CN109687344A - A kind of unmanned plane removing system based on power grid foreign matter - Google Patents
A kind of unmanned plane removing system based on power grid foreign matter Download PDFInfo
- Publication number
- CN109687344A CN109687344A CN201811628221.8A CN201811628221A CN109687344A CN 109687344 A CN109687344 A CN 109687344A CN 201811628221 A CN201811628221 A CN 201811628221A CN 109687344 A CN109687344 A CN 109687344A
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- foreign matter
- unmanned plane
- equipment
- power grid
- infrared identification
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- 230000000007 visual effect Effects 0.000 claims abstract description 26
- 230000005540 biological transmission Effects 0.000 claims abstract description 14
- 238000010008 shearing Methods 0.000 claims abstract description 8
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims description 6
- 206010057040 Temperature intolerance Diseases 0.000 claims description 3
- 238000009529 body temperature measurement Methods 0.000 claims description 3
- 230000008543 heat sensitivity Effects 0.000 claims description 3
- 238000010438 heat treatment Methods 0.000 claims description 3
- 230000000694 effects Effects 0.000 claims 1
- 238000000034 method Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 2
- 229920003023 plastic Polymers 0.000 description 2
- 239000004033 plastic Substances 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 238000009413 insulation Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Classifications
-
- 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
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Remote Sensing (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention relates to a kind of, and the unmanned plane based on power grid foreign matter removes system, its key points of the technical solution are that, including, unmanned plane device, ground control station, flame device, shear and infrared identification device: the flame device and the shear are respectively symmetrically installed on the unmanned plane bottom of device；The unmanned plane device includes: more rotation drone bodies, driving motor, master controller, visual pattern acquires equipment, visual pattern transmission device, the infrared identification device includes: infrared identification equipment and removing selection equipment, the state of the infrared identification equipment foreign matter on power grid for identification, when recognize the foreign matter there are it is band-like when, the removing selection equipment controls the shear and carries out shearing removing to foreign matter, when it is to wrap tightly shape that the infrared identification equipment, which recognizes foreign matter, the removing selection equipment controls the flame device and carries out burn off to foreign matter.Reach the purpose that while solving power grid foreign matter, will be preferably minimized to the pollution of environment.
Description
Technical field
The present invention relates to power grid maintenance equipment technical field, in particular to a kind of unmanned plane based on power grid foreign matter removes system
System.
Background technique
Electric power transmission line is run in the natural environment for a long time, is easy lash foreign matter, such as wind scrape reason will similar agriculture
Power transmission line is wrapped in foreign matters such as greenhouse plastics, sunshade net, braid over braid, the advertising cloth of advertisement, kite and kite drawstrings
On the road, after these foreign matters drench with rain or make moist, insulation performance is poor, be easy to cause the accidents such as transmission line of electricity tripping, short circuit to occur, seriously
Influence power grid power supply safety.
The method that tradition removes electric line foreign matter is to be hung over driving by operating personnel under the premise of line outage
On transmission pressure, then it is sitting on driving to be moved at foreign matter and removes foreign matter, both influence to power, operating personnel is time-consuming on bar takes
Power and dangerous property；With the development of unmanned air vehicle technique, occurs remote controlled unmanned machine device at present and carry out flame, by cable
The foreign matter of upper lash carries out burn off, but also causes certain pollution while burn off to atmospheric environment, due to different on cable
Species are more (such as: ribbon, kite, balloon, roc plastics etc.), and part of foreign matter is only hooked on cable, can be with
Extractd using more environmentally friendly mode, thus be not suitable for by the way of flame burn off it is a wide range of promote, need to this into
Row improves.
Summary of the invention
The object of the present invention is to provide a kind of, and the unmanned plane based on power grid foreign matter removes system, may be implemented in electriferous state
Under foreign matter is purged, safe operation, and high-efficient can effectively reduce the pollution to environment.
