CN107145156A - A kind of power network method for inspecting and system based on unmanned plane - Google Patents
A kind of power network method for inspecting and system based on unmanned plane Download PDFInfo
- Publication number
- CN107145156A CN107145156A CN201710301199.5A CN201710301199A CN107145156A CN 107145156 A CN107145156 A CN 107145156A CN 201710301199 A CN201710301199 A CN 201710301199A CN 107145156 A CN107145156 A CN 107145156A
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- Prior art keywords
- unmanned plane
- power network
- magnetic induction
- induction intensity
- intensity information
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
-
- 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
Abstract
The present invention relates to power network cruising inspection system field, more particularly to a kind of power network method for inspecting and system based on unmanned plane, comprise the following steps, vegetarian refreshments is wanted to detect respectively and the magnetic induction intensity information in computational element point fixed range according to power network, the magnetic induction intensity information data obtained according to previous step sets up the magnetic induction intensity information data of each independent region of patrolling and examining, and sets up according to the geographical position relation or annexation of each independent region of patrolling and examining the normality magnetic induction intensity information data system of whole power network；According to the region of each unmanned plane inspection unmanned plane memory storage region to be inspected normality magnetic induction intensity information data；Corresponding unmanned plane is discharged according to the region of division and collects real-time magnetic induction intensity information；Second processing system in unmanned plane carries out data comparison automatically, uploads abnormal signal, according to feedack, and analyzing and processing center carries out discriminatory analysis, and unmanned plane action is controlled according to the information of unmanned plane Real-time Feedback.
Description
Technical field
The present invention relates to power network cruising inspection system field, more particularly to a kind of power network method for inspecting based on unmanned plane and it is
System.
Background technology
It is to ensure that power network is normally run periodically to carry out power network inspection, eliminates the important measures of accident or potential safety hazard, existing
Routine inspection mode is generally that hand fit's detection device carries out inspection detection, is influenceed by factors such as weather, less efficient.With wireless biography
Defeated and computer technology progress, in the market is occurred in that in real cruising inspection system, although the system feedback speed is fast, but needs pair
Network system each several part be improved it is perfect, invest it is larger.
Unmanned air vehicle technique is developed rapidly in recent years, and carry out cruise detection using unmanned plane obtains extensively should in various fields
With.China has complicated huge network system, and power network distributional environment and scene are complicated, traditional manual inspection or online inspection
The inspection requirement of whole network system can not be preferably met, unmanned plane cruise monitoring is applied into power network inspection has extensive city
Field prospect.Existing unmanned plane cruise is to be based on analog video signal, and unmanned plane is shot to the video information obtained and is passed back to online
Server.Be there is into Railway Project applied to power network inspection in the technology, on the one hand carrying out inspection to large area power network means Pang
Big data message amount, and because the inspection operation near power network is unavoidably disturbed by power network, data volume is huger, it is protected
True degree, transmission efficiency will be also adversely affected, and particularly in mountain area or outlying district, data transmission efficiency is low, these data
It possibly can not in time be fed back, and then influence system routing inspection efficiency；On the other hand, in actual electric network running, portion big absolutely
Separation structure and function are in normal condition, and the purpose of inspection is that short circuit, ground connection etc. are former caused by the textural anomaly for finding only a few
Barrier, therefore carry out being continuously shot the wave of operation and substantial amounts of analog video signal by a large amount of unnecessary work and data resource are caused
Take.
The content of the invention
Based on above-mentioned present situation, it is an object of the present invention to provide a kind of power network method for inspecting and system based on unmanned plane,
It can immediately and accurately detect and feed back electric network state, while volume of transmitted data is low.
