CN108111807A - A kind of power-line patrolling equipment and method for diagnosing faults - Google Patents

A kind of power-line patrolling equipment and method for diagnosing faults Download PDF

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Publication number
CN108111807A
CN108111807A CN201711220832.4A CN201711220832A CN108111807A CN 108111807 A CN108111807 A CN 108111807A CN 201711220832 A CN201711220832 A CN 201711220832A CN 108111807 A CN108111807 A CN 108111807A
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CN
China
Prior art keywords
module
unmanned plane
main control
transmission line
power
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Pending
Application number
CN201711220832.4A
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Chinese (zh)
Inventor
王洪涛
韩梁
宁世超
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Ningde Normal University
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Ningde Normal University
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Priority to CN201711220832.4A priority Critical patent/CN108111807A/en
Publication of CN108111807A publication Critical patent/CN108111807A/en
Pending legal-status Critical Current

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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
    • H04N7/183—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source
    • H04N7/185—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source from a mobile camera, e.g. for remote control
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C3/00—Measuring distances in line of sight; Optical rangefinders
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
    • G01R31/08—Locating faults in cables, transmission lines, or networks
    • 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
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B7/00—Radio transmission systems, i.e. using radiation field
    • H04B7/14—Relay systems
    • H04B7/15—Active relay systems
    • H04B7/185—Space-based or airborne stations; Stations for satellite systems
    • H04B7/18502—Airborne stations
    • H04B7/18506—Communications with or from aircraft, i.e. aeronautical mobile service
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N5/00—Details of television systems
    • H04N5/30—Transforming light or analogous information into electric information
    • H04N5/33—Transforming infrared radiation

Abstract

The invention belongs to power-line patrolling technical fields, and disclosing a kind of power-line patrolling equipment and method for diagnosing faults, method for diagnosing faults includes：Power module, visible image capturing module, infrared thermal imaging module, unmanned plane main control module, first communication module, transmission line of electricity data acquisition module, positioning navigation module, laser ranging module.Power module, visible image capturing module, infrared thermal imaging module connect unmanned plane main control module by circuit line respectively；Unmanned plane main control module connects first communication module, transmission line of electricity data acquisition module, positioning navigation module, laser ranging module by circuit line respectively.The present invention reaches measured accurate data, failure is accurately diagnosed by being different from the data acquisition, transmission, processing method of the prior art；The present invention is adjusted and corrected by the real-time attitude of visible image capturing module and infrared thermal imaging module simultaneously, can effectively improve the shooting effect of image；Meanwhile line walking image can be screened, mitigate the burden of artificial examination, have broad application prospects.