Above-mentioned technical purpose of the invention has the technical scheme that
A kind of unmanned plane removing system based on power grid foreign matter, comprising: unmanned plane device, ground control station, flame device,
Shear and infrared identification device: the flame device and the shear are respectively symmetrically installed on the unmanned plane dress
Bottom set portion；The unmanned plane device include: multi-rotor unmanned aerial vehicle ontology, driving motor, master controller, visual pattern acquisition set
Standby, visual pattern transmission device, the master controller are connected to the driving motor, the visual pattern acquisition equipment and
The visual pattern transmission device, the driving motor are connected to the multi-rotor unmanned aerial vehicle ontology；The master controller connection
In the ground control station, the visual pattern transmission device is connected to the ground control station；The infrared identification device packet
It includes: infrared identification equipment and removing selection equipment, the state of the infrared identification equipment foreign matter on power grid for identification works as knowledge
Be clipped to the foreign matter there are it is band-like when, removing selection equipment controls the shear and carries out shearing removing to foreign matter, when
The infrared identification equipment recognize foreign matter be when wrapping tightly shape, removings select the equipment control flame device to foreign matter into
Row burn off.
The further setting of the present invention, the infrared identification equipment meets clearly differentiates heating accident at distance 10m, point
Resolution is not less than 640 × 480, and heat sensitivity is not less than 50mk；Temperature measurement accuracy is not less than 2k, and temperature-measuring range is -20 DEG C~+150
DEG C, and the infrared identification equipment has automatic focusing function.
The further setting of the present invention, the visual pattern acquisition equipment is visible light sensor camera；The vision
Image capture device meets in distance not less than the requirement for differentiating pin grade target clear at 10m, and valid pixel is no less than 1200
Ten thousand, have remote zoom control function, and continuously adjustable, has automatic focusing function.
The further setting of the present invention, the unmanned plane device are eight rotor wing unmanned aerial vehicles.
The further setting of the present invention is fixedly installed dismountable airborne tracker, and institute on the unmanned plane device
Airborne tracker is stated to connect with the master controller of the unmanned plane device, when contingency occurs, the airborne tracking
Device can control station sends location information to the ground automatically.
The further setting of the present invention, it further includes self-checking unit and alarm module that the unmanned plane, which removes system,；It is described from
Checking device includes at least: flight control modules, cell voltage, motor and remote-control romote-sensing signal；When the flight control modules,
Either component breaks down in cell voltage, motor and remote-control romote-sensing signal, and the alarm module can be controlled on the ground
System station carry out sound (light) warning note, and system is locked, it can not let fly away.
The further setting of the present invention, the warning note of the alarm module include showing the secondary abort situation.To sum up institute
It states, the invention has the following advantages:
In the present invention, the provided unmanned plane based on power grid foreign matter removes system, is carried and is sprayed using unmanned plane device
Fiery device and shear identify the foreign matter on cable by infrared identification device, when foreign matter is band-like or easily logical
Cross shearing manipulation remove when, it is preferable to use shear is purged, when the foreign matter of identification be swathe when on cable, pass through
It is purged using flame device, to most be closed in conjunction with shear and flame device two ways to the foreign matter on cable
Suitable removing selection, reach preferably solve the problems, such as power grid foreign matter while, the pollution of environment will be preferably minimized.
Detailed description of the invention
Fig. 1 is the structural block diagram of the unmanned plane removing system in the present embodiment based on power grid foreign matter；
Fig. 2 is the structural schematic diagram of unmanned plane device in unmanned plane removing system in the present embodiment based on power grid foreign matter.
Description of symbols: 1, unmanned plane device；2, ground control station；3, flame device；4, shear；5, infrared knowledge
Other device；11, driving motor；12, visual pattern acquires equipment；13, visual pattern transmission device；14, master controller；51, red
Outer identification equipment；52, selection equipment is removed；15, airborne tracker；6, self-checking unit；7, alarm module.