A kind of power network method for inspecting based on unmanned plane of the present invention is mainly included the following steps that：
1st, under power network normal condition, the power network between each two node is divided into by independent patrol according to supply node position
Examine region, in each independent region of patrolling and examining, according to power network want vegetarian refreshments detect respectively with computational element point fixed range
Magnetic induction intensity information, it is described to want vegetarian refreshments to include, on important power transmission cable intermediate point or annex point magnetic induction intensity letter
Breath, in addition to the magnetic induction intensity information in node near the important each power transmission cable in transmission facility front and back end；
Power network is divided into multiple region of patrolling and examining, is easy to manage and collect data message respectively, while reducing in unmanned plane
Memory data output, saves cost, by the change information of magnetic induction intensity, before and after can directly judging cable and electrical equipment
End cable "on" position, in that context it may be convenient to analyze field conditions, magnetic induction intensity data volume is less, can avoid data
Amount is excessive to cause situations such as data transfer is not smooth.
2nd, the magnetic induction intensity information data obtained according to previous step sets up the magnetic induction of each independent region of patrolling and examining
Intensity information data, and set up according to the geographical position relation or annexation of each independent region of patrolling and examining the normality of whole power network
Magnetic induction intensity information data system；
Fixed cycle compiles power network normality information, and position system carries out judging to screen providing foundation.
3rd, the normality magnetic induction intensity according to the region of each unmanned plane inspection in unmanned plane memory storage region to be inspected is believed
Cease data；
Contrasted by local data, it is to avoid long-range transmission information and processing information cause to procrastinate, and reduce analyzing and processing center
Workload, improves system effectiveness.
4th, corresponding unmanned plane is discharged according to the region of division and collects real-time magnetic induction intensity information, according to the reality being collected into
When magnetic induction intensity information, unmanned plane actively or according to analyzing and processing center instruction passively carry out data upload or information
Deng operation；
5th, the second processing system in unmanned plane carries out data comparison automatically, when being not detected by abnormal signal, only periodically
To analyzing and processing central transmission normal signal, when detecting abnormal signal, unmanned plane is parked in abnormal area, uploads abnormal letter
Number, and the instruction at analyzing and processing center is waited over a period to come, if without instruction, acted and continued according to setting.
6th, according to unmanned plane feedack, analyzing and processing center carries out discriminatory analysis to grid condition, and according to nobody
The information of machine Real-time Feedback is controlled to unmanned plane action.
Further, the information that unmanned plane is collected in above-mentioned steps can also include the video image in region.
A kind of power network cruising inspection system based on unmanned plane of the present invention, including analyzing and processing center and unmanned plane, it is described
Remote processing control system includes memory cell, wireless transceiver system, analysis and processing unit.
The unmanned plane is provided with wireless transceiver system, local storage unit, the second analysis and processing unit and camera, described
Power network cruising inspection system also includes mobile control end, and the mobile control end includes wireless transceiver system, the 3rd analysis and processing unit.
Brief description of the drawings
Fig. 1 is a kind of structural representation of the power network cruising inspection system based on unmanned plane of the present invention；
Fig. 2 is a kind of key step schematic diagram of the power network method for inspecting based on unmanned plane of the present invention；
Fig. 3 is the schematic diagram of UAS in a kind of power network cruising inspection system based on unmanned plane of the present invention.
Embodiment
With industrial expansion, the popularization of power equipment, the sustainable growth of people's electricity needs, current power network scale and
Distribution general layout is all constantly changing.The own warp of the voltage class of power network is from high pressure 220KV liftings to super-pressure 500KV, even
It is extra-high voltage 1000KV, is adaption demand, the higher transmission of electricity of voltage with the development of electric power network technique in predictable future
Circuit will also continuously emerge, and raisings of line voltage means the raising of electromagnetism intensity, network system by improvement electricity tower etc. its
His structure improves electric tower height degree to reduce influence of the electromagnetism to lower zone, and the unmanned plane of the present invention then needs to utilize electricity
The electromagnetic field of generation is netted to be monitored operation of power networks situation.
In the case of power frequency, the magnetic field of UHV transmission line is that the alternating current on circuit is produced, and can be regarded
For quasi-static field, its magnetic field intensity so just can be directly calculated using Ampere's law.Each wire electric current is calculated first to produce
Magnetic field, then through calculating superposition, you can obtain the magnetic field intensity around wire.
