CN110907500B - Unmanned aerial vehicle platform-based composite insulator hydrophobicity automatic detection method and device - Google Patents
Unmanned aerial vehicle platform-based composite insulator hydrophobicity automatic detection method and device Download PDFInfo
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Abstract
The invention provides an unmanned aerial vehicle platform-based automatic detection method for hydrophobicity of a composite insulator, which comprises the following steps: determining an initial operating point of the unmanned aerial vehicle platform; planning a flight route of the unmanned aerial vehicle platform according to the initial operating point; the unmanned aerial vehicle platform sprays water to the insulator pieces of the composite insulators corresponding to all the sub-operation points in sequence from the initial operation point according to the flight path, and shoots image data after the water is sprayed to each insulator piece; the unmanned aerial vehicle platform transmits image data to the ground station system, and the ground station system carries out hydrophobicity detection on the composite insulator according to the image data. By determining the initial operation point and customizing the flight path according to the initial operation point, the hydrophobicity of the composite insulator can be detected by the unmanned aerial vehicle platform according to the automation of the formulated flight path. And the method carries out the automatic detection of the hydrophobicity of the composite insulator according to the hydrophobicity detection method of the standard DL/T864-2004, thereby leading the detection process to be carried out more standardly and standardly.
Description
Technical Field
The invention relates to the technical field of auxiliary maintenance of unmanned aerial vehicles, in particular to an unmanned aerial vehicle platform-based method and device for automatically detecting hydrophobicity of a composite insulator.
Background
At present, if the composite insulator in the net hanging operation is degraded, the electrical insulation performance is reduced, and if the composite insulator is not replaced in time, the safe operation of a line is damaged. The hydrophobicity detection is an important detection method for detecting the aging degree of the composite insulator, and the detection method of the composite insulator mainly comprises the following steps: static contact angle method, i.e. reacting the surface hydrophobicity of the material (suitable for laboratory test) by directly measuring the static contact angle of the equilibrium water drop on the surface of the solid; and a water spraying classification method is adopted, so that an operator carries a watering can and a camera to climb the tower during power failure, or an unmanned aerial vehicle platform is applied to complete detection.
CN107544538 locating device and method for hydrophobicity detection of composite insulator based on unmanned aerial vehicle discloses a locating device and method for hydrophobicity detection of composite insulator based on unmanned aerial vehicle, wherein a locating device and method for hydrophobicity detection of composite insulator based on unmanned aerial vehicle are disclosed, wherein the locating device for hydrophobicity detection of composite insulator based on unmanned aerial vehicle comprises a multi-rotor unmanned aerial vehicle body, a water spray insulating rod arranged at the bottom of the multi-rotor unmanned aerial vehicle body, a water spray head arranged at the front end of the water spray insulating rod, a locating module arranged on the multi-rotor unmanned aerial vehicle body, an image acquisition module arranged on the multi-rotor unmanned aerial vehicle body, and an image monitoring module which is arranged on the ground and is controlled by an operator; the positioning module comprises a first positioning laser transmitter and two second positioning laser transmitters. The laser beams emitted by the first positioning laser emitter and the two second positioning laser emitters form a light spot at the intersection point, so that the position of the light spot can be clearly observed on the ground by using the image monitoring module, and the distance between the sprinkler head and the composite insulator can be accurately controlled by judging the coincidence of the light spot and the detected composite insulator. The method realizes the 25cm interval maintenance of the unmanned aerial vehicle and the insulator string, the positioning is completed through three laser transmitters, at least two persons are required to be matched with each other during operation, one person observes the coincidence of the laser intersection point and the tested composite insulator in the ground station image, the unmanned aerial vehicle is controlled by one person, and the method is only suitable for the suspension string and is not suitable for the tension string composite insulator. In addition, due to close contact with an insulator string (with a distance of 25 cm), especially during ultra-high line operation, the pattern transmission of the unmanned aerial vehicle close to the live side is susceptible to electromagnetic interference, so that snowflakes or jamming can occur, and positioning can be influenced.
