole unmanned plane located at pulley bottom, and each pulley both sides is equipped with support
Bar, and the total number of support bar is no less than three, at least one connecting rod of support bar located at pulley both sides is by itself and nothing
Man-machine connection.
Described tower bar automatic identification module includes image capture module and laser ranging module, described IMAQ mould
Block contains No. 4 imageing sensors, image capture module identification electric power transmission tower bar, laser ranging module measurement current flight position
The distance between with electric power transmission tower bar.
Described Decision Control module realizes electric power by the laser scanner data in Real-time Collection laser radar system
Line cloud data is extracted, and the relativeness of current flight position and power cord position is realized by power line data reduction, is led to
Cross carries out real-time Dynamic Programming with reference to relative position relation to aircraft course line, controls aircraft to reach by flight control system
Realize that riding line flies in the level point specified.
Described image capture module contains 4 road cameras, is respectively facing underface and underface to 30 ° of positions of left avertence
Put and underface is set to 30 ° of right avertence and front.
A kind of intelligent electric power patrolling method, comprises the following steps：
Step one, before preparing power-line patrolling, line skid exhibition is ridden in the power line design of Grounding Connections distance according to line walking task, adjustment
Width, carry laser radar, tower bar automatic identification module and Decision Control module are opened, electric power transmission tower bar detection threshold value is set；
Step 2, starts line walking task, and operation unmanned plane is reached near power line, is opened laser scanning system and is started scanning, certainly
Plan control module carries out power line extract real-time, artificial to choose power line ground wire, confirms current hovering position and power line ground wire
Between position relationship；
Step 3, Decision Control module Real-time Collection laser scanner data, real-time estimation power cord position simultaneously predicts power line
Trend, control instruction real-time tracing power line is sent to flight control system；
Step 4, the uninterrupted recognition detection tower bar of tower bar automatic identification module, when whole line inspection device distance reaches setting detection
Threshold value, unmanned plane lifting flight clear height, line walking equipment is climbed to directly over electric power transmission tower bar and is hovered, No. 4 imageing sensor collections
Electric power transmission tower bar image；
Step 5, Decision Control module control UAV flight rides line skid and leaps electric power transmission tower, and it is another to drop to tower bar
One end, proceeds to slide line walking task.
Beneficial effects of the present invention：The present invention using ride line slip, improve unmanned plane endurance, it is to avoid frequently without
Man-machine manipulation of rising and falling, alleviates personnel's amount of labour, improves line walking efficiency, is more suitable for line walking Mission Operations on a large scale；Ride line side
Formula, improves the wind loading rating of equipment, improves the environmental suitability of equipment；The obstacles such as the tower bar on independent technological leapfrogging high-tension line
Thing, possesses autonomous detection of obstacles function；Rocking for carrying platform is reduced, closely line walking, be favorably improved line walking precision.
Brief description of the drawings
Fig. 1 is the block diagram of system of the invention；
Fig. 2 is overall schematic of the present invention；
Fig. 3 is to ride line skid structural representation；
Fig. 4 is equipment workflow schematic diagram.
Specific embodiment
With reference to embodiment, the present invention will be further described.
