CN109542114A - A kind of unmanned plane polling transmission line method and system - Google Patents
A kind of unmanned plane polling transmission line method and system Download PDFInfo
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- CN109542114A CN109542114A CN201811235078.6A CN201811235078A CN109542114A CN 109542114 A CN109542114 A CN 109542114A CN 201811235078 A CN201811235078 A CN 201811235078A CN 109542114 A CN109542114 A CN 109542114A
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- 230000005540 biological transmission Effects 0.000 title claims abstract description 73
- 238000000034 method Methods 0.000 title claims abstract description 33
- 238000007689 inspection Methods 0.000 claims abstract description 74
- 230000001131 transforming effect Effects 0.000 claims abstract description 24
- 230000005611 electricity Effects 0.000 claims abstract description 21
- 238000011156 evaluation Methods 0.000 claims abstract description 15
- 238000004891 communication Methods 0.000 claims abstract description 9
- 238000012544 monitoring process Methods 0.000 claims abstract description 8
- 238000004064 recycling Methods 0.000 claims abstract description 5
- 239000012212 insulator Substances 0.000 claims description 6
- 238000004590 computer program Methods 0.000 claims description 5
- 238000003745 diagnosis Methods 0.000 claims description 5
- 230000002195 synergetic effect Effects 0.000 claims description 3
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
- G01J5/00—Radiation pyrometry, e.g. infrared or optical thermometry
- G01J5/0096—Radiation pyrometry, e.g. infrared or optical thermometry for measuring wires, electrical contacts or electronic systems
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/95—Investigating the presence of flaws or contamination characterised by the material or shape of the object to be examined
- G01N21/952—Inspecting the exterior surface of cylindrical bodies or wires
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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
- G01R31/12—Testing dielectric strength or breakdown voltage ; Testing or monitoring effectiveness or level of insulation, e.g. of a cable or of an apparatus, for example using partial discharge measurements; Electrostatic testing
- G01R31/1218—Testing dielectric strength or breakdown voltage ; Testing or monitoring effectiveness or level of insulation, e.g. of a cable or of an apparatus, for example using partial discharge measurements; Electrostatic testing using optical methods; using charged particle, e.g. electron, beams or X-rays
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C1/00—Registering, indicating or recording the time of events or elapsed time, e.g. time-recorders for work people
- G07C1/20—Checking timed patrols, e.g. of watchman
Abstract
The present invention relates to a kind of unmanned plane polling transmission line method and system.Method comprising steps of A, to the UAV Intelligent base station of transmission line of electricity section send control instruction data, triggering unmanned plane carry out inspection work；B, the data of the unmanned plane by intelligent base station real-time tracking in-flight, monitoring and the inspection data for collecting the power transmission and transforming equipment in the transmission line of electricity section that unmanned plane covers it；C, the evaluation of estimate of each power transmission and transforming equipment is calculated in conjunction with collected inspection data based on the parameter preset of power transmission and transforming equipment, if evaluation of estimate is more than preset alarm threshold, sends alarm.System includes: one or more equipped with inspection device unmanned plane；With the associated intelligent base station of shaft tower in transmission line of electricity section, for providing recycling, storage, transmitting and charging for unmanned plane, while wireless communication data chain is constructed with the unmanned plane；Temporary station on mobile traffic is set；Command centre.Invention significantly improves line data-logging efficiency and quality.
Description
Technical field
The present invention relates to a kind of unmanned plane polling transmission line method and system, belong to the new power technology neck of smart grid
Domain.
Background technique
Periodical inspection inspection is carried out to transmission line of electricity, grasps and understands operating condition and the route week of transmission line of electricity at any time
The situation of change in collarette border and route protection area is one heavy routine work of power supply enterprise.Manual inspection is a kind of tradition
Routine inspection mode and current power transmission line data-logging major way.Since power transmission line corridor terrain environment is complicated, some
Such as across the river cross a river of inclement condition or lofty mountains and steep hills area, along the line partial sector almost without make an inspection tour road, this routine inspection mode labor
Fatigue resistance is big, operating condition is arduous, and the operating condition of transmission line of electricity cannot timely feedback.
Unmanned plane inspection makes an inspection tour transmission line of electricity using inspection devices such as visible light and thermal infrared imagers as a kind of
The completely new inspection technology checked, with faster, work efficiency is high, not by regional impact, inspection quality height, safety height etc.