Patent CN108423178 water jet equipment for unmanned aerial vehicle-based composite insulator hydrophobicity automatic rating system this patent discloses a water jet equipment for unmanned aerial vehicle-based composite insulator hydrophobicity automatic rating system. Spray through the deionized water of water spray rod in with the water tank and spray composite insulator, through setting up the surveillance camera head in water tank and water spray rod hookup location top, the position of control composite insulator sprays the direction of deionized water with the adjustment water spray rod for the liquid outlet of water spray rod aims the insulator full skirt, so that effectively carry out the injection of water column, avoid the waste of deionized water, improved the efficiency that sprays composite insulator and the detection efficiency of hydrophobicity. This patent is focused on how to spray, better realization the high-efficient utilization of ionized water, but whole process need have the remote control operation of the operation personnel of higher unmanned aerial vehicle control level, and whole content does not relate to automatic detection method.
The invention relates to the field of state detection of power grid equipment, in particular to a device and a method for detecting hydrophobicity of a composite insulator based on an unmanned aerial vehicle technology, and discloses a device and a method for detecting hydrophobicity of the composite insulator based on the unmanned aerial vehicle technology, which is disclosed by the patent CN 108872020; including using unmanned aerial vehicle as flight platform, unmanned aerial vehicle carries through the skeleton to carry and has water spray operation device, supplementary measuring device, wireless communication device, camera device and control circuit, and control circuit is connected with water spray operation device, supplementary measuring device, wireless communication device and camera device, wireless communication device and controller wireless connection. According to the invention, a mode that an unmanned aerial vehicle carries hydrophobicity detection equipment is adopted to replace manual climbing, and both the detection safety and the flexibility can be considered. In the aspect of positioning, four laser ranging sensors are required to be arranged at the same time, wherein one group of laser ranging sensors vertically points to the ground and is used for accurately measuring the flying height, and the laser ranging sensors are longitudinal laser ranging sensors with the error smaller than 5 mm; in order to avoid the situation that the composite insulator with a relatively small reflection area is missed, the other three groups of laser sensors are arranged horizontally at equal intervals to form a three-point forward ranging system, and the three-point forward ranging system is used for measuring the distance from the unmanned aerial vehicle to the insulator in real time. The invention is suitable for part of large-scale unmanned aerial vehicle type operation, when lines with different voltage grades are operated, the arrangement mode of laser needs manual adjustment, the actual operation process is a laser single-point measurement mode, the operation difficulty is relatively large, and the invention patent does not mention an automatic detection method and a device.
In the prior art, the problems that the ground detection of the composite insulator hydrophobic unmanned aerial vehicle is difficult to control, the strength is high, the automation degree is low, and the operation method is limited by the type of the unmanned aerial vehicle, the voltage class, the type of the insulator string and the like exist, and the problem is urgently needed to be solved.
Disclosure of Invention
In view of the above, the invention provides an unmanned aerial vehicle platform-based method and an unmanned aerial vehicle platform-based device for automatically detecting hydrophobicity of a composite insulator, and aims to solve the problem of low automation degree during unmanned aerial vehicle detection of hydrophobicity of the composite insulator.
In one aspect, the invention provides an unmanned aerial vehicle platform-based composite insulator hydrophobicity automatic detection method, which comprises the following steps: determining a flight path of the unmanned aerial vehicle platform; according to the flight route, the unmanned aerial vehicle platform sprays water to all the insulator pieces on the composite insulator in sequence, and image data of the insulator pieces after water spraying are shot; and the unmanned aerial vehicle platform transmits the image data to a ground station system, and the ground station system performs hydrophobicity detection on the composite insulator according to the image data.
Further, when the flight path of the unmanned aerial vehicle platform is determined, an initial operation point of the unmanned aerial vehicle platform is determined firstly, and the flight path is planned according to the initial operation point.
And further, the unmanned aerial vehicle platform sprays water to the insulator pieces of the composite insulators corresponding to all the sub-operation points in sequence from the initial operation point according to the flight path, and shoots image data of the sprayed water of the insulator pieces.
Further, after the initial operation point is determined, position information of the unmanned aerial vehicle platform when the unmanned aerial vehicle platform is located at the initial operation point is obtained, and each sub-operation point and position information of each sub-operation point are determined according to the initial operation point.
Further, the unmanned aerial vehicle platform starts from the initial operation point according to the position information and sequentially passes through the sub-operation points.
