CN107769070A - A kind of power transmission line inspection device and method based on unmanned plane - Google Patents
A kind of power transmission line inspection device and method based on unmanned plane Download PDFInfo
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- CN107769070A CN107769070A CN201711038550.2A CN201711038550A CN107769070A CN 107769070 A CN107769070 A CN 107769070A CN 201711038550 A CN201711038550 A CN 201711038550A CN 107769070 A CN107769070 A CN 107769070A
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- Prior art keywords
- unmanned plane
- transmission line
- power transmission
- detection means
- inspection device
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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
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- Manipulator (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Electric Cable Installation (AREA)
Abstract
The invention discloses a kind of power transmission line inspection device based on unmanned plane, it is characterised in that：Including unmanned plane and detection means, the unmanned plane connecting detection device；The detection means, the defects of for detecting power transmission line；Also include communication module, for being communicated with ground and image transmitting；The detection means is arranged on crusing robot, crusing robot connection unmanned plane, also discloses a kind of power transmission line method for inspecting based on unmanned plane.The power transmission line inspection device based on unmanned plane of the invention can quick obstacle detouring inspection, while automatic power transmission line, and carry out the accurate inspection of local segmentation up and down improves the routing inspection efficiency of power transmission line.
Description
Technical field
The present invention relates to power transmission line inspection, especially a kind of power transmission line inspection device and method based on unmanned plane.
Background technology
Ultra-high-tension power transmission line failure and he triggers power failure, to people's lives, industrial enterprise and country cause huge economy
Loss.The hidden danger and defect of discovery transmission line of electricity in time are needed, and is repaired, is prevented trouble before it happens, it is necessary to which power transmission line is carried out
Regularly inspection.The defects of transmission line of electricity mainly have stranded, loose stock, get rusty, defect, missing, displacement, thunderbolt, filth, abrasion,
Corrosion etc., especially on transmission line of electricity the defects of the oxide etch of gold utensil, joint looseness and the Ageing of Insulators, cracking and breakdown
And the safe operation of failure serious threat transmission system.
HV Transmission Line Routing Inspection is timely discovering device defect and along the line situation in order to grasp the operation conditions of circuit,
Data is provided for line maintenance.At present, HV Transmission Line Routing Inspection has manual inspection and helicopter routing inspection two ways.Manually patrol
Inspection is maked an inspection tour and is combined with stepping on tower inspection by tower inspection, ground along circuit using visual method by electrical power line inspector.This mode labor
Fatigue resistance is big, costly and dangerous larger.Helicopter routing inspection is also known as aerophotographic method, refers to helicopter and carries thermal infrared imager and visible
The equipment such as light video camera carry out inspection.Its advantage is line walking efficiency high, for High aititude, extremely frigid zones and unfrequented section
Inspection can be carried out, shortcoming is line walking somewhat expensive, and inspection quality is influenceed by factors such as weathers.
Crusing robot is a kind of closely inspection circuit and the instrument for repairing defect.Crusing robot is with high voltage transmission line
The ground wire on road is working path, obtains external environmental information by using various sensors and its detection, realization is positioned oneself, sentenced
Determine oneself state, trajectory planning motion is carried out according to target, completes patrol task.Robot is when performing patrol task, by work
Make personnel to be monitored by radio communication at ground handling station.
The defects of following be present in existing crusing robot：1st, need to carry out complicated operation in obstacle detouring, can not be quick
By the way that routing inspection efficiency is low；2nd, crusing robot can not automatically up and down power transmission line；3rd, helicopter routing inspection cost is high, while detects dress
Put it is remote with the distance of power transmission line, easily it is protected from environmental.
The content of the invention
The goal of the invention of the present invention is：For above-mentioned problem, there is provided a kind of power transmission line based on unmanned plane patrols
It checking device, can quickly break the barriers, not limited by barrier volume；Being capable of upper and lower power transmission line, and can be right automatically
Power transmission line carries out detection closely, is not easy protected from environmental；The method for inspecting of power transmission line is also disclosed, improves power transmission line
The efficiency of inspection；Inspection device can carry out sectional inspection to any local power transmission line, realize accurate inspection.
The technical solution adopted by the present invention is as follows：
A kind of power transmission line inspection device based on unmanned plane of the present invention, including unmanned plane and detection means, the unmanned plane connection
Detection means；The detection means, the defects of for detecting power transmission line；Also include communication module, for being communicated with ground
And image transmitting.
Transmission of electricity line detector is dragged near power transmission line and power transmission line is closely examined by above structure, unmanned plane
Survey, when barrier is run into, detection means can be lifted or bias motion, so as to quickly surmounting obstacles.
Further, the detection means is arranged on crusing robot, crusing robot connection unmanned plane.
Above structure, unmanned plane connection crusing robot, crusing robot power transmission line up and down is driven, passes through crusing robot
Walk and detect on power transmission line；When barrier is run into, by the lifting force of unmanned plane, clear the jumps.