Specific embodiment
Below in conjunction with attached drawing, invention is further described in detail.
This specific embodiment is only explanation of the invention, is not limitation of the present invention, those skilled in the art
Member can according to need the modification that not creative contribution is made to the present embodiment after reading this specification, but as long as at this
All by the protection of Patent Law in the scope of the claims of invention.
Embodiment: as depicted in figs. 1 and 2, a kind of unmanned plane removing system based on power grid foreign matter, comprising: unmanned plane dress
Set 1, ground control station 2, flame device 3, shear 4 and infrared identification device 5: flame device 3 and shear 4 are distinguished
It is symmetrically arranged on 1 bottom of unmanned plane device.
Unmanned plane device 1 include: multi-rotor unmanned aerial vehicle ontology, driving motor 11, master controller 14, visual pattern acquisition set
Standby 12, visual pattern transmission device 13, master controller 14 are connected to driving motor 11, and visual pattern acquires equipment 12, drive
Dynamic motor 11 is connected to multi-rotor unmanned aerial vehicle ontology；Master controller 14 is connected to ground control station 2, visual pattern transmission device 13
It is connected to ground control station 2.
As shown in Figure 1, infrared identification device 5 includes: infrared identification equipment 51 and removes selection equipment 52, infrared identification is set
For the state of the foreign matter on 51 for identification power grid, the removing that selection equipment 52 is used to select adaptation according to the state of foreign matter is removed
Device (shear 4 or flame device 3), when infrared identification equipment 51 recognize the foreign matter on cable there are it is band-like when, such as:
Ribbon etc. removes the selection control shear 4 of equipment 52 and carries out shearing removing to foreign matter, at this time when infrared identification equipment 51 identifies
It is when wrapping tightly shape, such as to be tightly entangled on cable to foreign matter, when ribbon is not present, removes selection equipment 52 at this time and control flame
Device 3 carries out burn off to foreign matter, and so as to combine the state of foreign matter on power grid, the reset mode that selection is wherein suitble to is maximum
Influence of the flame device 3 to environment is reduced in degree, while can save the energy of flame device 3.
In the present embodiment, infrared identification equipment 51 meets clearly differentiates heating accident at distance 10m, and resolution ratio is not low
In 640 × 480, heat sensitivity is not less than 50mk；Temperature measurement accuracy is not less than 2k, and temperature-measuring range is -20 DEG C~+150 DEG C, and infrared
Identification equipment 51 has automatic focusing function；It is visible light sensor camera that visual pattern, which acquires equipment 12,；Visual pattern is adopted
Collect equipment 12 to meet in distance not less than the requirement for differentiating pin grade target clear at 10m, valid pixel is no less than 12,000,000, tool
Standby remote zoom control function, and it is continuously adjustable, have automatic focusing function.
As shown in Fig. 2, the unmanned plane device 1 in the present embodiment is eight rotor wing unmanned aerial vehicles, and the number of driving motor 11 is not
Less than 4, it is intended that eight rotor wing unmanned aerial vehicle flight stabilities are good, hovering precision is high, and it is clear foreign matter can be better achieved
It removes, which is equipped with the rotation section connecting with 1 lower rotation of unmanned plane device, rotation section main controller 14
Control, opposite unmanned plane device 1 is locked after rotation section can rotate certain angle around assigned direction, and about rotation section, there are two kinds
Situation:
First: flame device 3 and shear 4 are symmetricly set on rotation section in the horizontal direction respectively, and visual pattern is adopted
Collection equipment 12 and infrared identification equipment 51 are fixed on unmanned plane device 1, acquire equipment 12 and infrared by visual pattern
Identification equipment 51 foreign matter on cable is observed and identified, remove selection equipment 52 select shear 4 therein or
When flame device 3 carries out foreign matter removing, master controller 14 controls rotation section rotation, so that the shear 4 or flame that are selected
Device 3 turns at foreign matter, to carry out shearing or burn off to foreign matter.