Further, the position information includes an included angle between a nozzle spraying direction on the unmanned aerial vehicle platform and a horizontal direction, a flight height and longitude and latitude of the unmanned aerial vehicle platform, and a head direction of the unmanned aerial vehicle platform.
Further, when the flight route of the unmanned aerial vehicle platform is planned according to the initial operation point, the flight height of the unmanned aerial vehicle platform with a preset height is sequentially reduced, and the included angle between the spraying direction of the nozzle and the horizontal direction, the longitude and latitude of the unmanned aerial vehicle platform and the head direction of the unmanned aerial vehicle platform are kept unchanged, so that the sub-operation points corresponding to the insulator pieces are determined.
Further, the initial operating point is determined according to the following steps:
a) Enabling the unmanned aerial vehicle platform to ascend along the composite insulator and hover when approaching the middle position of the composite insulator;
b) The nozzle on the unmanned aerial vehicle platform is kept horizontal, a laser range finder arranged right above the nozzle scans left and right and measures distance information between the nozzle and the composite insulator in real time, the unmanned aerial vehicle platform slowly approaches the composite insulator, and the unmanned aerial vehicle platform hovers when the distance between the nozzle and the composite insulator is 10-16 cm;
c) Keeping the longitude and latitude of the unmanned aerial vehicle platform unchanged, and lifting the height of the unmanned aerial vehicle platform to enable the unmanned aerial vehicle platform to hover above the first insulator sheet obliquely;
d) Keeping the included angle between the spraying direction of the nozzles and the horizontal direction between 50 degrees and 70 degrees, and sequentially adjusting the included angle between the spraying direction of the nozzles and the horizontal direction at intervals of every 5 degrees;
e) Adjusting the included angle between the spraying direction of the nozzle and the horizontal direction every time, enabling the laser range finder which is in the same direction with the nozzle to swing back and forth in the direction which is perpendicular to the nozzle and within the range of plus or minus 30 degrees, and collecting the distance value of each point;
f) Transmitting the distance value to the ground station system, and adjusting the position of the unmanned aerial vehicle platform in real time by the ground station system according to the included angle between the spraying direction of the nozzle and the horizontal direction and the distance value;
g) And when the nozzle simultaneously meets the conditions that the included angle between the spraying direction and the horizontal direction is within the range of 50-70 degrees and the distance between the nozzle and the insulator is 25cm, the unmanned aerial vehicle platform is hovered, and the position information of the unmanned aerial vehicle platform is recorded to determine as the initial operating point of the unmanned aerial vehicle platform.
Further, when the same composite insulator is repeatedly operated, the method comprises the following steps:
a) Enabling the unmanned aerial vehicle platform to ascend to a preset height;
b) The ground station system is in real-time communication with the unmanned aerial vehicle platform, and compares the longitude and latitude and the flight height information of the unmanned aerial vehicle platform acquired in real time with the initial operation point in the historical operation stored in the ground station system;
c) When the longitude and latitude difference range in the comparison result is smaller than 1m, the ground station system transmits the flight path in the historical operation to the unmanned aerial vehicle platform;
d) And the unmanned aerial vehicle platform operates according to the flight routes in the historical operation.
Compared with the prior art, the method has the advantages that the hydrophobicity of the composite insulator can be detected for multiple times by the unmanned aerial vehicle platform according to the preset air route by setting the preset air route, and the composite insulator can be detected for multiple times by only setting the flight route once, so that the hydrophobicity detection efficiency of the composite insulator is greatly improved, and the automation degree of the unmanned aerial vehicle platform in the hydrophobicity detection of the composite insulator is improved.
Furthermore, the method and the device can enable the unmanned aerial vehicle platform to automatically carry out hydrophobicity detection on the composite insulator according to the established flight route by firstly determining the initial operating point and then establishing the flight route according to the initial operating point.
Further, the method carries out automatic detection on the hydrophobicity of the composite insulator according to a hydrophobicity detection method of standard DL/T864-2004, so that the detection process is carried out more in a standardized and normalized mode.
