CN108974360A - The three-dimensional method maked an inspection tour is made to substation using unmanned plane - Google Patents
The three-dimensional method maked an inspection tour is made to substation using unmanned plane Download PDFInfo
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
-
- 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
- G05D1/04—Control of altitude or depth
- G05D1/06—Rate of change of altitude or depth
- G05D1/0607—Rate of change of altitude or depth specially adapted for aircraft
-
- 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
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
- G05D1/0816—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft to ensure stability
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- 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
- B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
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Abstract
The three-dimensional method maked an inspection tour is made to substation using unmanned plane, belongs to field of power system, the present invention is solves the problems, such as existing to carry out substation using manually that tour blind spot is more, vision positioning is inaccurate.The present invention, which is stated, makees the three-dimensional method maked an inspection tour to substation using unmanned plane, carries out electrification tour and not charged tour to the primary equipment in substation using unmanned plane；Electrification tour without the equipment tank body of exposed bus, substation's periphery topography and geomorphology and checks that whether there is or not floating materials for relevant device, interior in primary equipment place in tour substation in the energized state；It is not charged to make an inspection tour to carry out short distance observation using top of the unmanned plane to equipment under interruption maintenance state, determine fault point and defect point.The present invention is for making an inspection tour substation.
Description
Technical field
The present invention relates to a kind of methods for making an inspection tour substation, belong to field of power system.
Background technique
In recent years, the requirement with power industry to safety in production is continuously improved, unmanned plane and airmanship communicate skill
The mature of art, unmanned plane in electric system using more and more.Domestic and international many enterprises are also attempting unmanned plane
As a kind of supplementary means, carry out the construction and maintenance work of electric system.Currently, unmanned plane is in terms of electric system O&M
Using carrying associated optical devices are relied primarily on, equipment is carried out and makes an inspection tour work, monitoring device operating status, to find in time
Equipment deficiency hidden danger.
At present in this field of China's substation inspection, is only observed to complete, maked an inspection tour by substation person on duty
Method and visual angle are all greatly limited, and tall and big equipment has many vision dead zones that can not observe, are easy to leave hidden danger, right
The safe and stable operation of power generation is unfavorable, is likely to result in serious consequence if could not handle in time.
But in all previous interruption maintenance, fortune inspection personnel have found that arrester terminal plate, SLG copper-aluminium transition equipment cable clamp easily occur
Phenomenon of rupture；High voltage reactor, main transformer cover greatly Fang Yi and permeability phenomenon occur；Portal frame inlet wire is found in infrared spy patrols
Fever phenomenon easily occurs for place.These defect hidden danger appearance positions are the blind area transporting inspection personnel and making an inspection tour, and " people patrols " mode exists
It is difficult to find under the conditions of non-power failure, leaves major hidden danger to the safe operation of network system.
The tour of conventional substation uses following methods under not power-off condition:
1. according to fixed patrol route and tour time, two one group of people carry out conventional customary tour to equipment.
2. sometimes will do it night to patrol, the features such as using night quietness and low brightness, it is easier to hear electric discharge sound, more
Good discovery discharge position, in order to defect expressivity processing.
In the event of a loss of power if any maintenance task, is usually directly climbed to maintenance position and is overhauled by service personnel,
Due to not knowing abort situation and correlation circumstance in advance, maintenance process has difficulties and danger.
Unmanned plane has many advantages, such as that cost is relatively low, is easy to carry about with one, is easy to operate.But at present in substation device distribution compared with
To be intensive, electromagnetic field intensity is higher, and flight control system is vulnerable to electromagnetic interference.In addition to this, flight of the unmanned plane in substation
It is also influenced by factors, if unmanned plane out of control fall in flight course injures equipment by a crashing object, in some instances it may even be possible to jeopardize operation of power networks
Safety.
Summary of the invention
The invention aims to solve it is existing using manually to substation carry out tour blind spot is more, vision positioning inaccuracy
The problem of, provide a kind of method for making three-dimensional tour to substation using unmanned plane.