Description

A kind of power-line patrolling equipment and method for diagnosing faults
Technical field
The invention belongs to power-line patrolling technical field more particularly to a kind of power-line patrolling equipment and method for diagnosing faults.
Background technology
Line walking is exactly that trackman makes an inspection tour along electric wire tower, checks whether equipment is complete, will be timely if being damaged Report department, is repaired, in order to avoid delay the normal conveying of power supply.However, existing power-line patrolling equipment fault diagnosis number According to not accurate enough；Time-consuming and laborious simultaneously by artificial examination, labour cost is high.
In conclusion problem existing in the prior art is：Existing power-line patrolling equipment fault diagnosis data are not accurate enough； Time-consuming and laborious simultaneously by artificial examination, labour cost is high.
The content of the invention
In view of the problems of the existing technology, the present invention provides a kind of power-line patrolling equipment and method for diagnosing faults.
The present invention is achieved in that a kind of power-line patrolling equipment includes：
Power module, visible image capturing module, infrared thermal imaging module, unmanned plane main control module, first communication module, Transmission line of electricity data acquisition module, positioning navigation module, laser ranging module；
Power module is connected with unmanned plane main control module, for providing power supply function；
Visible image capturing module is connected with unmanned plane main control module, for completing unmanned plane transmission line of electricity inspection on daytime figure The acquisition of picture and video data；
Infrared thermal imaging module is connected with unmanned plane main control module, for completing transmission line equipment fever image data Acquisition；
Unmanned plane main control module, communicate mould with power module, visible image capturing module, infrared thermal imaging module, first Block, transmission line of electricity data acquisition module, positioning navigation module, laser ranging module connection, for will be seen that light photographing module, Infrared thermal imaging module, laser ranging module pass the data message obtained and carry out storage and handle analysis；
First communication module is connected with unmanned plane main control module, is communicated to connect for being established with ground monitoring module, and Transmission line of electricity monitoring data in unmanned plane main control module are sent to ground monitoring；
Transmission line of electricity data acquisition module is connected with unmanned plane main control module, for obtaining transmission line of electricity monitoring data simultaneously The transmission line of electricity monitoring data are transferred to unmanned plane main control module；
Positioning navigation module is connected with unmanned plane main control module, for carrying out location navigation to unmanned plane；
Laser ranging module is connected with unmanned plane main control module, for measure unmanned plane and transmission line equipment away from From.
Another object of the present invention is that providing a kind of power-line patrolling equipment fault diagnosis method comprises the following steps：
Step 1, power module are powered to unmanned plane main control module, it is seen that light photographing module, infrared thermal imaging module swash The image data information and parameter that ligh-ranging module obtains carry out storage by unmanned plane main control module and handle analysis；
Step 2 obtains transmission line of electricity monitoring data and by the transmission line of electricity by transmission line of electricity data acquisition module Monitoring data are transferred to unmanned plane main control module；
Step 3 is established by first communication module and ground monitoring module and communicated to connect, and by unmanned plane main control module In transmission line of electricity monitoring data be sent to ground monitoring；Location navigation is carried out to unmanned plane by positioning navigation module.
Further, the transmission line of electricity data acquisition module includes：Laser scanner, air camera, thermal infrared imager and One kind or arbitrary several combination in imaging sensor.
The acquisition methods of transmission line of electricity data acquisition module comprise the following steps：
First, echo signal x (t) is acquired within the independent sampling period with awareness apparatus, and with A/D modes Digital quantization is carried out to signal；
Then, dimensionality reduction is carried out to the signal x (i) after quantization；
Finally, the signal after dimensionality reduction is reconstructed；Wherein t is sampling instant, and i is the signal sequence after quantifying：
Dimensionality reduction is carried out to the signal after quantization, finite impulse response filter specifically is passed through to the signal after quantization Difference equationI=1 ..., M, wherein h (0) ..., h (L-1) are filter coefficient, and design is based on The compressed sensing signal acquisition frame of filtering, constructs following Teoplitz calculation matrix：
Then observeI=1 ..., M, wherein b1 ..., bL regard filter coefficient as；Submatrix The singular value of Φ FT is the arithmetic root of gram matrix G (Φ F, T)=Φ ' FT Φ FT characteristic values, and verification G's (Φ F, T) is all Eigenvalue λ i ∈ (1- δ K, 1+ δ K), i=1 ..., T, then Φ F meet RIP, and pass through solutionIt optimizes Problem reconstructs original signal；Original signal, that is, BP algorithm are reconstructed by linear programming method；To image or compress speech The acquisition of signal then changes Φ F as following form：
If signal conversion basic matrix Ψ on have it is openness, pass through solutionOptimization problem, Accurate Reconstruction go out original signal；Wherein Φ is uncorrelated to Ψ, and Ξ claims For CS matrixes.
The transmission function of the data acquisition of transmission line of electricity data acquisition module is：
Wherein, ω0For the centre frequency of wave filter, for different ω0, k makes k/ ω0It remains unchanged；
In frequency domain construction wave filter, corresponding polar coordinates expression way is：
G (r, θ)=G (r, r) G (θ, θ)；
In formula, Gr(r) radial component of filter bandwidht in order to control, GθThe angle component of (θ) filter direction in order to control；
R represents radial coordinate, and θ represents angle coordinate, f0Centered on frequency, θ0For filter direction, σfFor determining band It is wide；
Bf=2 (2/ln2) 1/2 | ln σf|, σθDetermine angular bandwidth, B θ=2 (2/ln2) 1/2 σθ。
Advantages of the present invention and good effect are：The present invention is by being different from the data acquisition, transmission, place of the prior art Reason method, reaches measured accurate data, and failure is accurately diagnosed；The present invention passes through visible image capturing mould simultaneously The real-time attitude of block and infrared thermal imaging module adjusts and correction, can effectively improve the shooting effect of image；It meanwhile can be to patrolling Line image is screened, and is mitigated the burden of artificial examination, is had broad application prospects.
Description of the drawings
Fig. 1 is that the present invention implements the power-line patrolling device structure block diagram provided.
Fig. 2 is that the present invention implements the power-line patrolling equipment fault diagnosis method flow chart provided.
In Fig. 1：1st, power module；2nd, visible image capturing module；3rd, infrared thermal imaging module；4th, unmanned plane main control module； 5th, first communication module；6th, transmission line of electricity data acquisition module；7th, positioning navigation module；8th, laser ranging module.