Further, the crusing robot includes driving wheel, motor and power supply；The motor drives driving wheel
Rotate.
Above structure, crusing robot are realized the walking on power transmission line, are coordinated with detection means and carried out by motor
Inspection.
Further, the detection means includes image collecting device or infrared detecting device；And obstacle detector.
Above structure, detection means are carried out defects detection to power transmission line, will gathered by the image or infrared induction of collection
Data be sent to ground carry out image procossing, obtain inspection result；Simultaneously in detection means forward movement, obstacle is detected
Thing, and transnational barrier, carry out inspection.
Further, the detection means is connected or electrically connected with UAV Communication, and unmanned plane is provided with communication module.
Above structure, the detection means are connected or electrically connected with UAV Communication, and unmanned plane is provided with communication module；Inspection
Device is surveyed by the data transfer of collection to unmanned plane, by the communication module of unmanned plane, is carried out data transmission with ground；Nobody
Machine can provide electric energy for detection means, meet the energy requirement of detection.
Further, the detection means is provided with communication module.
Above structure, the data of detection means collection are transferred to ground by communication module.
Further, separate and use to be flexibly connected between the unmanned plane and crusing robot.
Above structure, when unmanned plane lifts crusing robot on power transmission line, in the normal inspection of crusing robot, nobody
Machine can separate with crusing robot, to ground electric energy supplement or park, and until needing unmanned plane, reconnect unmanned plane and patrol
Robot is examined, inspection is carried out or crusing robot lands back ground.
A kind of power transmission line method for inspecting based on unmanned plane of the present invention, comprises the following steps：
S1：Start unmanned plane, unmanned plane is risen to above power transmission line, while detection means and the distance of power transmission line are less than default
Value；
S2：Unmanned plane band motion detection device is run forward, and power transmission line is detected；
S3：When an obstacle is detected, unmanned plane band motion detection device clears the jumps；
S4：After the completion of detection, unmanned plane dragging detection means drops to ground, completes power transmission line inspection.
In summary, by adopting the above-described technical solution, the beneficial effects of the invention are as follows：
1st, realize that the power transmission line inspection device based on unmanned plane is automatic upper and lower on power transmission line, it is not necessary to which other auxiliary dresses are set
Put, and it is easy for going up and down and quick.
2nd, quickly need not stop carrying out obstacle detouring in inspection, while need not increase by the barrier on power transmission line
Add other instrument aiding overpass obstacles, can quickly break the barriers, can be crossed for different barriers.
3rd, the closely detection of power transmission line, detection means and transmission of electricity linear contact lay are realized, both can guarantee that the stabilization of detection means
Property, it is not easy effect protected from environmental, while improving detection.
4th, it can be used in the inspection of local power transmission line, when needing to detect local transmission of electricity line segment, unmanned plane can not be by ring
Detection means is placed on power transmission line and detected by the limitation in border, so as to realize accurately inspection, for what need not be detected
Line segment, inspection can be skipped, flexible inspection, improves routing inspection efficiency.
Brief description of the drawings
Examples of the present invention will be described by way of reference to the accompanying drawings, wherein：
Fig. 1 is a kind of power transmission line inspection device structural representation based on unmanned plane of invention.
Fig. 2 is a kind of power transmission line method for inspecting flow chart based on unmanned plane of invention.
Embodiment
All features disclosed in this specification, or disclosed all methods or during the step of, except mutually exclusive
Feature and/or step beyond, can combine in any way.
This specification（Including any accessory claim, summary）Disclosed in any feature, unless specifically stated otherwise,
Replaced by other equivalent or with similar purpose alternative features.I.e., unless specifically stated otherwise, each feature is a series of
An example in equivalent or similar characteristics.
Embodiment 1：Such as Fig. 1, a kind of power transmission line inspection device based on unmanned plane of the present invention, including unmanned plane and detection
Device, the unmanned plane connecting detection device；The detection means, the defects of for detecting power transmission line；Also include communication module,
For being communicated with ground and image transmitting；The detection means includes image collecting device or infrared detecting device；And
Obstacle detector；
Embodiment 2：In the present embodiment, the detection means is arranged on crusing robot, crusing robot connection unmanned plane；Institute
Stating crusing robot includes driving wheel, motor and power supply；The motor drives driving wheel to rotate.
Embodiment 3：In the present embodiment, the detection means is connected or electrically connected with UAV Communication, and unmanned plane is provided with
Communication module.
Embodiment 4：Compared with Example 3, in the present embodiment, the detection means is provided with communication module；Detection means
Pass through communication module and ground communications.
Embodiment 5：Compared with Example 2, it is that activity connects in the present embodiment, between the unmanned plane and crusing robot
Connect, separate and use；Crusing robot and unmanned plane can separate autonomous working, can also be used cooperatively.