Advantage.According to statistics, defect recognition, shaft tower bottleneck and the above position, artificial indiscoverable defect accounting are carried out with unmanned plane
78.5%.Apparatus body routing inspection efficiency and quality significantly improve, and greatly reduce labor intensity, improve routing inspection efficiency,
Ensure the operation and maintenance ability to status of electric power.Therefore, it is indispensable to have become transmission line of electricity O&M for unmanned plane inspection
Means.
And in the development trend of the coming years, it will realize that unmanned plane inspection 100% covers all transmission lines of electricity, transmission line of electricity
Unmanned plane inspection managing and control system 100% covers all O&M units, pushes artificial intelligence technology melting in UAV system field
Close application.The ability for making unmanned plane have intelligent control, integrating airspace and adapting to environment can cooperate with command and control, collaboration state
Gesture generates and assessment, collaboration meaning of one's words interaction, while carrying out intelligence to information such as voice, the writings and images of collection using intelligent algorithm
It can analyze, realize the joint development of artificial intelligence and unmanned plane.
Summary of the invention
The present invention provides a kind of unmanned plane polling transmission line method and system, improves line data-logging efficiency and quality.
Technical solution of the present invention first aspect is a kind of unmanned plane polling transmission line method, and the method includes following
Step:
A, control instruction data are sent to the UAV Intelligent base station of transmission line of electricity section, triggering unmanned plane carries out patrol worker
Make；
B, what the data of the unmanned plane by intelligent base station real-time tracking in-flight, monitoring and collection unmanned plane covered it
The inspection data of power transmission and transforming equipment in transmission line of electricity section；
C, each power transmission and transforming equipment is calculated in conjunction with collected inspection data based on the parameter preset of power transmission and transforming equipment
Evaluation of estimate sends alarm if evaluation of estimate is more than preset alarm threshold.
Further, in the step A, the control instruction data include: the region of UAV Intelligent base station covering
Map datum and no-fly data；The inspection course line location data in the region of UAV Intelligent base station covering；Periphery intelligent base station
Borderline region flight synergistic data.
Further, the step A includes:
By the unmanned plane temporary station on mobile traffic, control instruction data are sent, triggering unmanned plane carries out
Inspection work.
Further, the step B includes:
According to the location data of unmanned plane feedback in-flight, determines whether unmanned plane enters inspection working line, be then
Power transmission and transforming equipment is checked by intelligent base station or the inspection device directly on triggering unmanned plane.
Further, in the step B, the flight line of inspection work includes:
Upper side is parallel with conducting wire outside the transmission pressure of upper layer flies, flight to shaft tower, is transferred to shaft tower inspection flight；
Upper side is flown from top to bottom outside the insulator of top, is flown below bottom transmission pressure to the other side, by lower
On the outside of upper flight to the top insulator, it is transferred to the flight of conducting wire route.
Further, in the flight line of inspection work, unmanned plane is below transmission pressure outside, transmission pressure and absolutely
Spacing on the outside of edge is 8~15m, and deviation angle is 30~45 degree of angles.
Further, the step B includes according to examined in determination and inspection content, the work of inspection configuration equipment and collection number
According to, in which:
When examined in determination is route ontology, affiliated facility or electric power protection area environment, and macroscopic appearance inspection is carried out
When, configuration Visible Light Camera obtains photographed data；
When examined in determination is route ontology or affiliated facility, and carries out temperature characterisitic, flash-over characteristic or careful crackle and patrol
When inspection, configures thermal infrared imager and/or ultraviolet imager obtains photographed data.
Further, the step C includes:
It is comprehensive to join with the associated device parameter of power transmission and transforming equipment, personnel's knowledge experience parameter, history test parameters and operation
Number, and
According to online monitoring data, unmanned plane inspection data, manual inspection data,
Power transmission and transforming equipment diagnosis is carried out, the quantity of identified hidden trouble of equipment position is counted, calculates and evaluate the transmission of electricity
The evaluation of estimate of each power transmission and transforming equipment of track section sends alarm signal if the evaluation of estimate is more than preset alarm threshold
Cease the communication equipment of responsible person.
Technical solution of the present invention second aspect is a kind of computer system, including memory, processor and being stored in is deposited
On reservoir and the computer program that can run on a processor, the processor realizes above-mentioned nobody when executing described program
Machine polling transmission line method.
The technical solution of the present invention third aspect is a kind of unmanned plane power transmission line polling system, comprising: one or more
For the unmanned plane of inspection work, each unmanned plane is equipped with one or more inspection devices；With the shaft tower in transmission line of electricity section
Associated intelligent base station for providing recycling, storage, transmitting and charging for the unmanned plane, while being constructed with the unmanned plane
Wireless communication data chain；Temporary station on mobile traffic is set；It is logical with the intelligent base station and temporary station
The command centre of letter, the command centre include the computer system.