It is of the present invention that the three-dimensional method maked an inspection tour is made to substation using unmanned plane, using unmanned plane to one in substation
Secondary device carries out electrification and makes an inspection tour and not charged tour；
Electrification tour is relevant device, interior in primary equipment place in tour substation in the energized state without exposed
The equipment tank body of bus, substation's periphery topography and geomorphology and check that whether there is or not floating materials；
It is not charged to make an inspection tour to carry out short distance observation using top of the unmanned plane to equipment under interruption maintenance state, it determines
Fault point and defect point.
Advantages of the present invention: being observed power failure equipments with unmanned plane, can preferably determine abort situation and correlation
Situation has positive effect to rational maintenance plan.
1, solve the problems, such as that manually that there are visual angles is single to substation inspection in the prior art, it being capable of omnibearing stereo
Primary equipment is maked an inspection tour, equipment health status is preferably grasped.
2, preferably equipment-patrolling can be recorded, carries camera bat using aircraft during tour and takes equipment weight
The relevant picture and video for wanting position, save key photo and video information, can do often to the external change of equipment
State contrastive detection monitors its variation tendency, the generation prevented accident.
3, unmanned plane combination hand-held infrared radiation thermometer integration of operation, the specific location of Judging fault point, the palm can be used
The criticality of fault point is held, provides relevant information and foundation for operation of power networks scheduling.
Detailed description of the invention
Fig. 1 is the schematic diagram of the present invention for making the three-dimensional method maked an inspection tour to substation using unmanned plane；
Specific embodiment
Specific embodiment 1: making the three-dimensional method maked an inspection tour to substation using unmanned plane described in present embodiment, use
Unmanned plane carries out electrification to the primary equipment in substation and makes an inspection tour and not charged tour；
Electrification tour is relevant device, interior in primary equipment place in tour substation in the energized state without exposed
The equipment tank body of bus, substation's periphery topography and geomorphology and check that whether there is or not floating materials；
It is not charged to make an inspection tour to carry out short distance observation using top of the unmanned plane to equipment under interruption maintenance state, it determines
Fault point and defect point.
Specific embodiment 2: present embodiment is described further embodiment one, it includes that 500kV becomes that electrification, which is maked an inspection tour,
The tour in power station, the tour of 220kV substation and 66kV substation tour.
In present embodiment, the substations such as 500kV, 220kV, 66kV are mostly the state charged, and are set using unmanned plane tour
It is in the energized state mostly when standby.
Specific embodiment 3: present embodiment is described further embodiment one, the detailed process of tour are as follows:
Step 1, selected tour object, are determined as specific installation tour or solid are maked an inspection tour comprehensively, determine air objective；
Step 2 judges to make an inspection tour whether object charges, makes an inspection tour object electrification and then make an inspection tour for electrification, it is not charged then to make an inspection tour object
It is maked an inspection tour to have a power failure；
Step 3 formulates flight visit program according to the result that step 1 and step 2 obtain；
Whether step 4 flies normally in 5m × 5m × 5m three-dimensional open area test unmanned plane, if it is thening follow the steps
5, if otherwise overhauled to unmanned plane, then execute step 4；
Step 5, according to making an inspection tour, object setting unmanned plane limit is winged highly；
Step 6, setting unmanned plane and the minimum safe distance for making an inspection tour object；
Step 7, unmanned plane carry out nothing to tour object in the minimum safe distance that limit flies to keep in height with make an inspection tour object
Man-machine prospecting；
Whether step 8 judges to cause unmanned plane to have trend out of control or figure to pass unstable by electromagnetic interference in flight course
It is fixed, if it is stop unmanned plane during flying, withdraws unmanned plane, then follow the steps 9 if not；
Step 9, unmanned plane obtain photos and videos data；
Step 10 withdraws unmanned plane, records flight moment, flight time accumulation and the remaining capacity of unmanned plane；
Step 11, the photos and videos data obtained to step 9 achieve, and complete the tour to object is maked an inspection tour.
In present embodiment, no matter make an inspection tour whether object charges, unmanned plane all should keep minimum safe distance with object is maked an inspection tour
Breakdown will not be discharged and out of control from, it is ensured that aircraft, and then leads to more serious consequence.