Embodiment 6：Such as Fig. 2, a kind of power transmission line method for inspecting based on unmanned plane of the present invention, comprise the following steps：
S1：Start unmanned plane, unmanned plane is risen to above power transmission line, while detection means and the distance of power transmission line are less than default
Value；
S2：Unmanned plane band motion detection device is run forward, and power transmission line is detected；
S3：When an obstacle is detected, unmanned plane band motion detection device clears the jumps；
S4：After the completion of detection, unmanned plane dragging detection means drops to ground, completes power transmission line inspection.
Embodiment 7：A kind of power transmission line method for inspecting based on unmanned plane of the present invention, comprises the following steps：
S1：Start unmanned plane, unmanned plane rises to above power transmission line, crusing robot is parked on power transmission line, unmanned plane stops
On crusing robot；
S2：Driving crusing robot is run forward, while power transmission line is detected by detection means；
S3：When an obstacle is detected, start unmanned plane, drive crusing robot to clear the jumps；
S4：After the completion of detection, unmanned plane dragging crusing robot drops to ground, completes power transmission line inspection.
The invention is not limited in foregoing embodiment.The present invention, which expands to, any in this manual to be disclosed
New feature or any new combination, and disclose any new method or process the step of or any new combination.
Claims (8)
- A kind of 1. power transmission line inspection device based on unmanned plane, it is characterised in that：Including unmanned plane and detection means, it is described nobody Machine connecting detection device；The detection means, the defects of for detecting power transmission line；Also include communication module, for entering with ground Row communication and image transmitting.
- 2. the power transmission line inspection device according to claim 1 based on unmanned plane, it is characterised in that：The detection means is set It is placed on crusing robot, crusing robot connection unmanned plane.
- 3. the power transmission line inspection device according to claim 2 based on unmanned plane, it is characterised in that：The crusing robot Including driving wheel, motor and power supply；The motor drives driving wheel to rotate.
- 4. the power transmission line inspection device according to claim 1 based on unmanned plane, it is characterised in that：The detection means bag Include image collecting device or infrared detecting device；And obstacle detector.
- 5. the power transmission line inspection device according to claim 1 based on unmanned plane, it is characterised in that：The detection means with UAV Communication connects or electrical connection, unmanned plane are provided with communication module.
- 6. the power transmission line inspection device according to claim 1 based on unmanned plane, it is characterised in that：In the detection means Provided with communication module.
- 7. the power transmission line inspection device according to claim 2 based on unmanned plane, it is characterised in that：The unmanned plane is with patrolling To be flexibly connected between inspection robot, separate and use.
- A kind of 8. power transmission line method for inspecting based on unmanned plane, it is characterised in that：Comprise the following steps：S1：Start unmanned plane, unmanned plane is risen to above power transmission line, while detection means and the distance of power transmission line are less than default Value；S2：Unmanned plane band motion detection device is run forward, and power transmission line is detected；S3：When an obstacle is detected, unmanned plane band motion detection device clears the jumps；S4：After the completion of detection, unmanned plane dragging detection means drops to ground, completes power transmission line inspection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711038550.2A CN107769070A (en) | 2017-10-31 | 2017-10-31 | A kind of power transmission line inspection device and method based on unmanned plane |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711038550.2A CN107769070A (en) | 2017-10-31 | 2017-10-31 | A kind of power transmission line inspection device and method based on unmanned plane |
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| Publication Number | Publication Date |
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| CN107769070A true CN107769070A (en) | 2018-03-06 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201711038550.2A Withdrawn CN107769070A (en) | 2017-10-31 | 2017-10-31 | A kind of power transmission line inspection device and method based on unmanned plane |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108508901A (en) * | 2018-06-04 | 2018-09-07 | 西南石油大学 | A kind of petrochemical plant intelligent inspection robot |
| CN108680924A (en) * | 2018-05-16 | 2018-10-19 | 武汉珈鹰智能科技有限公司 | Wall absorption robot detection device, control system and method based on unmanned plane |
| CN110514251A (en) * | 2019-09-27 | 2019-11-29 | 国网内蒙古东部电力有限公司建设分公司 | A kind of interrupt device and its detection method |
-
2017
- 2017-10-31 CN CN201711038550.2A patent/CN107769070A/en not_active Withdrawn
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108680924A (en) * | 2018-05-16 | 2018-10-19 | 武汉珈鹰智能科技有限公司 | Wall absorption robot detection device, control system and method based on unmanned plane |
| CN108508901A (en) * | 2018-06-04 | 2018-09-07 | 西南石油大学 | A kind of petrochemical plant intelligent inspection robot |
| CN110514251A (en) * | 2019-09-27 | 2019-11-29 | 国网内蒙古东部电力有限公司建设分公司 | A kind of interrupt device and its detection method |
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Application publication date: 20180306 |