CN109270958A - A kind of transmission line malfunction quickly positions UAV system automatically - Google Patents
A kind of transmission line malfunction quickly positions UAV system automatically Download PDFInfo
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- CN109270958A CN109270958A CN201811385346.2A CN201811385346A CN109270958A CN 109270958 A CN109270958 A CN 109270958A CN 201811385346 A CN201811385346 A CN 201811385346A CN 109270958 A CN109270958 A CN 109270958A
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- 230000005540 biological transmission Effects 0.000 title claims abstract description 27
- 230000007257 malfunction Effects 0.000 title claims abstract description 20
- 238000007689 inspection Methods 0.000 claims abstract description 25
- 230000003044 adaptive effect Effects 0.000 claims abstract description 20
- 238000012545 processing Methods 0.000 claims description 26
- 238000013528 artificial neural network Methods 0.000 claims description 5
- 238000003909 pattern recognition Methods 0.000 claims description 5
- 238000013024 troubleshooting Methods 0.000 abstract description 13
- 230000005611 electricity Effects 0.000 description 6
- 238000000034 method Methods 0.000 description 6
- 238000004458 analytical method Methods 0.000 description 5
- 208000025274 Lightning injury Diseases 0.000 description 4
- 210000004027 cell Anatomy 0.000 description 4
- 230000008901 benefit Effects 0.000 description 3
- 230000004888 barrier function Effects 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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- 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
- G01R31/088—Aspects of digital computing
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Abstract
The invention discloses a kind of transmission line malfunctions quickly to position UAV system automatically, including server, scheduling system, unmanned aerial vehicle control system and the unmanned plane for carrying adaptive photographing module；When line fault occurs, scheduling system, which obtains position of failure point and position of failure point is converted to location information, is sent to unmanned aerial vehicle control system by server；The unmanned aerial vehicle control system controls unmanned plane according to location information and flies to fault point；The unmanned plane uses adaptive photographing module to carry out Image Acquisition to fault point after reaching fault point, and image information is sent back unmanned aerial vehicle control system.A kind of transmission line malfunction of the present invention quickly positions UAV system automatically, it is realized by the way that above-mentioned module is arranged when not needing fortune inspection personnel arrival scene, field data can be obtained, reference is provided to transport the follow-up work of inspection personnel, reduces security risk when carrying out troubleshooting.
Description
Technical field
The present invention relates to electrical engineering technical fields, and in particular to a kind of transmission line malfunction quickly positions unmanned plane automatically
System.
Background technique
Now current unmanned plane cruising inspection system is after route fault trip, mainly by artificially collecting tripping information, manually looking into
Failure approximate range is ask, then unmanned plane is carried by fortune inspection personnel and reaches scene progress trouble shoot；In search procedure, manually
In real time to visible light, infrared and ultraviolet imagery carry out analysis or unmanned plane video recording after processed offline.
In the prior art, after tripping fault occurs for transmission line of electricity, information flow node is more, low efficiency, and inspection personnel are transported in transmission of electricity
Reaching fault point, time-consuming, line fault low efficiency is judged using unmanned plane, the particular surroundings such as cross-domain high mountain, river and night
There are security risks for lower manual operation.
Summary of the invention
After tripping fault occurs the technical problem to be solved by the present invention is to transmission line of electricity, information flow node is more, efficiency
Low, transmission of electricity fortune inspection personnel reach that time-consuming, line fault low efficiency is judged using unmanned plane for fault point, cross-domain high mountain, river with
And under the particular surroundings such as night manual operation there are security risk, and it is an object of the present invention to provide a kind of transmission line malfunction is automatically quickly fixed
Position UAV system, solves the above problems.
The present invention is achieved through the following technical solutions:
A kind of transmission line malfunction quickly positions UAV system, including server, scheduling system, unmanned aerial vehicle (UAV) control automatically
System and the unmanned plane for carrying adaptive photographing module；When line fault occurs, scheduling system obtains position of failure point and will
Position of failure point is converted to location information and is sent to unmanned aerial vehicle control system by server；The unmanned aerial vehicle control system according to
Location information control unmanned plane flies to fault point；The unmanned plane uses adaptive photographing module to fault point after reaching fault point
Image Acquisition is carried out, and image information is sent back into unmanned aerial vehicle control system.