In present embodiment, referring to " State Grid Corporation of China's electric power safety working regulation ", forbid unmanned plane alternate in bus
It carries out passing through flight.
Specific embodiment 4: present embodiment is described further embodiment three, tour purpose described in step 1
It is maked an inspection tour including special tour, daily tour and combined instrument.
Specific embodiment 5: present embodiment is described further embodiment three, visit program packet described in step 3
It includes and whether carries temperature measuring device and detector device, if it is install instruments on unmanned plane.
Specific embodiment 6: present embodiment is described further embodiment three, which further includes sentencing
Disconnected flight environment of vehicle whether be suitable for: temperature is within the scope of 0 DEG C -40 DEG C, and humidity is in unmanned plane permissible value, and flight position is in leeward
Mouthful, wind-force series is at 3 grades hereinafter, wind speed is less than 10m/s, non-mist, snowy day gas.
Specific embodiment 7: present embodiment is described further embodiment three, which further includes pair
Unmanned plane carries out time-based maintenance.
Specific embodiment 8: present embodiment is described further embodiment three, which further includes pair
The flight control system of unmanned plane carries out shielding setting.
In present embodiment, shielding setting is the strong electromagnetic of substation in order to prevent.
Specific embodiment 9: present embodiment is described further embodiment three, the flying speed of unmanned plane is small
In 0.25m/s.
Specific embodiment 10: present embodiment is described further embodiment three, the flight time of unmanned plane is small
In 10 minutes.
In the present invention, unmanned plane will fly in sighting distance, GPS mode flight should be used when flight, if using posture
Mode will or cause aircraft slightly out of control, finds that aircraft is unstable after taking off, must cancel visit program.
In the present invention, make an inspection tour object operation when, i.e., equipment live when, do not arrange special training plan.
In the present invention, when making an inspection tour object electrification, 5m is greater than to the stereo omnibearing distance of surrounding charging equipment.
In the present invention, unmanned plane must be flown by the person on duty for skillfully grasping airmanship, and no matter whether substation has a power failure,
Necessary one group of two people, forbids sole flight.Wherein there is a people to serve as main winged hand (being responsible for controlling aircraft), a side serves as secondary fly
(moment monitors the position of aircraft to hand, or whether is less than the safe distance with main equipment, in addition, also to monitor the essence of main winged hand
Refreshing situation).
In the present invention, during unmanned plane during flying, real-time monitoring attitude of flight vehicle ball and flight state, it is ensured that its with it is distant
Control the reliable link of device signal.
In the present invention, forbid in the indoor observation flight for having exposed electrical body (such as bus bar).
In the present invention, when observing suspected malfunctions point, after unmanned plane is accurate, the platform-lens that further are observed.
In the present invention, unmanned plane takes off in specified departure location, lands in specified landing place.
The three-dimensional method maked an inspection tour is made to substation using unmanned plane using of the present invention, in the tour of electricity substation
Aspect will generate qualitative leap.
Before and after the bad weathers such as typhoon, thunderstorm, strong wind, the interior fortune inspection personnel that stand can be to full station equipment facility and station periphery
Carry out special tour in collarette border.Before bad weather arriving, according to previous statistics, carried out in a manner of transporting inspection personnel and routinely making an inspection tour
The special tour of full station equipment, the special tour of station facilities, external environment of standing this three work of special tour, take a long time, work by force
Degree is big, efficiency is lower.Especially the tour of station facilities and station external environment are maked an inspection tour, needs to transport inspection personnel and whole station is carried out carefully
It checks, takes a long time.The feature fast using unmanned plane during flying speed, height is high, the visual field is wide, then can quickly to station facilities,
Stand external environment, stand outer slope protection and whether gutter, substation periphery have floating material etc. quickly to be maked an inspection tour, greatly improve station
Interior facility and station external environment make an inspection tour the efficiency of two work.Fortune inspection personnel have more time development equipment spy to patrol work, severe
Weather carries out windproof flood control preparation before arriving, ensure equipment safety operation.After the bad weather past, nobody can be used
Machine carries out lean tour to emphasis installations and facilities in standing, and checks whether equipment running status is normal.It is outer to station by unmanned plane
Environment is maked an inspection tour, can quickly the outer enclosure wall of inspection station, slope protection whether there is or not collapse, landslide phenomenon, discharge outlet has clog-free, and enclosure wall is
It is no normal etc., substantially increase the working efficiency and operation effectiveness of special tour.