For industrial frequency AC transmission line of electricity, its electric current and voltage are the trigonometric function values of steady change, pass through trigonometric function
Overall and local magnetic induction intensity can be respectively obtained with reference to vector calculating.
Such as magnetic induction intensity of the common three-phase high-voltage transmission line of electricity at the certain point of space can approximate calculation be：
Wherein InFor electric current in electric wire；xn、ynFor cable space relative position coordinates；
Bx、BxFor horizontally and vertically direction magnetic induction intensity.
(being directed to three-phase high-voltage transmission line of electricity)
According to computational methods above, we, which can also calculate, obtains under wire arrangements forms different in practical application it
Induction level and characteristic distributions, in actually detected, the magnetic induction intensity of different conductor arrangement form is changed, for example
In 1000KV ultra-high-tension power transmission lines, cable nearby electromagnetism intensity from 20~50 μ T.
In a certain bar transmission line of electricity, the Current Voltage between any two node is equal, transmission line of electricity between node
Electromagnetism characteristic distributions and intensity are also close, by analyze calculate or field survey, can to arbitrary node in transmission line of electricity with
And the electromagnetism intensity between node carries out statistics and forms system data, and vegetarian refreshments should be wanted including multiple in these data：
1) each cable magnetic between any two same node point (referring to the supporting constructions such as structure identical electric pole, cross-arm, support)
Field distribution is identical, takes its measurement point one；
2) transformer, each cable in control system front end and rear end its magnetic induction intensity；
3) the specific aim measurement in some special areas such as area such as transformation station, power station；
4) above-mentioned data should include the multiple cables in the region its integrate magnetic induction intensity and calculate obtain single cable its
Magnetic Induction Density Distribution feature；
5) the nodal information collection processing of other interim or bursts.
, it is necessary to find the defect or destabilizing factor existed in time during power network inspection, for its inspection of different zones
Emphasis is different, including for the cable of long distance transmission line, for potential device of each grid nodes etc., therefore actual number
Sub-category subregional progress should be needed according to inspection according to system, its key step is shown in Fig. 1.
The above primarily to set up band patrol route on power network information system, on the basis of said system,
Patrolled online by unmanned plane, collect and feed back online magnetic induction intensity information and then judge electric network state.
To realize normal inspection, unmanned plane is needed to fly along power network line, and existing unmanned plane is had been able to according to setting
Good route comes and goes inspection or suspended, and to realize that the system runs well, unmanned plane is required to realize following functions：
1) patrolled along power network line, and related data information is delivered to analysis process system；
2) it can tentatively judge circuit abnormal information, park automatically afterwards in fault zone and take pictures waiting and operate to receive
Collect field data；
3) geographical location information such as can be collected to investigate with indirect labor；
For ease of system data processing and ensure inspection stability, unmanned plane should along power network line and at a certain distance
Measure, execution take pictures wait work after can automatically return to initial position proceed patrol.
Based on above-mentioned basic demand, UAS needs to carry such as lower unit：Flight control units, list is locally stored
Member, wireless transmit/receive units, positioning unit, image unit, magnetic intensity measuring unit and local processing unit.
Wherein flight control units be used for maintain the correct flight attitude of unmanned plane, particularly also include range sensor with
The distance of unmanned plane and power grid cables is measured, analysis process system or flight control units can adjust flight ginseng as needed
Count to ensure measuring in suitable distance.
Wherein local storage unit is used to store measured network system magnetic induction intensity data, for processing locality
Unit is analyzed, preliminary to judge whether magnetic induction intensity is abnormal.
Wherein wireless transmit/receive units include teledata receive-transmit system, such as set up data by ripe GPRS/GSM networks
Communication, but due to being influenceed by supplier and region, possibly can not be applicable from far-off regions, it is contemplated that unmanned plane inspection speed per hour
Degree is relatively low, therefore can combine BEI-DOU position system, while BEI-DOU position system has data transmit-receive function, and the system is used
Information be treated current location point magnetic induction intensity data, and if only if sending instant data, data during data exception
Amount is less, therefore can be with integral data transmission and positioning function, simplied system structure.