Embodiment
Intelligent line patrolling equipment 1 as shown in Figure 1, including unmanned plane 100（Unmanned plane concrete structure is market mature technology,
Just it is not set forth in detail herein, also has the remote control supporting with unmanned plane certainly, is not described in detail herein）、
Ride line skid 210, laser radar 220, tower bar detection means 230 and Decision Control module 240, laser radar 220, tower bar
Detection means 230 and supplying cell 250 are located at unmanned plane bottom, and laser radar 220 and tower bar detection means 230 are fixed on nobody
Machine lower end side, supplying cell 250 is fixed on unmanned plane lower end opposite side.The present invention combines laser radar technique, line walking machine
People's technology and unmanned air vehicle technique, using the real-time detection power line of laser radar 220 and predict circuit tendency, using unmanned plane 100
Dragging is ridden and slided along line skid 210；The automatic detection electric power transmission tower bar of tower bar detection means 230, when line walking equipment is close to
Unmanned plane 100 climbs to specified altitude assignment during power line, drives carry equipment to leap tower bar, and taken pictures directly over tower bar；
Decision Control module 240 completes laser radar 220, the data collection and analysis decision-making of tower bar detection means 230, realizes whole system
WorkFlow Managerment.Laser radar 220 contains laser scanner 221 and multichannel camera 222, and multichannel camera 222 completes multiple
The IMAQ of angle.Tower bar detection means 230 contains 1 forward direction camera 231 towards the direction of advance of unmanned plane 100 and swashs
Optar 232, forward direction camera 231 is used to catch electric power transmission tower bar, and determines its direction, and laser range finder is used to measure line walking
The distance between equipment and tower bar, the data of the output of tower bar detection means 230 control line walking equipment as Decision Control module 240
The foundation taken off with landing.Decision Control module 240 is the core of complete equipment, and its major function includes laser radar
220 data acquisition process, the data acquisition process of tower bar automatic detection device 230 realize obstacle detection 242, is sent out flight refers to
Make 241 and Row control 243.
As shown in Figures 2 and 3, unmanned plane 100 uses eight rotor structures, the characteristics of with load capacity；Unmanned plane 100 with
Ride and be rigidly connected using support bar 101 and connecting rod between line skid 210, be connected with support bar lower end and risen and fallen
Frame 102.Ride line skid 210 extend downwardly from 2 fork riding suits put 211（The combination of each support bar）, 2 fork riding suit put 211 it
Between maximum development distance it is identical with the spademan width of unmanned plane 100, when riding line skid 210 directly over the power line downwards
During landing, fork riding suit puts 211 active forces for being subject to power line, power line automatically will be slid onto into the top that fork riding suit puts 211.
Fork riding suit puts 211 tops and is mounted with 2 pulleys as carriage 212, using carriage 212, reduces and rides line and slide dress
The frictional force between 210 and power line is put, the dragging load of unmanned plane 100 is reduced and is ridden line skid 210 and power line
Between frictional dissipation.
As shown in figure 4, complete equipment work includes preparing, takes off, ride line, slide, leap 6 actions of tower bar and landing,
Respectively：
Prepare, complete equipment mounting work, testing equipment working condition on ground, and set the distance for leaping tower bar and leap net
High threshold；
Take off, manual control/automatic takeoff mode, the control suspension locking equipment of unmanned plane 100 flies to power line,
Remote control Decision Control module carries out power line detection, and remote control terminal shows detected power line, manually choose/from
Dynamic selection needs to slide the power line of stop；
Line is ridden, control decision module 240 determines equipment current location and power line in real time by processing the data of laser radar 220
Between position relationship, plan the flare maneuver of unmanned plane 100, to directly over power line, the falls downward of unmanned plane 100 is extremely for flight
Power line, rides line skid fork and rides up on power line；
Slide, the flight forward of unmanned plane 100 rides line skid under the dragging of unmanned plane 100, and line walking is slided forward；
Tower bar is leapt, when leaping tower bar distance threshold of setting is reached when line skid is ridden, unmanned plane 100 climbs and leaps clear height
Height specified by threshold value, directly over complete equipment hovering to tower bar, multichannel camera shoots tower bar image, is insulated for detecting
The failure of son, electric power wire terminal etc.；Shooting image is completed, and the flight forward of unmanned plane 100 leaps tower bar distance threshold, holds again
Row rides line action；
Landing, when line walking task is completed or battery electric quantity deficiency, the system of unmanned plane 100 drop to specified point automatically.
General principle of the invention, principal character and advantages of the present invention has been shown and described above.The technology of the industry
Personnel it should be appreciated that the present invention is not limited to the above embodiments, simply explanation described in above-described embodiment and specification this
The principle of invention, without departing from the spirit and scope of the present invention, the simple change of those ordinary skill in the art
All it is within protection scope of the present invention with replacing.