In the prior art, after tripping fault occurs for transmission line of electricity, information flow node is more, low efficiency, and inspection personnel are transported in transmission of electricity
Reaching fault point, time-consuming, line fault low efficiency is judged using unmanned plane, the particular surroundings such as cross-domain high mountain, river and night
There are security risks for lower manual operation.
The present invention obtains position of failure point in application, dispatching system when line fault occurs, and obtains failure point here
The mode set is to measure a certain test point of fault point distance by technologies such as unit faults recorder analysis method, impedance method, travelling wave analysis methods
Distance, to be positioned according to line alignment to failure；It flies in order to facilitate unmanned plane, dispatches system for ranging knot
Fruit is converted to location information, and this location information can be the longitude and latitude positioning of GPS positioning, Beidou positioning or region, this fixed
Position information needs for an accurate coordinate value, and unmanned aerial vehicle control system controls unmanned plane according to this positioning result and flies to failure
Point；After unmanned plane reaches fault point, Image Acquisition is carried out using adaptive photographing module, then received by unmanned aerial vehicle control system
The image of acquisition provides basic reference to obtain the first hand failure pictorial information in scene for subsequent progress troubleshooting
And foundation.The present invention is realized by the way that above-mentioned module is arranged when not needing fortune inspection personnel arrival scene, can obtain live letter
Breath provides reference to transport the follow-up work of inspection personnel, reduces security risk when carrying out troubleshooting.
It further, further include image processing module；The unmanned aerial vehicle control system sends the image information received
To image processing module；Described image processing module is sent to server after handling image information.
The present invention is provided with image procossing mould in application, in order to which the fault picture immediately to scene is screened and screened
Block, image processing module handle fault picture, that is, screened, screen and some image procossings after, send
To server, to provide reference for trouble shooting.
It further, further include client；The server is according to location information to live task instruction under client；Institute
It states and is sent to client after image processing module handles image information, the client generates inspection according to image information
It reports and is sent to server；Inspection report is sent to scheduling system by the server.
The present invention is in application, in order to further improve the operational efficiency of the application, and server is according to location information to client
Lower live task instruction is held, the client operation personnel for receiving location information at this time navigate to unmanned plane according to this location information
At takeoff point, and information interconnection, real-time reception line fault image, according to such are carried out with the image processing module at takeoff point
Image, operator can be after choosing suitable equipment and mode, then fault point is gone to carry out troubleshooting, to reduce event
Security risk when barrier excludes, and client can be reported according to image information generation inspection and pass through server and be sent to scheduling
System monitors troubleshooting personnel in real time convenient for dispatching the personnel of system, reduces security risk.Simultaneously for secrecy and
Data safety considers that scheduling system actually belongs to the intranet data of power grid, so being connected by way of server with outer net
It connects, it can make full use of outer net resource to communicate unmanned plane, client and pattern process module, also can achieve required
The purpose for the secrecy wanted.
Further, the client uses cell phone application.
For the present invention in application, mobile phone is as most common communication equipment, carrying out interconnection by APP and system can be improved letter
Cease transmission efficiency.
Further, picture processing module is by pattern-recognition, fuzzy control and artificial neural network on-line Algorithm, from institute
Line fault picture is filtered out in shooting image stream.
The present invention in application, adaptive photographing module can according to carrying out different types of shooting the case where field failure,
Picture processing module filters out line fault figure by pattern-recognition, fuzzy control and artificial neural network on-line Algorithm at this time
Piece can be used for consequent malfunction and exclude reference.
Further, scheduling system obtains position of failure point by carrying out line fault ranging to fault point.
Further, the location information is GPS coordinate.
Further, the scheduling system obtains fault type, and fault type is sent to unmanned plane by server
Control system；Fault type is sent to unmanned plane by the unmanned aerial vehicle control system.