Second: visual pattern acquires equipment 12 and infrared identification equipment 51 is arranged on rotation section, flame device 3 and shearing
Device 4 is symmetricly set on 1 bottom of unmanned plane device in the horizontal direction respectively, when visual pattern acquisition equipment 12 and infrared identification are set
When observing the foreign matter on power grid for 51, the rotation of 1 relative rotation portion of unmanned plane device is controlled by master controller 14, so that by removing
The selection selected shear 4 of equipment 52 or flame device 3 turn at foreign matter, realize the removing work to foreign matter.
It should be noted that in the present embodiment, shear 4 and flame device 3 are the prior art, can refer to Chinese special
The published structure such as sharp CN201621353050.9, therefore do not repeat them here herein.
As depicted in figs. 1 and 2, it is further fixedly arranged on dismountable airborne tracker 15 on unmanned plane device 1, and airborne chases after
Track device 15 is connect with the master controller 14 of unmanned plane device 1, and when contingency occurs, airborne tracker 15 can automatically to the ground
Control station 2 sends location information, and 1 signal of unmanned plane device is lost when to avoiding failure.
It further includes self-checking unit 6 and alarm module 7 that the unmanned plane, which removes system, and self-checking unit 6 includes at least: flight control
Module, cell voltage, motor and remote-control romote-sensing signal；When flight control modules, cell voltage, motor and remote-control romote-sensing are believed
Either component breaks down in number, and alarm module 7 can be in ground control station 2 carry out sound (light) warning note, and by system lock
Extremely, it can not let fly away, it should be noted that wherein warning note includes location of fault information, consequently facilitating being quickly found out failure
Position.
The unmanned plane device 1 also supports a key to make a return voyage, no matter which kind of state of flight unmanned plane device 1 is in, as long as operation
Personnel start a key by special function keys (button) on ground control station 2 or remote-control handle and make a return voyage function, and unmanned plane is removed
System should stop current task, make a return voyage by preset strategy；The unmanned plane is removed after system has and lose link signal
Automatic function of making a return voyage, no matter unmanned plane removes which kind of state of flight is system be in, as long as remote measuring and controlling signal interrupts, nobody
Machine, which removes system, to make a return voyage by preset strategy.
Specific work process and principle: in the present invention, the provided unmanned plane based on power grid foreign matter removes system,
Flame device 3 and shear 4 are carried using unmanned plane device 1, the foreign matter on cable is carried out by infrared identification device 5
Identification, when foreign matter is band-like or when easily being removed by shearing manipulation, it is preferable to use shear 4 is purged, when identification
Foreign matter is to swathe when on cable, is purged by using flame device 3, thus in conjunction with shear 4 and 3 liang of flame device
Kind of mode carries out most suitable removings to the foreign matter on cable and selects, reach preferably solve the problems, such as power grid foreign matter while, by
The pollution of environment is preferably minimized.
Claims (7)
1. a kind of unmanned plane based on power grid foreign matter removes system characterized by comprising unmanned plane device (1), ground control
It stands (2), flame device (3), shear (4) and infrared identification device (5)；
The flame device (3) and the shear (4) are respectively symmetrically installed on unmanned plane device (1) bottom；
The unmanned plane device (1) includes: multi-rotor unmanned aerial vehicle ontology, driving motor (11), master controller (14), visual pattern
Equipment (12), visual pattern transmission device (13) are acquired, the master controller (14) is connected to the driving motor (11),
Visual pattern acquisition equipment (12) and the visual pattern transmission device (13), the driving motor (11) are connected to described
Multi-rotor unmanned aerial vehicle ontology；
The master controller (14) is connected to the ground control station (2), and the visual pattern transmission device (13) is connected to institute
State ground control station (2)；
The infrared identification device (5) includes: infrared identification equipment (51) and removes selection equipment (52), and the infrared identification is set
The state of standby (51) foreign matter on power grid for identification, when the foreign matter recognized there are it is band-like when, the removings selection equipment
(52) it controls the shear (4) and shearing removing is carried out to foreign matter, be when the infrared identification equipment (51) recognizes foreign matter
When wrapping tightly shape, removing selection equipment (52) controls the flame device (3) and carries out burn off to foreign matter.