Claims (7)
1. a kind of intelligent electric power line walking equipment, including unmanned plane, the battery powered to unmanned plane, it is characterised in that in unmanned plane
On be connected with：
Line skid is ridden, the device that can be slided or roll on high-tension bus-bar；
Laser radar, for scan data and the position of detection power line, enables to ride line skid and accurately hangs over electric power
On line；
Tower bar automatic identification module, for recognizing tower bar, tower bar is leaped when shaft tower is run into by controlling unmanned plane；
Decision Control module, for controlling unmanned plane during flying situation；
Decision Control module control unmanned plane is ridden on power line when laser radar detects power line；Work as unmanned plane
Decision Control module control unmanned plane leap tower bar when tower bar automatic identification module detects tower bar during riding.
2. a kind of intelligent electric power line walking equipment according to claim 1, it is characterised in that：Described rides line skid bag
The connecting rod that support bar includes at least one pulley, the support bar of support pulley, be connected with unmanned plane, the circumferential centre of the pulley
Position is provided with the chute that the power supply line of force is snapped in.
3. a kind of intelligent electric power line walking equipment according to claim 2, it is characterised in that：Described support bar is located at pulley
Bottom is used to support whole unmanned plane, and each pulley both sides is equipped with support bar, and the total number of support bar is no less than three,
With unmanned plane be connected for it by least one connecting rod of support bar located at pulley both sides.
4. a kind of intelligent electric power line walking equipment according to claim 1, it is characterised in that：Described tower bar automatic identification mould
Block includes image capture module and laser ranging module, and described image capture module contains No. 4 imageing sensors, and image is adopted
Collection module identification electric power transmission tower bar, the distance between laser ranging module measurement current flight position and electric power transmission tower bar.
5. a kind of intelligent electric power line walking equipment according to claim 1, it is characterised in that：Described Decision Control module is led to
The laser scanner data crossed in Real-time Collection laser radar system realizes that power line point cloud data is extracted, and by power line point
Cloud extracts the relativeness for realizing current flight position and power cord position, by reference to relative position relation to aircraft course line
Real-time Dynamic Programming is carried out, is controlled aircraft to reach the level point specified by flight control system and is realized that riding line flies.
6. a kind of intelligent electric power line walking equipment according to claim 4, it is characterised in that：Described image capture module bag
Contain 4 road cameras, be respectively facing underface and underface to 30 ° of positions of left avertence and underface to 30 ° of right avertence and front
Set.
7. a kind of intelligent electric power patrolling method, it is characterised in that：Comprise the following steps：
Step one, before preparing power-line patrolling, line skid exhibition is ridden in the power line design of Grounding Connections distance according to line walking task, adjustment
Width, carry laser radar, tower bar automatic identification module and Decision Control module are opened, electric power transmission tower bar detection threshold value is set；
Step 2, starts line walking task, and operation unmanned plane is reached near power line, is opened laser scanning system and is started scanning, certainly
Plan control module carries out power line extract real-time, artificial to choose power line ground wire, confirms current hovering position and power line ground wire
Between position relationship；
Step 3, Decision Control module Real-time Collection laser scanner data, real-time estimation power cord position simultaneously predicts power line
Trend, control instruction real-time tracing power line is sent to flight control system；