On the other hand, the invention also provides an automatic detection device for the hydrophobicity of the composite insulator based on the unmanned aerial vehicle platform, which comprises the following steps: unmanned aerial vehicle platform and ground station system, the unmanned aerial vehicle platform with ground station system communication connection, ground station system be used for with the unmanned aerial vehicle platform carries out data transmission, and right composite insulator carries out the hydrophobicity and detects, wherein, the unmanned aerial vehicle platform includes unmanned aerial vehicle, sprinkler and laser range finding sensor, sprinkler includes water tank, spray rod and nozzle, the water tank sets up unmanned aerial vehicle under, the one end of spray rod with the lateral wall rotatable coupling of water tank, the nozzle with the other end of spray rod is connected, laser range finding sensor sets up directly over the nozzle, just laser sensor with ground station system communication connection.
It can be understood that the present device is applied to the above detection method, and the present device has the same beneficial effects as the above detection method. Meanwhile, the device has the advantages of simple structure, convenience in operation, low manufacturing cost and high working efficiency.
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Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:
fig. 1 is a first flowchart of an automated detection method for hydrophobicity of a composite insulator based on an unmanned aerial vehicle platform according to an embodiment of the present invention;
fig. 2 is a second flowchart of an automated detection method for hydrophobicity of a composite insulator based on an unmanned aerial vehicle platform according to an embodiment of the present invention;
fig. 3 is a schematic view of a first structure of an unmanned aerial vehicle platform-based composite insulator hydrophobicity automatic detection apparatus according to an embodiment of the present invention;
fig. 4 is a schematic view of a flight angle of an unmanned aerial vehicle platform according to an embodiment of the present invention;
fig. 5 is a second structural schematic diagram of the unmanned aerial vehicle platform-based composite insulator hydrophobicity automatic detection apparatus provided in the embodiment of the present invention.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art. It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
Referring to fig. 1, the embodiment provides an automatic detection method for hydrophobicity of a composite insulator based on an unmanned aerial vehicle platform, which includes the following steps:
step one, S101: determining a flight path of the unmanned aerial vehicle platform;
step two S102: according to the flight route, the unmanned aerial vehicle platform sprays water to all the insulator pieces on the composite insulator in sequence, and image data of the insulator pieces after water spraying are shot;
step three, S103: and the unmanned aerial vehicle platform transmits the image data to a ground station system, and the ground station system performs hydrophobicity detection on the composite insulator according to the image data.
Specifically, firstly, a flight route of an unmanned aerial vehicle platform is set, and the unmanned aerial vehicle platform sequentially carries out hydrophobicity detection on all insulator pieces on the composite insulator according to the preset flight route.
It can be seen that, through setting for and predetermineeing the route, make the unmanned aerial vehicle platform carry out the hydrophobicity according to predetermineeing the route and detect composite insulator, only need set for flight route once, can carry out the detection many times to composite insulator, not only greatly improved composite insulator hydrophobicity detection's efficiency, still improved the degree of automation that the unmanned aerial vehicle platform carries out composite insulator and carries out hydrophobicity and examine time measuring.
Specifically, when the flight path of the unmanned aerial vehicle platform is determined, an initial operation point of the unmanned aerial vehicle platform is determined, and the flight path is planned according to the initial operation point.
Specifically, the unmanned aerial vehicle platform sequentially sprays water to the insulator pieces of the composite insulators corresponding to all the sub-operation points from the initial operation point according to the flight path, and shoots image data of the sprayed water of the insulator pieces.
Specifically, after the initial operation point is determined, position information of the unmanned aerial vehicle platform when the unmanned aerial vehicle platform is located at the initial operation point is obtained, and each sub-operation point and position information of each sub-operation point are determined according to the initial operation point.
Specifically, the unmanned aerial vehicle platform starts from the initial operation point according to the position information and sequentially passes through the sub-operation points.
Specifically, the position information includes an included angle between a nozzle spraying direction on the unmanned aerial vehicle platform and a horizontal direction, a flying height and longitude and latitude of the unmanned aerial vehicle platform, and a head direction of the unmanned aerial vehicle platform.
Specifically, when the flight path of the unmanned aerial vehicle platform is planned according to the initial operation point, the flight height of the unmanned aerial vehicle platform with a preset height is sequentially reduced, and the included angle between the spraying direction of the nozzle and the horizontal direction, the longitude and latitude of the unmanned aerial vehicle platform and the head direction of the unmanned aerial vehicle platform are kept unchanged, so that the sub-operation points corresponding to the insulator pieces are determined.