Specific embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, with reference to embodiments, to this hair It is bright to be further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, not For limiting the present invention.
Below in conjunction with the accompanying drawings and specific embodiment is further described the application principle of the present invention.
Include as shown in Figure 1, the embodiment of the present invention provides a kind of power-line patrolling equipment：Power module 1, visible image capturing It is module 2, infrared thermal imaging module 3, unmanned plane main control module 4, first communication module 5, transmission line of electricity data acquisition module 6, fixed Position navigation module 7, laser ranging module 8.
DC/DC adaptive power supplies module 1, is connected with central control module 4, for providing power supply；
Environmental data collecting module 2 is connected with central control module 4, for being carried out to electrical equipment surrounding enviroment weather Detection in real time；
Data detection module 3 is connected with central control module 4, is examined for the parameters state to power equipment It looks into；
Central control module 4, with DC/DC adaptive power supplies module 1, environmental data collecting module 2, data detection module 3rd, wireless communication module 5, electric memory module 6, current control module 7, power distribution protection module 8, overload protection module 9, module Alarm module 10 connects, and the data message for environmental data collecting module 2, data detection module 3 to be detected carries out processing point Analysis；Realize electric quantity monitoring, power distribution protection and the reactive-load compensation of power equipment；
Wireless communication module 5 is connected with central control module 4, for passing through the serial ports being located in microprocessor control module CPU is electrically connected to, wireless communication module receives exterior terminal instruction；The wireless communication module include for microprocessor control Zigbee module, Bluetooth of mobile phone module, the Wifi modules that molding block is connected, sends control instruction, receiving feedback signal；
Electric memory module 6, is connected with central control module 4, is set for storage and memory signal code and electrical load Standby control information；Electric memory module includes left electrode, main storage, additional storage, right electrode；Left electrode is arranged on electricity The front side of memory body, main storage are connected between left electrode and right electrode, and additional storage is arranged on the upper of main storage Side, right electrode are arranged on the rear side of main storage；
Current control module 7 is connected with central control module 4, for the electric current fed back according to current detection module Signal controls the operating current of flyback switching module adjust automatically electrical load；
Power distribution protection module 8 is connected with central control module 4, and including distribution controller, distribution controller is connected with short Road protector, distribution controller determine the prospective short circuit current of power supply unit according to the parameter of power equipment, and short-circuit protector is real When monitor power equipment operation short circuit current flow, when the operation short circuit current flow of monitoring reaches prospective short circuit current, and short circuit duration During beyond the first pre-set threshold value, shown by display, and the power supply of short-circuit protector cut-out power equipment；
Overload protection module 9 is connected with central control module 4, for preventing main power line from causing protector because of overload The overload protection device crossed cause thermal damage and installed additional；
Module alarm module 10 is connected with central control module 4, for the discriminatory analysis to detecting data, if abnormal Then send alarm.
Shown in Fig. 2, the embodiment of the present invention provides a kind of power-line patrolling equipment fault diagnosis method and comprises the following steps：
S101, power module are powered to unmanned plane main control module, it is seen that light photographing module, infrared thermal imaging module, laser The image data information and parameter that range finder module obtains carry out storage by unmanned plane main control module and handle analysis；
S102 obtains transmission line of electricity monitoring data by transmission line of electricity data acquisition module and supervises the transmission line of electricity Measured data is transferred to unmanned plane main control module；
S103 is established by first communication module and ground monitoring module and communicated to connect, and will be in unmanned plane main control module Transmission line of electricity monitoring data be sent to ground monitoring；Location navigation is carried out to unmanned plane by positioning navigation module.
Transmission line of electricity data acquisition module provided by the invention includes：Laser scanner, air camera, thermal infrared imager And one kind in imaging sensor or arbitrary several combination.
The acquisition methods of transmission line of electricity data acquisition module comprise the following steps：
First, echo signal x (t) is acquired within the independent sampling period with awareness apparatus, and with A/D modes Digital quantization is carried out to signal；
Then, dimensionality reduction is carried out to the signal x (i) after quantization；
Finally, the signal after dimensionality reduction is reconstructed；Wherein t is sampling instant, and i is the signal sequence after quantifying；
Dimensionality reduction is carried out to the signal after quantization, finite impulse response filter specifically is passed through to the signal after quantization Difference equationI=1 ..., M, wherein h (0) ..., h (L-1) are filter coefficient, and design is based on The compressed sensing signal acquisition frame of filtering, constructs following Teoplitz calculation matrix：
Then observeI=1 ..., M, wherein b1 ..., bL regard filter coefficient as；Submatrix The singular value of Φ FT is the arithmetic root of gram matrix G (Φ F, T)=Φ ' FT Φ FT characteristic values, and verification G's (Φ F, T) is all Eigenvalue λ i ∈ (1- δ K, 1+ δ K), i=1 ..., T, then Φ F meet RIP, and pass through solutionIt optimizes Problem reconstructs original signal；Original signal, that is, BP algorithm are reconstructed by linear programming method；To image or compress speech The acquisition of signal then changes Φ F as following form：
If signal conversion basic matrix Ψ on have it is openness, pass through solutionOptimization problem, Accurate Reconstruction go out original signal；Wherein Φ is uncorrelated to Ψ, and Ξ claims For CS matrixes.
The transmission function of the data acquisition of transmission line of electricity data acquisition module is：
Wherein, ω0For the centre frequency of wave filter, for different ω0, k makes k/ ω0It remains unchanged；
In frequency domain construction wave filter, corresponding polar coordinates expression way is：
G (r, θ)=G (r, r) G (θ, θ)；
In formula, Gr(r) radial component of filter bandwidht in order to control, GθThe angle component of (θ) filter direction in order to control；
R represents radial coordinate, and θ represents angle coordinate, f0Centered on frequency, θ0For filter direction, σfFor determining band It is wide；
Bf=2 (2/ln2) 1/2 | ln σf|, σθDetermine angular bandwidth, B θ=2 (2/ln2) 1/2 σθ。
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention All any modification, equivalent and improvement made within refreshing and principle etc., should all be included in the protection scope of the present invention.