Further, the adaptive photographing module includes visible camera, infrared video camera and ultraviolet video camera；Institute
Adaptive photographing module is stated according to the received fault type of unmanned plane, different shooting strategies is used to different fault types.
The present invention is in application, dispatch the available fault type of system, such as tripping, lightning stroke, ground fault etc., for not
Same failure is needed using different shooting strategies, such as can use visible light shooting for ground fault and trees lightning stroke,
And some hidden failures are then needed to determine fault condition using infrared photography acquisition picture.
Compared with prior art, the present invention having the following advantages and benefits:
A kind of transmission line malfunction of the present invention quickly positions UAV system automatically, is realized by the way that above-mentioned module is arranged
When not needing fortune inspection personnel arrival scene, field data can be obtained, reference is provided to transport the follow-up work of inspection personnel, reduces
Carry out security risk when troubleshooting.
Detailed description of the invention
Attached drawing described herein is used to provide to further understand the embodiment of the present invention, constitutes one of the application
Point, do not constitute the restriction to the embodiment of the present invention.In the accompanying drawings:
Fig. 1 is present system structural schematic diagram.
Specific embodiment
To make the objectives, technical solutions, and advantages of the present invention clearer, below with reference to embodiment and attached drawing, to this
Invention is described in further detail, and exemplary embodiment of the invention and its explanation for explaining only the invention, are not made
For limitation of the invention.
Embodiment 1
As shown in Figure 1, a kind of transmission line malfunction of the present invention quickly positions UAV system, including server, tune automatically
Degree system, unmanned aerial vehicle control system and the unmanned plane for carrying adaptive photographing module；When line fault occurs, scheduling system is obtained
It takes position of failure point and position of failure point is converted into location information and unmanned aerial vehicle control system is sent to by server；The nothing
Man-machine control system controls unmanned plane according to location information and flies to fault point；The unmanned plane uses adaptively after reaching fault point
Photographing module carries out Image Acquisition to fault point, and image information is sent back unmanned aerial vehicle control system.
When the present embodiment is implemented, system is dispatched when line fault occurs and obtains position of failure point, obtains fault point here
The mode of position is to measure a certain detection of fault point distance by technologies such as unit faults recorder analysis method, impedance method, travelling wave analysis methods
The distance of point, to be positioned according to line alignment to failure；It flies in order to facilitate unmanned plane, dispatches system for ranging
As a result location information is converted to, this location information can be the longitude and latitude positioning of GPS positioning, Beidou positioning or region, this
Location information needs for an accurate coordinate value, and unmanned aerial vehicle control system controls unmanned plane according to this positioning result and flies to failure
Point；After unmanned plane reaches fault point, Image Acquisition is carried out using adaptive photographing module, then received by unmanned aerial vehicle control system
The image of acquisition provides basic reference to obtain the first hand failure pictorial information in scene for subsequent progress troubleshooting
And foundation.The present invention is realized by the way that above-mentioned module is arranged when not needing fortune inspection personnel arrival scene, can obtain live letter
Breath provides reference to transport the follow-up work of inspection personnel, reduces security risk when carrying out troubleshooting.
Embodiment 2
The present embodiment further includes image processing module on the basis of embodiment 1；The unmanned aerial vehicle control system will receive
To image information be sent to image processing module；Described image processing module is sent to service after handling image information
Device.
When the present embodiment is implemented, in order to which the fault picture immediately to scene is screened and screened, it is provided with image procossing
Module, image processing module handle fault picture, that is, screened, screen and some image procossings after, hair
It is sent to server, to provide reference for trouble shooting.
Embodiment 3
The present embodiment further includes client on the basis of embodiment 2；The server is according to location information to client
Lower live task instruction；Described image processing module is sent to client, the client root after handling image information
It is reported according to image information generation inspection and is sent to server；Inspection report is sent to scheduling system by the server.