The present invention realizes UAV Intelligent by the way that electronic information technology, wireless communication technique, artificial intelligence technology are merged
Fly control and inspection operation, filled up the blank in overhead transmission line inspection field, routing inspection efficiency and quality significantly improve, and greatly drop
Low labor intensity, it is ensured that be having for polling transmission line intelligent development to the operation and maintenance ability of status of electric power
Imitate solution.
Detailed description of the invention
Fig. 1 show overview flow chart according to the method for the present invention.
Fig. 2 show the diagnosis procedural block diagram of the evaluation in embodiment according to the present invention.
Fig. 3 show the schematic diagram of the unmanned plane cruising inspection system in embodiment according to the present invention.
Specific embodiment
It is carried out below with reference to technical effect of the embodiment and attached drawing to design of the invention, specific structure and generation clear
Chu, complete description, to be completely understood by the purpose of the present invention, scheme and effect.
It should be noted that unless otherwise specified, when a certain feature referred to as " fixation ", " connection " are in another feature,
It can directly fix, be connected to another feature, and can also fix, be connected to another feature indirectly.In addition, this
The descriptions such as the upper and lower, left and right used in open are only the mutual alignment pass relative to each component part of the disclosure in attached drawing
For system.The "an" of used singular, " described " and "the" are also intended to including most forms in the disclosure, are removed
Non- context clearly expresses other meaning.In addition, unless otherwise defined, all technical and scientific terms used herein
It is identical as the normally understood meaning of those skilled in the art.Term used in the description is intended merely to describe herein
Specific embodiment is not intended to be limiting of the invention.Term as used herein "and/or" includes one or more relevant
The arbitrary combination of listed item.
With reference to Fig. 1 and Fig. 2.Unmanned plane polling transmission line method according to the present invention based on recycling storage base station, packet
Include the base station of several distance intervals (≈ 15km) in power transmission line corridor, the patrol unmanned machine of independent navigation, intelligent image identification
Discovering device hidden danger, assist trouble diagnosis, real time remote video realize visualized management transmission line equipment etc..The method can
With the following steps are included:
A, control instruction data are sent to the UAV Intelligent base station of transmission line of electricity section, triggering unmanned plane carries out patrol worker
Make；
B, what the data of the unmanned plane by intelligent base station real-time tracking in-flight, monitoring and collection unmanned plane covered it
The inspection data of power transmission and transforming equipment in transmission line of electricity section；
C, each power transmission and transforming equipment is calculated in conjunction with collected inspection data based on the parameter preset of power transmission and transforming equipment
Evaluation of estimate sends alarm if evaluation of estimate is more than preset alarm threshold.
In the step A, the control instruction data include: the map number in the region of UAV Intelligent base station covering
According to no-fly data；The inspection course line location data in the region of UAV Intelligent base station covering；The frontier district of periphery intelligent base station
The flight synergistic data in domain.Control instruction data can also be sent by the unmanned plane temporary station on mobile traffic,
It triggers unmanned plane and carries out inspection work.
Further, the step B includes: whether to determine unmanned plane according to the location data of unmanned plane feedback in-flight
Into inspection working line, be then by intelligent base station or directly triggering unmanned plane on inspection device to power transmission and transforming equipment into
Row checks.
Referring to Fig. 2, further, the step C includes: comprehensive and the associated device parameter of power transmission and transforming equipment, personnel's knowledge
Empirical parameter, history test parameters and operating parameter, and according to online monitoring data, unmanned plane inspection data, manual inspection
Data carry out power transmission and transforming equipment diagnosis, count the quantity of identified hidden trouble of equipment position, calculate and evaluate the transmission line of electricity
The evaluation of estimate of each power transmission and transforming equipment of section, if the evaluation of estimate be more than preset alarm threshold, send warning information to
The communication equipment of responsible person.
Fig. 3 is the schematic diagram of an example of unmanned plane method for inspecting according to the present invention and system.Specific scheme is such as
Under.
1, several distance intervals (≈ 15km) set up intelligent base station 3 in power transmission line corridor, mention for patrol unmanned machine 1
For recycling, storage, transmitting and charging, while the wireless communication data chain of non-blind area is constructed, there are two types of model, a kind of functions for base station
It is complete, it is another that wireless communication data chain is only provided.