Claims (3)

1. a kind of power-line patrolling equipment, which is characterized in that the power-line patrolling equipment includes：
Power module, visible image capturing module, infrared thermal imaging module, unmanned plane main control module, first communication module, power transmission line Unit for Data Acquisition module, positioning navigation module, laser ranging module；
Power module is connected with unmanned plane main control module, for providing power supply function；
Visible image capturing module is connected with unmanned plane main control module, for complete unmanned plane transmission line of electricity inspection on daytime image and The acquisition of video data；
Infrared thermal imaging module is connected with unmanned plane main control module, for completing adopting for transmission line equipment fever image data Collection；
Unmanned plane main control module, with power module, visible image capturing module, infrared thermal imaging module, first communication module, transmission of electricity Track data acquisition module, positioning navigation module, laser ranging module connection, for will be seen that light photographing module, it is infrared heat into As the data message of module, laser ranging module biography acquisition carries out storage and handles analysis；
First communication module is connected with unmanned plane main control module, for ground monitoring module establish communicate to connect, and by nobody Transmission line of electricity monitoring data in machine main control module are sent to ground monitoring；
Transmission line of electricity data acquisition module is connected with unmanned plane main control module, for obtaining transmission line of electricity monitoring data and by institute It states transmission line of electricity monitoring data and is transferred to unmanned plane main control module；
Positioning navigation module is connected with unmanned plane main control module, for carrying out location navigation to unmanned plane；
Laser ranging module is connected with unmanned plane main control module, for measuring the distance of unmanned plane and transmission line equipment.
A kind of 2. power-line patrolling equipment fault diagnosis method as described in claim 1, which is characterized in that the power-line patrolling equipment Method for diagnosing faults comprises the following steps：
Step 1, power module are powered to unmanned plane main control module, it is seen that light photographing module, infrared thermal imaging module, Laser Measuring The image data information and parameter obtained away from module carries out storage by unmanned plane main control module and handles analysis；
Step 2 obtains transmission line of electricity monitoring data by transmission line of electricity data acquisition module and the transmission line of electricity is monitored number According to being transferred to unmanned plane main control module；
Step 3 is established by first communication module and ground monitoring module and communicated to connect, and will be in unmanned plane main control module Transmission line of electricity monitoring data are sent to ground monitoring；Location navigation is carried out to unmanned plane by positioning navigation module.
3. power-line patrolling equipment fault diagnosis method as described in claim 1, which is characterized in that the transmission line of electricity data obtain Modulus block includes：One kind or arbitrary several group in laser scanner, air camera, thermal infrared imager and imaging sensor It closes.
The acquisition methods of transmission line of electricity data acquisition module comprise the following steps：
First, echo signal x (t) is acquired within the independent sampling period with awareness apparatus, and with A/D modes to signal Carry out digital quantization；
Then, dimensionality reduction is carried out to the signal x (i) after quantization；
Finally, the signal after dimensionality reduction is reconstructed；Wherein t is sampling instant, and i is the signal sequence after quantifying；
Dimensionality reduction, the difference side for specifically passing through finite impulse response filter to the signal after quantization are carried out to the signal after quantization JourneyI=1 ..., M, wherein h (0) ..., h (L-1) are filter coefficient, design the pressure based on filtering Contracting perceptual signal gathers frame, constructs following Teoplitz calculation matrix：
Then observeI=1 ..., M, wherein b1 ..., bL regard filter coefficient as；Submatrix Φ FT's Singular value is the arithmetic root of gram matrix G (Φ F, T)=Φ ' FT Φ FT characteristic values, all eigenvalue λs of verification G (Φ F, T) I ∈ (1- δ K, 1+ δ K), i=1 ..., T, then Φ F meet RIP, and pass through solutionOptimization problem weighs Structure original signal；Original signal, that is, BP algorithm are reconstructed by linear programming method；Image or compress speech signal are adopted Collection then changes Φ F as following form：
If signal conversion basic matrix Ψ on have it is openness, pass through solution Optimization problem, Accurate Reconstruction go out original signal；Wherein Φ is uncorrelated to Ψ, and Ξ is known as CS matrixes；
The transmission function of the data acquisition of transmission line of electricity data acquisition module is：
Wherein, ω0For the centre frequency of wave filter, for different ω0, k makes k/ ω0It remains unchanged；
In frequency domain construction wave filter, corresponding polar coordinates expression way is：
G (r, θ)=G (r, r) G (θ, θ)；
In formula, Gr(r) radial component of filter bandwidht in order to control, GθThe angle component of (θ) filter direction in order to control；
R represents radial coordinate, and θ represents angle coordinate, f0Centered on frequency, θ0For filter direction, σfFor determining bandwidth；
Bf=2 (2/ln2) 1/2 | ln σf|, σθDetermine angular bandwidth, B θ=2 (2/ln2) 1/2 σθ。
CN201711220832.4A 2017-11-20 2017-11-20 A kind of power-line patrolling equipment and method for diagnosing faults Pending CN108111807A (en)