2. a kind of unmanned plane based on power grid foreign matter according to claim 1 removes system, which is characterized in that described infrared
It identifies that equipment (51) meet and clearly differentiates heating accident at distance 10m, resolution ratio is not less than 640 × 480, and heat sensitivity is not low
In 50mk；Temperature measurement accuracy is not less than 2k, and temperature-measuring range is -20 DEG C~+150 DEG C, and the infrared identification equipment (51) has certainly
Dynamic focus function.
3. a kind of unmanned plane based on power grid foreign matter according to claim 1 removes system, which is characterized in that the vision
Image capture device (12) is visible light sensor camera；
Visual pattern acquisition equipment (12) meets in distance not less than the requirement for differentiating pin grade target clear at 10m, has
Effect pixel is no less than 12,000,000, has remote zoom control function, and continuously adjustable, has automatic focusing function.
4. a kind of unmanned plane based on power grid foreign matter according to claim 1 removes system, which is characterized in that it is described nobody
Machine device (1) is eight rotor wing unmanned aerial vehicles.
5. a kind of unmanned plane based on power grid foreign matter according to claim 1 removes system, which is characterized in that it is described nobody
Dismountable airborne tracker (15), and the airborne tracker (15) and the unmanned plane are fixedly installed on machine device (1)
The master controller (14) of device (1) connects, and when contingency occurs, the airborne tracker (15) can automatically to the ground
Control station (2) sends location information.
6. a kind of unmanned plane based on power grid foreign matter according to claim 1 removes system, which is characterized in that it is described nobody
It further includes self-checking unit (6) and alarm module (7) that machine, which removes system,；
The self-checking unit (6) includes at least: flight control modules, cell voltage, motor and remote-control romote-sensing signal；
When either component failure, the report in the flight control modules, cell voltage, motor and remote-control romote-sensing signal
Alert module (7) can be in the ground control station (2) carry out sound (light) warning note, and system is locked, and can not let fly away.
7. a kind of unmanned plane based on power grid foreign matter according to claim 6 removes system, which is characterized in that the alarm
The warning note of module (7) includes showing this abort situation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811628221.8A CN109687344A (en) | 2018-12-28 | 2018-12-28 | A kind of unmanned plane removing system based on power grid foreign matter |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811628221.8A CN109687344A (en) | 2018-12-28 | 2018-12-28 | A kind of unmanned plane removing system based on power grid foreign matter |
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| Publication Number | Publication Date |
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| CN109687344A true CN109687344A (en) | 2019-04-26 |
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| CN201811628221.8A Pending CN109687344A (en) | 2018-12-28 | 2018-12-28 | A kind of unmanned plane removing system based on power grid foreign matter |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| US20190241275A1 (en) * | 2016-10-21 | 2019-08-08 | SZ DJI Technology Co., Ltd. | Troubleshooting method, aircraft, server and control device |
| CN110207832A (en) * | 2019-06-26 | 2019-09-06 | 深圳市微纳集成电路与系统应用研究院 | High-tension line cruising inspection system and its method for inspecting based on unmanned plane |
| CN112180976A (en) * | 2020-09-30 | 2021-01-05 | 重庆电子工程职业学院 | Control system and method for intelligent fire-spraying obstacle-removing unmanned aerial vehicle |
| CN115739848A (en) * | 2022-11-28 | 2023-03-07 | 国网黑龙江省电力有限公司超高压公司 | Unmanned aerial vehicle-mounted high-voltage transmission line obstacle clearing device and obstacle clearing method |
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