Wherein local processing unit is used to receive the magnetic induction intensity data that unmanned plane is measured in real time, and with list is locally stored
This goes out magnetic induction intensity data and contrasted under normal condition in member, if noting abnormalities, that is, controls unmanned plane to hover at this
Progress such as is taken pictures at the other information collection work, and above- mentioned information is sent into analyzing and processing center by wireless transceiver system.
In this clearly demarcated scheme, according to power network instant situation during inspection, the system may have following action：
1) normal condition
Unmanned plane is patrolled along power network line, while unmanned plane is to cable and wants vegetarian refreshments front and back end magnetic induction intensity data
Measure the data collected with being locally stored in system to be analyzed, state is normal, continuation is constantly patrolled simultaneously along cable
Periodically communicated with remote analysis processing system to circulate a notice of inspection progress, analyzing and processing center can be assigned to unmanned plane as needed
Operational order, to shift to an earlier date or repeat to monitor to key area or carry out other cooperatings.
2) abnormal (ground connection, short circuit)
Unmanned plane is patrolled along a certain power network line, and a certain power transmission cable is grounded between certain two node, nothing
Man-machine detect transmits abnormal signal and positional information to analyzing and processing center after the exception of magnetic field, and in abnormal signal generation
Go out park, analyzing and processing center notifies that nearby attendant is overhauled, what can not be safeguarded immediately according to abnormal signal position
Under situation, instruction can be sent to unmanned plane abnormal signal generation area is shot, judge different according to feedack data
The reason condition order of severity has been further processed.Electromagnetic field has changed between this two nodes simultaneously, and unmanned plane is according to analysis
Processing center instruction flies to next node or maked a return voyage.
Meanwhile, outside said system, the expansion worked for ease of on-site maintenance can also set multiple mobile controls
End, the movement control end can receive and dispatch control signal, and carry out remote operation to unmanned plane.
Finally it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than to present invention guarantor
The limitation of scope is protected, although being explained with reference to preferred embodiment to the present invention, one of ordinary skill in the art should
Work as understanding, technical scheme can be modified or equivalent substitution, without departing from the reality of technical solution of the present invention
Matter and scope.
Claims (4)
1. a kind of power network method for inspecting based on unmanned plane, it is characterised in that comprise the following steps：
Under power network normal condition, the power network between each two node is divided into independent inspection area according to supply node position
Domain, in each independent region of patrolling and examining, wants vegetarian refreshments to detect respectively and the magnetic in computational element point fixed range according to power network
Induction information, described to want vegetarian refreshments to include, the magnetic induction intensity information of intermediate point or annex point on important power transmission cable, also
Including the magnetic induction intensity information in node near the important each power transmission cable in transmission facility front and back end；
The magnetic induction intensity information data obtained according to previous step sets up the magnetic induction intensity letter of each independent region of patrolling and examining
Data are ceased, and set up according to the geographical position relation or annexation of each independent region of patrolling and examining the normality magnetic induction of whole power network
Intensity information data system；
According to the region of each unmanned plane inspection unmanned plane memory storage region to be inspected normality magnetic induction intensity information data；
Corresponding unmanned plane is discharged according to the region of division and collects real-time magnetic induction intensity information, according to the real-time magnetic strength being collected into
Strength information is answered, unmanned plane actively or according to the instruction at analyzing and processing center passively carries out the behaviour such as data upload or information
Make；
Second processing system in unmanned plane carries out data comparison automatically, when being not detected by abnormal signal, only periodically to analysis
Processing center transmits normal signal, when detecting abnormal signal, and unmanned plane is parked in abnormal area, uploads abnormal signal, and
The instruction at analyzing and processing center is waited over a period to come, if without instruction, acting and continuing according to setting.
According to unmanned plane feedack, analyzing and processing center carries out discriminatory analysis to grid condition, and real-time according to unmanned plane
Feedack is controlled to unmanned plane action.