" people patrols " mode heavy workload, labor intensity height, longevity of service, the efficiency of substation's routine are lower, and because patrolling
Depending on personnel, there are visual dead angles, if certain defects fail to find in time, are easy to leave to the safe operation of equipment and power grid larger
Hidden danger.By our practical applications, practical exploration is carried out to substation in system, the nondominant hand routinely maked an inspection tour as fortune inspection personnel
Section the shortcomings that carrying out special tour using unmanned plane, can effectively make up " people patrols " mode, utilizes obtaining for " people patrol+machine patrol "
Obtain following advantage.
1. drone flying height is higher, equipment-patrolling can be carried out with depression angle, it is dead that fortune inspection personnel vision can be covered
Angle efficiently solves the problems, such as that tour is not in place, improves the comprehensive of tour；
2., flying speed fast feature easy to operate using unmanned plane, under special circumstances can be rapidly to peripheral hardware in standing
Standby facility is maked an inspection tour, and is optimized spy and is patrolled the time, greatly improves working efficiency.As safety in production is wanted in operation of power networks
Continuous improvement is asked, unmanned plane inspection technology continues to develop, and unmanned plane will be increasingly wider in the application of power industry.As power transformation
It stands the supplementary means routinely maked an inspection tour, unmanned plane, which is maked an inspection tour, effectively compensates for conventional the shortcomings that making an inspection tour.
3. can outdoor with it is different with conventional visual angle to the specific equipment of substation and it is whole carry out good observation and
It makes an inspection tour, can accomplish that omnibearing stereo is maked an inspection tour, material evidence is taken to the defect hidden danger bat of equipment, and dynamic video shadow can be established simultaneously
As library and spectrum library, is compared with the photologging or image of all previous tour, find the defect trend of equipment, and formulated in time
Maintenance plan carries out defect elimination operation to equipment, prevents fault spread.
It, can be quasi- in a short time 4. cooperation person on duty's hand-held infrared radiation thermometer can get more accurate observation effect
Apparatus overheat point really is found out, heat spot Overheat Reasons are analyzed by unmanned plane realtime graphic in time, are conducive to discriminating device failure
The maintenance plan of the reason of point and rational later period.
5. carry out daily tour by using unmanned plane, it can be to overlook visual angle to arrester terminal plate, SLG copper-aluminium transition
The installations and facilities eminence such as terminal plate, insulator chain, lightning rod, which is carried out, makes an inspection tour, and makes up routine and makes an inspection tour the shortcomings that there are visual dead angles,
Accomplish station equipment facility all standing, promotes the comprehensive of tour.It is long-term that unmanned plane makes an inspection tour effective solution equipment belt hidden danger
The problem of operation.
6. " people patrol+machine patrol " mode can effectively improve the daily working efficiency for patrolling dimension, preferably determine defect point and therefore
The position for hindering point, is conducive to fault distinguishing, the formulation of maintenance plan, this all provides one kind for the daily tour of substation and maintenance
New model.
Claims (10)
1. making the three-dimensional method maked an inspection tour to substation using unmanned plane, which is characterized in that using unmanned plane to one in substation
Secondary device carries out electrification and makes an inspection tour and not charged tour；
Electrification tour is relevant device, interior in primary equipment place in tour substation in the energized state without exposed bus
Equipment tank body, substation's periphery topography and geomorphology and check that whether there is or not floating materials；
It is not charged to make an inspection tour to carry out short distance observation using top of the unmanned plane to equipment under interruption maintenance state, determine failure
Point and defect point.
2. according to claim 1 make the three-dimensional method maked an inspection tour to substation using unmanned plane, which is characterized in that electrification is patrolled
Depending on tour, the tour of 220kV substation and the tour of 66kV substation including 500kV substation.