When the present embodiment is implemented, in order to further improve the operational efficiency of the application, server is according to location information to visitor
Live task instruction under the end of family, the client operation personnel for receiving location information at this time navigate to nobody according to this location information
At machine takeoff point, and information interconnection, real-time reception line fault image, according to this are carried out with the image processing module at takeoff point
Class image, operator can be after choosing suitable equipment and mode, then fault point is gone to carry out troubleshooting, to reduce
Security risk when troubleshooting, and client can be reported according to image information generation inspection and pass through server and be sent to tune
Degree system monitors troubleshooting personnel in real time convenient for dispatching the personnel of system, reduces security risk.Simultaneously for secrecy
With data security consideration, scheduling system actually belongs to the intranet data of power grid, so being carried out by way of server with outer net
Connection, it can make full use of outer net resource to communicate unmanned plane, client and pattern process module, also can achieve institute
The purpose of the secrecy needed.
Embodiment 4
For the present embodiment on the basis of embodiment 3, the client uses cell phone application.
When the present embodiment is implemented, as most common communication equipment, carry out interconnection with system by APP can be improved mobile phone
Information transfer efficiency.
Embodiment 5
For the present embodiment on the basis of embodiment 2, picture processing module passes through pattern-recognition, fuzzy control and artificial neuron
Network on-line Algorithm filters out line fault picture from captured image stream.
When the present embodiment is implemented, adaptive photographing module can be according to carrying out different types of bat the case where field failure
It takes the photograph, picture processing module filters out line fault by pattern-recognition, fuzzy control and artificial neural network on-line Algorithm at this time
Picture can be used for consequent malfunction and exclude reference.
Embodiment 6
On the basis of embodiment 1, the scheduling system obtains fault type to the present embodiment, and fault type is passed through clothes
Business device is sent to unmanned aerial vehicle control system；Fault type is sent to unmanned plane by the unmanned aerial vehicle control system.It is described adaptive
Photographing module includes visible camera, infrared video camera and ultraviolet video camera；The adaptive photographing module is according to unmanned plane
Received fault type uses different shooting strategies to different fault types.
When the present embodiment is implemented, the scheduling available fault type of system, such as tripping, lightning stroke, ground fault etc., for
Different failures is needed using different shooting strategies, such as can use visible photo-beat for ground fault and trees lightning stroke
It takes the photograph, and some hidden failures is then needed to determine fault condition using infrared photography acquisition picture.
Embodiment 7
As shown in Figure 1, the present embodiment is on the basis of Examples 1 to 6, this system includes 6 parts: server, nobody
Machine control system, unmanned plane, adaptive photographing module, image processing module, cell phone application.Server is external network server, from tune
Degree information system directly acquires line fault tripping information, processing information generates task and distributes fortune inspection personnel cell phone application
And GPS coordinate is sent simultaneously to unmanned aerial vehicle control system.The GPS coordinate that unmanned aerial vehicle control system is sent according to server, control
Unmanned plane automatic takeoff and tour receive and show, store the realtime graphic stream that adaptive photographing module obtains, there is standard physical
Interface is by captured Image Real-time Transmission to image processing module.Unmanned plane is the carrier of adaptive photographing module.Adaptively take the photograph
As module is made of visible camera, infrared video camera, ultraviolet video camera and control unit, for different types of route therefore
Barrier tripping has different shooting strategies, and captured Image Real-time Transmission gives unmanned aerial vehicle (UAV) control unit.Image processing module passes through mould
Formula identification, fuzzy control and artificial neural network on-line Algorithm, automatically from captured image stream quickly, accurately screen outlet
Road failure picture, and it sends server and fortune inspection personnel APP in real time by failure picture, it can also be stored with ontology.Transport inspection personnel
APP receives the assignment instructions that server is sent, and for fortune, inspection personnel navigate to unmanned plane departure location；Connect image processing module
Hotspot, real-time reception line fault photo automatically generate survey report and further work prompt.
Above-described specific embodiment has carried out further the purpose of the present invention, technical scheme and beneficial effects
It is described in detail, it should be understood that being not intended to limit the present invention the foregoing is merely a specific embodiment of the invention
Protection scope, all within the spirits and principles of the present invention, any modification, equivalent substitution, improvement and etc. done should all include
Within protection scope of the present invention.