2. a kind of power network method for inspecting based on unmanned plane according to claim 1, it is characterised in that in above-mentioned steps nobody
The information that machine is collected also includes the video image in region.
3. a kind of power network cruising inspection system based on unmanned plane, it is characterised in that described including analyzing and processing center and unmanned plane
Remote processing control system includes memory cell, wireless transceiver system, analysis and processing unit.The unmanned plane is provided with wireless receiving and dispatching
System, local storage unit, the second analysis and processing unit and camera.
4. a kind of power network cruising inspection system based on unmanned plane according to claim 3, it is characterised in that the power network inspection system
System also includes mobile control end, and the mobile control end includes wireless transceiver system, the 3rd analysis and processing unit.
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| CN107608386A (en) * | 2017-10-27 | 2018-01-19 | 上海工程技术大学 | A kind of UAV Navigation System and method based on the distribution of high-voltage line electromagnetism fingerprint |
| CN108829966A (en) * | 2018-06-07 | 2018-11-16 | 国网上海市电力公司 | A kind of enhanced grid for power-line patrolling system determines method |
| CN108919367A (en) * | 2018-07-05 | 2018-11-30 | 国网陕西省电力公司电力科学研究院 | Transmission line of alternation current inversion method based on current field |
| CN109189097A (en) * | 2018-10-18 | 2019-01-11 | 国网河北省电力有限公司沧州供电分公司 | Unmanned transmission line faultlocating method |
| CN110031828A (en) * | 2018-10-22 | 2019-07-19 | 国网浙江省电力有限公司检修分公司 | A kind of unmanned plane range-measurement system and method based on transmission line of electricity magnetic distribution |
| CN110412048A (en) * | 2019-07-25 | 2019-11-05 | 青岛大学 | A kind of electric power fault localization cruising device |
| CN110427025A (en) * | 2019-07-15 | 2019-11-08 | 广州杰赛科技股份有限公司 | A kind of inspection device path method of adjustment, device and inspection device |
| CN110445055A (en) * | 2019-09-09 | 2019-11-12 | 燕山大学 | A kind of power transmission line unmanned cruising inspection system |
| CN110740433A (en) * | 2019-10-29 | 2020-01-31 | 福州大学 | power cable inspection system |
| CN114243558A (en) * | 2021-11-26 | 2022-03-25 | 国网浙江省电力有限公司天台县供电公司 | Device and method for quickly identifying defects of power grid equipment |
| US11300543B2 (en) | 2019-11-13 | 2022-04-12 | Honeywell International Inc. | Anomaly and fault detection of industrial assets using magnetic mapping |
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| CN108829966A (en) * | 2018-06-07 | 2018-11-16 | 国网上海市电力公司 | A kind of enhanced grid for power-line patrolling system determines method |
| CN108919367A (en) * | 2018-07-05 | 2018-11-30 | 国网陕西省电力公司电力科学研究院 | Transmission line of alternation current inversion method based on current field |
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| CN110427025A (en) * | 2019-07-15 | 2019-11-08 | 广州杰赛科技股份有限公司 | A kind of inspection device path method of adjustment, device and inspection device |
| CN110427025B (en) * | 2019-07-15 | 2022-04-12 | 广州杰赛科技股份有限公司 | Routing inspection equipment path adjusting method and device and routing inspection equipment |
| CN110412048A (en) * | 2019-07-25 | 2019-11-05 | 青岛大学 | A kind of electric power fault localization cruising device |
| CN110445055A (en) * | 2019-09-09 | 2019-11-12 | 燕山大学 | A kind of power transmission line unmanned cruising inspection system |
| CN110740433A (en) * | 2019-10-29 | 2020-01-31 | 福州大学 | power cable inspection system |
| US11300543B2 (en) | 2019-11-13 | 2022-04-12 | Honeywell International Inc. | Anomaly and fault detection of industrial assets using magnetic mapping |
| CN114243558A (en) * | 2021-11-26 | 2022-03-25 | 国网浙江省电力有限公司天台县供电公司 | Device and method for quickly identifying defects of power grid equipment |
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