Therefore, the hydrophobicity detection of the composite insulator can be carried out on the unmanned aerial vehicle platform according to the established flight route automation by firstly determining the initial operation point and then establishing the flight route according to the initial operation point.
Referring to fig. 2 and 3, the embodiment provides an automatic detection method for hydrophobicity of a composite insulator based on an unmanned aerial vehicle platform, which includes the following steps:
step one, S201: determining an initial operating point of the unmanned aerial vehicle platform;
step two S202: planning a flight route of the unmanned aerial vehicle platform according to the initial operating point;
step three, S203: the unmanned aerial vehicle platform sprays water to the insulator pieces of the composite insulators corresponding to all the sub-operation points in sequence from the initial operation point according to the flight path, and shoots image data of the sprayed water of the insulator pieces;
step four S204: and the unmanned aerial vehicle platform transmits the image data to a ground station system, and the ground station system performs hydrophobicity detection on the composite insulator according to the image data.
Specifically, the initial operating point is determined, the horizontal distance is kept unchanged, the distance between the insulator sheds is known, the movement route of the unmanned aerial vehicle platform can be directly calculated, and the flight route is automatically generated by the unmanned aerial vehicle platform.
Specifically, when the initial operation point is determined, after the unmanned aerial vehicle platform 1 is controlled to the middle position of the composite insulator 4 by the flyer, the laser range finder measures the horizontal distance between the nozzle of the unmanned aerial vehicle platform 1 and the composite insulator 4 and feeds back the horizontal distance to the ground station system, and the ground station system judges the distance and sends an instruction to the unmanned aerial vehicle platform 1 until the unmanned aerial vehicle platform hovers at a proper position. The flying hand controls the unmanned aerial vehicle platform 1 to fly to the first obliquely upper side of the composite insulator 4 and then hover, and the unmanned aerial vehicle platform 1 automatically completes the determination of the initial point. Except that the lifting of the unmanned aerial vehicle platform 1 is controlled by the flying hand, other processes are automatically generated by the unmanned aerial vehicle platform 1.
Specifically, the initial operating point may be determined as follows:
a) Enabling the unmanned aerial vehicle platform 1 to ascend along the composite insulator 4 and hover when approaching the middle position of the composite insulator 4;
b) The nozzle on the unmanned aerial vehicle platform 1 is kept horizontal, a laser distance meter arranged right above the nozzle scans left and right and measures distance information between the nozzle and the composite insulator 4 in real time, the unmanned aerial vehicle platform 1 slowly approaches the composite insulator 4, and the unmanned aerial vehicle platform hovers when the distance between the nozzle and the composite insulator 4 is 10-16 cm;
c) Keeping the longitude and latitude of the unmanned aerial vehicle platform 1 unchanged, and lifting the height of the unmanned aerial vehicle platform 1 to enable the unmanned aerial vehicle platform 1 to hover obliquely above the first insulator sheet;
d) Keeping the included angle between the spraying direction of the nozzles and the horizontal direction between 50 degrees and 70 degrees, and sequentially adjusting the included angle between the spraying direction of the nozzles and the horizontal direction at intervals of every 5 degrees;
e) Adjusting the included angle between the spraying direction of the nozzle and the horizontal direction every time, enabling the laser range finder which is in the same direction with the nozzle to swing back and forth in the direction which is vertical to the nozzle and within the range of plus or minus 30 degrees, and collecting the distance value of each point;
f) Transmitting the distance value to a ground station system, and adjusting the position of the unmanned aerial vehicle platform 1 in real time by the ground station system according to the included angle between the spraying direction of the nozzle and the horizontal direction and the distance value;
g) When the nozzle simultaneously meets the conditions that the included angle between the spraying direction and the horizontal direction is within the range of 50-70 degrees and the distance between the nozzle and the insulator is 25cm, the unmanned aerial vehicle platform 1 is hovered, and the position information of the unmanned aerial vehicle platform 1 is recorded to be determined as the initial operating point of the unmanned aerial vehicle platform 1.