Claims (9)
1. a kind of transmission line malfunction quickly positions UAV system automatically, which is characterized in that including server, scheduling system,
Unmanned aerial vehicle control system and the unmanned plane for carrying adaptive photographing module；
When line fault occurs, scheduling system, which obtains position of failure point and position of failure point is converted to location information, passes through clothes
Business device is sent to unmanned aerial vehicle control system；
The unmanned aerial vehicle control system controls unmanned plane according to location information and flies to fault point；
The unmanned plane reaches and carries out Image Acquisition to fault point using adaptive photographing module behind fault point, and by image information
Send back unmanned aerial vehicle control system.
2. a kind of transmission line malfunction according to claim 1 quickly positions UAV system automatically, which is characterized in that also
Including image processing module；
The image information received is sent image processing module by the unmanned aerial vehicle control system；
Described image processing module is sent to server after handling image information.
3. a kind of transmission line malfunction according to claim 2 quickly positions UAV system automatically, which is characterized in that also
Including client；
The server is according to location information to live task instruction under client；
Described image processing module is sent to client after handling image information, the client is raw according to image information
It is reported at inspection and is sent to server；
Inspection report is sent to scheduling system by the server.
4. a kind of transmission line malfunction according to claim 3 quickly positions UAV system automatically, which is characterized in that institute
Client is stated using cell phone application.
5. a kind of transmission line malfunction according to claim 2 quickly positions UAV system automatically, which is characterized in that figure
Piece processing module is filtered out from captured image stream by pattern-recognition, fuzzy control and artificial neural network on-line Algorithm
Line fault picture.
6. a kind of transmission line malfunction according to claim 1 quickly positions UAV system automatically, which is characterized in that adjust
Degree system obtains position of failure point by carrying out line fault ranging to fault point.
7. a kind of transmission line malfunction according to claim 1 quickly positions UAV system automatically, which is characterized in that institute
Stating location information is GPS coordinate.
8. a kind of transmission line malfunction according to claim 1 quickly positions UAV system automatically, which is characterized in that institute
It states scheduling system and obtains fault type, and fault type is sent to unmanned aerial vehicle control system by server；The unmanned plane
Fault type is sent to unmanned plane by control system.
9. a kind of transmission line malfunction according to claim 8 quickly positions UAV system automatically, which is characterized in that institute
Stating adaptive photographing module includes visible camera, infrared video camera and ultraviolet video camera；
The adaptive photographing module uses different shootings according to the received fault type of unmanned plane, to different fault types
Strategy.
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| CN110531218A (en) * | 2019-09-04 | 2019-12-03 | 国网四川省电力公司乐山供电公司 | A kind of transmission line malfunction identifying system based on image outline detection |
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| CN111696097A (en) * | 2020-06-15 | 2020-09-22 | 国网山东省电力公司平邑县供电公司 | Cable on-line monitoring method and device |
| CN112254712A (en) * | 2020-10-20 | 2021-01-22 | 福建泰发建设工程有限公司 | Power transmission and transformation line fault detection and positioning method and system |
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| CN112270267B (en) * | 2020-10-29 | 2023-08-08 | 国网山东省电力公司淄博供电公司 | Camera shooting identification system capable of automatically capturing line faults |
| CN112684298A (en) * | 2021-01-07 | 2021-04-20 | 华翔翔能科技股份有限公司 | Method for quickly positioning single-phase earth fault position of power grid |
| CN113985209A (en) * | 2021-10-29 | 2022-01-28 | 国家电网有限公司 | Emergency power grid line fault monitoring system |
| CN114034972A (en) * | 2021-11-04 | 2022-02-11 | 广州番禺电缆集团有限公司 | Intelligent cable fault determination method and device based on image data |
| CN114034972B (en) * | 2021-11-04 | 2023-08-04 | 广州番禺电缆集团有限公司 | Intelligent cable fault determining method and device based on image data |
| CN115774166A (en) * | 2022-11-18 | 2023-03-10 | 四川汇源光通信有限公司 | Line fault diagnosis positioning system and method based on distributed fault and unmanned aerial vehicle |
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Application publication date: 20190125 |