Step 4, the uninterrupted recognition detection tower bar of tower bar automatic identification module, when whole line inspection device distance reaches setting detection
Threshold value, unmanned plane lifting flight clear height, line walking equipment is climbed to directly over electric power transmission tower bar and is hovered, No. 4 imageing sensor collections
Electric power transmission tower bar image；
Step 5, Decision Control module control UAV flight rides line skid and leaps electric power transmission tower, and it is another to drop to tower bar
One end, proceeds to slide line walking task.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710111668.7A CN106848922A (en) | 2017-02-28 | 2017-02-28 | A kind of intelligent electric power line walking device and method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710111668.7A CN106848922A (en) | 2017-02-28 | 2017-02-28 | A kind of intelligent electric power line walking device and method |
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| CN201710111668.7A Pending CN106848922A (en) | 2017-02-28 | 2017-02-28 | A kind of intelligent electric power line walking device and method |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107359538A (en) * | 2017-07-04 | 2017-11-17 | 李岱原 | Offline ultra-high-tension power transmission line line walking equipment in remote control |
| CN107588760A (en) * | 2017-08-24 | 2018-01-16 | 北京理工大学 | Suitable for the high-precision flight path generation method of fixed height of fixed-wing unmanned plane tracking road |
| CN108321722A (en) * | 2018-03-08 | 2018-07-24 | 贵州电网有限责任公司 | Automatic obstacle-avoiding can buckling screen of trees cleaning air-robot and barrier-avoiding method |
| CN108628347A (en) * | 2018-06-29 | 2018-10-09 | 广州供电局有限公司 | The autonomous loading method of crusing robot, crusing robot and device |
| CN109254586A (en) * | 2018-09-19 | 2019-01-22 | 绵阳紫蝶科技有限公司 | Point and non-thread upper point classification, electric power line drawing and path planning method on line |
| CN109885083A (en) * | 2019-03-06 | 2019-06-14 | 国网陕西省电力公司检修公司 | Transmission line of electricity fining inspection flying platform and method for inspecting based on laser radar |
| US10761526B2 (en) | 2017-11-06 | 2020-09-01 | General Electric Company | Systems and method for robotic industrial inspection system |
| CN115876053A (en) * | 2022-11-21 | 2023-03-31 | 国网山东省电力公司平邑县供电公司 | Slide way type line interval measuring device based on unmanned aerial vehicle carrying |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107359538A (en) * | 2017-07-04 | 2017-11-17 | 李岱原 | Offline ultra-high-tension power transmission line line walking equipment in remote control |
| CN107588760A (en) * | 2017-08-24 | 2018-01-16 | 北京理工大学 | Suitable for the high-precision flight path generation method of fixed height of fixed-wing unmanned plane tracking road |
| CN107588760B (en) * | 2017-08-24 | 2020-01-17 | 北京理工大学 | Fixed-height high-precision track generation method suitable for fixed-wing unmanned aerial vehicle tracking road |
| US10761526B2 (en) | 2017-11-06 | 2020-09-01 | General Electric Company | Systems and method for robotic industrial inspection system |
| CN108321722A (en) * | 2018-03-08 | 2018-07-24 | 贵州电网有限责任公司 | Automatic obstacle-avoiding can buckling screen of trees cleaning air-robot and barrier-avoiding method |
| CN108321722B (en) * | 2018-03-08 | 2023-09-22 | 贵州电网有限责任公司 | Vertically bendable tree obstacle cleaning aerial robot capable of automatically avoiding obstacle and obstacle avoidance method |
| CN108628347A (en) * | 2018-06-29 | 2018-10-09 | 广州供电局有限公司 | The autonomous loading method of crusing robot, crusing robot and device |
| CN109254586A (en) * | 2018-09-19 | 2019-01-22 | 绵阳紫蝶科技有限公司 | Point and non-thread upper point classification, electric power line drawing and path planning method on line |
| CN109885083A (en) * | 2019-03-06 | 2019-06-14 | 国网陕西省电力公司检修公司 | Transmission line of electricity fining inspection flying platform and method for inspecting based on laser radar |
| CN115876053A (en) * | 2022-11-21 | 2023-03-31 | 国网山东省电力公司平邑县供电公司 | Slide way type line interval measuring device based on unmanned aerial vehicle carrying |
| CN115876053B (en) * | 2022-11-21 | 2023-06-09 | 国网山东省电力公司平邑县供电公司 | Slide type line-to-line measuring device based on unmanned aerial vehicle carries on |
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