It can be seen that the initial operation point can be determined quickly and efficiently through the above steps a) -g), so that the working efficiency can be greatly improved, and the operation difficulty can be reduced.
Particularly, except for the fact that the unmanned aerial vehicle platform 1 is controlled to the middle position of the composite insulator string by a flyer in the first operation, the rest operation process is automatically completed by the unmanned aerial vehicle platform 1. For example, when the same insulator string is repeatedly detected, the flyer only needs to control the unmanned aerial vehicle platform 1 to take off and switch to the mode of flight along the flight line, namely, the unmanned aerial vehicle platform 1 flies according to the determined flight line, the unmanned aerial vehicle platform 1 executes point by point according to the flight point, namely, the unmanned aerial vehicle platform 1 hovers and detects according to the position of each operation point on the flight line, and therefore the whole process can be completely automated.
Specifically, the steps a) to g) can be carried out according to the following steps:
a1 The unmanned aerial vehicle platform 1 is controlled to ascend along an insulator string (namely the composite insulator 4) and hover when approaching the middle position of the insulator string;
b1 The nozzle is kept horizontal, the laser range finder scans left and right to measure the distance in real time, the unmanned aerial vehicle platform 1 slowly approaches to the insulator string, and the unmanned aerial vehicle platform stops moving at 10-16 cm;
c1 Keeping the longitude and latitude unchanged, and lifting the flying height of the unmanned aerial vehicle platform 1 to be obliquely above the first insulator sheet;
d1 The included angle between the trigger nozzle and the horizontal direction is gradually changed at intervals of 5 degrees within the range of 50-70 degrees;
e1 Every time the laser range finder changes 5 degrees, the laser range finder which is in the same direction with the nozzle rotates once back and forth in the direction vertical to the nozzle in the direction of plus or minus 30 degrees, and the distance value of each point is recorded;
f1 The measurement result is fed back to the ground station system, the ground station system carries out comprehensive calculation according to the angle between the nozzle and the horizontal plane and the actual distance of laser ranging, and the position of the unmanned aerial vehicle platform 1 is automatically adjusted according to the calculation result;
g1 When the included angle between the nozzle and the horizontal direction is within the range of 50-70 degrees and the distance between the nozzle and the insulator is 25cm, the unmanned aerial vehicle platform 1 automatically hovers, and the included angle between the nozzle and the horizontal direction, the flying height and longitude and latitude of the unmanned aerial vehicle platform 1 and the direction of a machine head are recorded.
Specifically, the unmanned aerial vehicle platform embeds the core control panel (the core control panel is control panel or controller etc. in the unmanned aerial vehicle platform), core control panel and ground station system wireless communication, the core control panel is in order to feed back the range finding result to ground station system.
Particularly, the set has unmanned aerial vehicle, water injection system, shooting system, laser range finder and core control panel etc. on the unmanned aerial vehicle platform, and complete equipment is controlled by a core control panel, and the core control panel links to each other with unmanned aerial vehicle, water injection system, shooting system, laser range finder etc. respectively. The unmanned aerial vehicle platform is controlled by the core control panel, according to the operation of predetermined condition automatic triggering and control water spray and shooting image data.
Specifically, the condition of spraying water is that the unmanned aerial vehicle platform sprays water after hovering to corresponding operation point, and the condition of shooing is that, after the unmanned aerial vehicle platform sprays water, image data acquisition operation is carried out in certain time.
Specifically, the ground station system is preferably hardware with an operating system, such as a mobile phone, a pad, a notebook computer, and the like, and the ground station system and the unmanned aerial vehicle platform directly communicate by wireless (preferably in a dedicated communication manner); the ground station system judges the position of the unmanned aerial vehicle platform, when the distance is improper, the control instruction is directly sent, and the unmanned aerial vehicle carries out corresponding adjustment according to the ground station control instruction.
Particularly, when the position of the unmanned aerial vehicle platform is judged by the ground station system, real-time judgment is carried out according to the included angle range between the nozzle and the horizontal direction, the distance between the nozzle and the insulator and the flight actual height of the unmanned aerial vehicle platform.