2, in safe shelves, 2 inspection flight scenario of shaft tower, prevents security risk.Inspection in shelves: not according to voltage class
Together, upper side (30~45 degree of angles, 8~15m) is parallel with conducting wire outside the transmission pressure of upper layer flies, and flies to shaft tower 2, is transferred to bar
2 inspection of tower flight；2 inspection of shaft tower: according to the difference of voltage class, outside the insulator of top upper side (30~45 degree of angles, 8~
It 15m) flies from top to bottom, (8~15m) flies to the other side below bottom transmission pressure, from bottom to top flies exhausted to the top
On the outside of edge, it is transferred to the flight of conducting wire route.
3, examined in determination, inspection content and the following Form cross page of task device.
Further, it is also possible to carry out the unmanned plane 1 of mobility using mobile traffic 4 (such as truck, as shown in Figure 3)
Inspection work.Usually O&M unit sets up Ji Xun group when it is embodied, and when executing patrol task, first puts unmanned plane 1
It sets on vehicle, tens kilometers of arrival target shaft towers is travelled nearby (the effective remote range of unmanned plane 1 is at 5 kilometers or so), one when inspection
As the work pattern that is single base shaft tower landing, flies manually.
4, command centre 5 is set.Intelligent base station 3 can be collected by Internet of Things computer system in command centre 5 and faced
When terminal 30 data, then carry out Centralized Monitoring and inspection data processing.
It should be appreciated that the embodiment of the present invention can be by computer hardware, the combination of hardware and software or by depositing
The computer instruction in non-transitory computer-readable memory is stored up to be effected or carried out.Standard volume can be used in the method
Journey technology.Each program can be realized with the programming language of level process or object-oriented to communicate with computer system.So
And, if desired, the program can be realized with compilation or machine language.Under any circumstance, which can be compiling or explanation
Language.In addition, the program can be run on the specific integrated circuit of programming for this purpose.
In addition, the operation of process described herein can be performed in any suitable order, unless herein in addition instruction or
Otherwise significantly with contradicted by context.Process described herein (or modification and/or combination thereof) can be held being configured with
It executes, and is can be used as jointly on the one or more processors under the control of one or more computer systems of row instruction
The code (for example, executable instruction, one or more computer program or one or more application) of execution, by hardware or its group
It closes to realize.The computer program includes the multiple instruction that can be performed by one or more processors.
Further, the method can be realized in being operably coupled to suitable any kind of computing platform, wrap
Include but be not limited to PC, mini-computer, main frame, work station, network or distributed computing environment, individual or integrated
Computer platform or communicated with charged particle tool or other imaging systems etc..Each aspect of the present invention can be to deposit
The machine readable code on non-transitory storage medium or equipment is stored up to realize no matter be moveable or be integrated to calculating
Platform, such as hard disk, optical reading and/or write-in storage medium, RAM, ROM, so that it can be read by programmable calculator, when
Storage medium or equipment can be used for configuration and operation computer to execute process described herein when being read by computer.This
Outside, machine readable code, or part thereof can be transmitted by wired or wireless network.When such media include combining microprocessor
Or other data processors realize steps described above instruction or program when, invention as described herein including these and other not
The non-transitory computer-readable storage media of same type.When methods and techniques according to the present invention programming, the present invention
It further include computer itself.
Computer program can be applied to input data to execute function as described herein, to convert input data with life
At storing to the output data of nonvolatile memory.Output information can also be applied to one or more output equipments as shown
Device.In the preferred embodiment of the invention, the data of conversion indicate physics and tangible object, including the object generated on display
Reason and the particular visual of physical objects are described.
The above, only presently preferred embodiments of the present invention, the invention is not limited to above embodiment, as long as
It reaches technical effect of the invention with identical means, all within the spirits and principles of the present invention, any modification for being made,
Equivalent replacement, improvement etc., should be included within the scope of the present invention.Its technical solution within the scope of the present invention
And/or embodiment can have a variety of different modifications and variations.
Claims (10)
1. a kind of unmanned plane polling transmission line method, which is characterized in that the described method comprises the following steps:
A, control instruction data are sent to the UAV Intelligent base station of transmission line of electricity section, triggering unmanned plane carries out inspection work；
B, the transmission of electricity that the data of the unmanned plane by intelligent base station real-time tracking in-flight, monitoring and collection unmanned plane cover it
The inspection data of power transmission and transforming equipment in track section；
C, the evaluation of each power transmission and transforming equipment is calculated in conjunction with collected inspection data based on the parameter preset of power transmission and transforming equipment
Value sends alarm if evaluation of estimate is more than preset alarm threshold.