3. according to claim 1 make the three-dimensional method maked an inspection tour to substation using unmanned plane, which is characterized in that tour
Detailed process are as follows:
Step 1, selected tour object, are determined as specific installation tour or solid are maked an inspection tour comprehensively, determine air objective；
Step 2 judges whether tour object charges, and the electrification of tour object is then electrification tour, and tour object is not charged, to stop
Electricity is maked an inspection tour；
Step 3 formulates flight visit program according to the result that step 1 and step 2 obtain；
Whether step 4 flies normally in the three-dimensional open area test unmanned plane of 5m × 5m × 5m, if it is thening follow the steps 5, such as
Otherwise fruit overhauls unmanned plane, then execute step 4；
Step 5, according to making an inspection tour, object setting unmanned plane limit is winged highly；
Step 6, setting unmanned plane and the minimum safe distance for making an inspection tour object；
Step 7, unmanned plane carry out unmanned plane to tour object in the minimum safe distance that limit flies to keep in height with make an inspection tour object
Prospecting；
Whether step 8 judges to cause unmanned plane to have trend out of control or figure to pass unstable, such as by electromagnetic interference in flight course
Fruit is to stop unmanned plane during flying, withdraws unmanned plane, thens follow the steps 9 if not；
Step 9, unmanned plane obtain photos and videos data；
Step 10 withdraws unmanned plane, records flight moment, flight time accumulation and the remaining capacity of unmanned plane；
Step 11, the photos and videos data obtained to step 9 achieve, and complete the tour to object is maked an inspection tour.
4. according to claim 3 make the three-dimensional method maked an inspection tour to substation using unmanned plane, which is characterized in that step 1
The purpose of described tour include it is special make an inspection tour, daily tour and combined instrument are maked an inspection tour.
5. according to claim 3 make the three-dimensional method maked an inspection tour to substation using unmanned plane, which is characterized in that step 3
The visit program is included whether to carry temperature measuring device and detector device, if it is be installed instruments on unmanned plane.
6. according to claim 3 make the three-dimensional method maked an inspection tour to substation using unmanned plane, which is characterized in that the tour
Method further include judge flight environment of vehicle whether be suitable for: temperature within the scope of 0 DEG C -40 DEG C, humidity in unmanned plane permissible value, flight
Position is in lower air port, and wind-force series is at 3 grades hereinafter, wind speed is less than 10m/s, non-mist, snowy day gas.
7. according to claim 3 make the three-dimensional method maked an inspection tour to substation using unmanned plane, which is characterized in that the tour
Method further includes carrying out time-based maintenance to unmanned plane.
8. according to claim 3 make the three-dimensional method maked an inspection tour to substation using unmanned plane, which is characterized in that the tour
Method further includes carrying out shielding setting to the flight control system of unmanned plane.
9. according to claim 3 make the three-dimensional method maked an inspection tour to substation using unmanned plane, which is characterized in that unmanned plane
Flying speed be less than 0.25m/s.
10. according to claim 3 make the three-dimensional method maked an inspection tour to substation using unmanned plane, which is characterized in that nobody
The flight time of machine was less than 10 minutes.
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| CN113534840A (en) * | 2021-07-29 | 2021-10-22 | 广东电网有限责任公司 | Control method and control device of unmanned aerial vehicle |
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| CN105717944A (en) * | 2016-02-17 | 2016-06-29 | 国网福建省电力有限公司邵武市供电公司 | Unmanned plane device with high-voltage equipment intelligent avoidance function and application method thereof |
| KR20170108710A (en) * | 2016-03-18 | 2017-09-27 | 주식회사에스에이티 | System for enforcing bad and over loading vehicle by using unmanned vehicles and the method thereof |
| CN106226773A (en) * | 2016-06-28 | 2016-12-14 | 国家电网公司 | A kind of thermometric based on unmanned plane application and range-measurement system and method |
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| CN113534840A (en) * | 2021-07-29 | 2021-10-22 | 广东电网有限责任公司 | Control method and control device of unmanned aerial vehicle |
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