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Application Number Priority Date Filing Date Title
CN201711220832.4A CN108111807A (en) 2017-11-20 2017-11-20 A kind of power-line patrolling equipment and method for diagnosing faults

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109193462A (en) * 2018-10-30 2019-01-11 国网四川省电力公司广元供电公司 A kind of three-dimensional electric network operation cruising inspection system
CN109870617A (en) * 2018-09-21 2019-06-11 浙江大学 A kind of intelligent power plant electrical equipment fault diagnosis method based on width study and infrared image space-time characteristic
WO2024011750A1 (en) * 2022-07-12 2024-01-18 重庆文理学院 Unmanned aerial vehicle ginger planting inspection system based on background image positioning

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CN103036573A (en) * 2012-12-03 2013-04-10 南京工业大学 Compressed sensing signal collection method based on filtering
CN103675609A (en) * 2014-01-02 2014-03-26 国家电网公司 Power line patrol equipment and system
CN203673535U (en) * 2014-01-02 2014-06-25 国家电网公司 Power line inspection device and system
CN105469484A (en) * 2015-11-20 2016-04-06 宁波大业产品造型艺术设计有限公司 App intelligent home lock
CN105915856A (en) * 2016-06-06 2016-08-31 天津中翔腾航科技股份有限公司 Unmanned aerial vehicle power line inspection image data acquiring and processing system

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Publication number Priority date Publication date Assignee Title
CN103036573A (en) * 2012-12-03 2013-04-10 南京工业大学 Compressed sensing signal collection method based on filtering
CN103675609A (en) * 2014-01-02 2014-03-26 国家电网公司 Power line patrol equipment and system
CN203673535U (en) * 2014-01-02 2014-06-25 国家电网公司 Power line inspection device and system
CN105469484A (en) * 2015-11-20 2016-04-06 宁波大业产品造型艺术设计有限公司 App intelligent home lock
CN105915856A (en) * 2016-06-06 2016-08-31 天津中翔腾航科技股份有限公司 Unmanned aerial vehicle power line inspection image data acquiring and processing system

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109870617A (en) * 2018-09-21 2019-06-11 浙江大学 A kind of intelligent power plant electrical equipment fault diagnosis method based on width study and infrared image space-time characteristic
CN109870617B (en) * 2018-09-21 2020-08-14 浙江大学 Intelligent power plant electrical equipment fault diagnosis method based on width learning and infrared image space-time characteristics
CN109193462A (en) * 2018-10-30 2019-01-11 国网四川省电力公司广元供电公司 A kind of three-dimensional electric network operation cruising inspection system
WO2024011750A1 (en) * 2022-07-12 2024-01-18 重庆文理学院 Unmanned aerial vehicle ginger planting inspection system based on background image positioning

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