2. the method according to claim 1, wherein in the step A, the control instruction data packet
It includes: the map datum in the region of UAV Intelligent base station covering and no-fly data；The region of UAV Intelligent base station covering is patrolled
Examine course line location data；The flight synergistic data of the borderline region of periphery intelligent base station.
3. the method according to claim 1, wherein the step A includes:
By the unmanned plane temporary station on mobile traffic, control instruction data are sent, triggering unmanned plane carries out inspection
Work.
4. the method according to claim 1, wherein the step B includes:
According to the location data of unmanned plane feedback in-flight, determines whether unmanned plane enters inspection working line, be, pass through
Inspection device on intelligent base station or directly triggering unmanned plane checks power transmission and transforming equipment.
5. according to the method described in claim 4, it is characterized in that, in the step B, the flight line packet of inspection work
It includes:
Upper side is parallel with conducting wire outside the transmission pressure of upper layer flies, flight to shaft tower, is transferred to shaft tower inspection flight；
Upper side is flown from top to bottom outside the insulator of top, is flown below bottom transmission pressure to the other side, is from bottom to top flown
On the outside of row to the top insulator, it is transferred to the flight of conducting wire route.
6. according to the method described in claim 5, it is characterized in that, unmanned plane is apart from defeated in the flight line of inspection work
Spacing on the outside of electric lead, below transmission pressure and on the outside of insulator is 8~15m, and deviation angle is 30~45 degree of angles.
7. the method according to claim 1, wherein the step B include according to examined in determination and inspection content,
The work of inspection configuration equipment and collection data, in which:
When examined in determination is route ontology, affiliated facility or electric power protection area environment, and when carrying out macroscopic appearance inspection, match
It sets Visible Light Camera and obtains photographed data；
When examined in determination is route ontology or affiliated facility, and when carrying out temperature characterisitic, flash-over characteristic or careful crackle inspection,
It configures thermal infrared imager and ultraviolet imager obtains photographed data.
8. the method according to claim 1, wherein the step C includes:
Comprehensive and the associated device parameter of power transmission and transforming equipment, knowledge experience parameter, history test parameters and operating parameter, and
According to online monitoring data, unmanned plane inspection data, manual inspection data,
Power transmission and transforming equipment diagnosis is carried out, calculates and evaluate the evaluation of estimate of each power transmission and transforming equipment of the transmission line of electricity section, such as
The fruit evaluation of estimate be more than preset alarm threshold, then send warning information to responsible person communication equipment.
9. a kind of computer system, can run on a memory and on a processor including memory, processor and storage
Computer program, which is characterized in that the processor realizes such as any one of claims 1 to 8 right when executing described program
It is required that the unmanned plane polling transmission line method.
10. a kind of unmanned plane power transmission line polling system characterized by comprising
Unmanned plane (1) of the one or more for inspection work, each unmanned plane (1) are equipped with one or more inspection devices；
With shaft tower (2) associated intelligent base station (3) in transmission line of electricity section, it is used to provide recycling, storage for the unmanned plane (1)
It deposits, emit and charges, while constructing wireless communication data chain with the unmanned plane (1)；
The temporary station (30) being arranged on mobile traffic (4)；
The command centre (5) communicated with the intelligent base station (3) and temporary station (30), the command centre (5) include as weighed
Benefit require 9 described in computer system.
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110196051A (en) * | 2019-05-30 | 2019-09-03 | 广东电网有限责任公司 | A kind of flight course planning method, system and electronic equipment and storage medium |
| CN110597286A (en) * | 2019-09-27 | 2019-12-20 | 华北电力大学 | Method for realizing unmanned aerial vehicle autonomous inspection of power transmission line by using smart hangar |
| CN111080832A (en) * | 2019-12-27 | 2020-04-28 | 上海复亚智能科技有限公司 | Inspection method and system for power transmission line tower |
| CN111422081A (en) * | 2020-04-02 | 2020-07-17 | 北京京东乾石科技有限公司 | Unmanned aerial vehicle cruise system |
| CN111474957A (en) * | 2020-05-07 | 2020-07-31 | 重庆工程学院 | Transmission line inspection unmanned aerial vehicle system based on deep learning |
| CN112488335A (en) * | 2020-12-04 | 2021-03-12 | 臻迪科技股份有限公司 | Automatic recycling method, device, recycling equipment and computer readable storage medium |
| CN112598812A (en) * | 2020-10-22 | 2021-04-02 | 国网山东省电力公司济宁市任城区供电公司 | Power inspection device and method |
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