Referring to fig. 4, specifically, after the initial point is determined, the distance between the unmanned aerial vehicle platform and the insulator string is kept constant, and since the nozzle can rotate within a range of 50-70 degrees, the distance D between the nozzle and the insulator string is 10-16 cm. When the unmanned aerial vehicle is higher or lower than the initial point, the height of the unmanned aerial vehicle needs to be adjusted to be | (d-d 2) × sin α |, wherein: alpha is the nozzle and horizontal direction contained angle, and d is the distance between nozzle and the insulator, and d =25cm, d2 is the skew distance of nozzle to insulator when unmanned aerial vehicle is not at the appointed height. Specifically, since the angle α is known, the calculation formula is: sin α = h1/d = h2/d2, wherein: alpha is an included angle between the nozzle and the horizontal direction, h1 is the vertical height from the nozzle to the insulator shed when the nozzle is at a standard distance, h2 is the vertical height from the nozzle to the insulator shed when the unmanned aerial vehicle is not at a specified height, d is the distance between the nozzle and the insulator, d =25cm, d2 is the slant distance from the nozzle to the insulator when the unmanned aerial vehicle is not at the specified height, h1= d sin alpha, h2= d2 sin alpha, and then the height of the unmanned aerial vehicle needs to be adjusted to be | (d-d 2) × sin alpha |.
Specifically, the precision of the flying height and longitude and latitude of the unmanned aerial vehicle platform 1 meet the requirements of (10 +1ppm × D) mm in the horizontal direction and (20 +1ppm × D) mm in the vertical direction.
It can be seen that the above operation steps are implemented according to the specification requirements, so that the method of the embodiment is more standardized, and the detection result is more accurate.
Specifically, after the initial operation point is determined, the position information of the drone platform 1 at the initial operation point is acquired. The position information includes the included angle between the spray direction of the nozzle on the unmanned aerial vehicle platform 1 and the horizontal direction, the flight height and longitude and latitude of the unmanned aerial vehicle platform 1 and the machine head direction of the unmanned aerial vehicle platform 1.
Particularly, after confirming the initial operation point, according to the position that unmanned aerial vehicle platform 1 located, the nozzle that learns the initial operation point position that unmanned aerial vehicle platform 1 located that can be accurate sprays the direction and the contained angle of horizontal direction, unmanned aerial vehicle platform 1's flying height and longitude and latitude and unmanned aerial vehicle platform 1's information such as aircraft nose direction, unmanned aerial vehicle platform 1 will acquire information real-time transmission to ground station system, take notes and the storage through ground station system to and be convenient for subsequent data processing.
Preferably, the unmanned aerial vehicle platform 1 and the ground station system perform real-time data transmission in a wireless communication mode.
Specifically, the drone platform 1 starts from the initial operation point and passes through each sub-operation point in sequence according to the position information.
Particularly, the unmanned aerial vehicle platform 1 passes through each sub-operation point in proper order according to the nozzle on the unmanned aerial vehicle platform 1 and sprays the contained angle of direction and horizontal direction, the flight height and the longitude and latitude of unmanned aerial vehicle platform 1 and information such as the aircraft nose direction of unmanned aerial vehicle platform 1 to the insulator piece that corresponds carries out the hydrophobicity and detects on individual sub-operation point.
Specifically, when the unmanned aerial vehicle platform 1 passes through each sub-operation point, the image data after the water spray of the insulator sheet corresponding to each sub-operation point is respectively collected and transmitted to the ground station system, and the image data is processed in real time through the ground station system so as to detect the hydrophobicity of the insulator sheet in real time.
Specifically, when the flight path is defined, each sub-operation point is located directly below the initial operation point, that is, each sub-operation point and the initial operation point are located on the same vertical line. And the distance between two adjacent sub-operation points is equal to the distance between two adjacent insulator sheets. It will also be appreciated that the latitude and longitude between the initial job site and each sub-job site is the same, but the heights are different.
Specifically, as shown in fig. 3, when determining the operation point, after the position of the first operation point 5 (i.e., the initial operation point) is determined, the second operation point 6 is sequentially determined until the nth operation point n is determined, and the longitude and the latitude of each operation point are the same and the heights are different, so that the operation point is determined as the flight route.
Specifically, when the drone platform 1 passes through each sub-operation point in sequence, only the flying height of the drone platform 1 is changed.
Particularly, when the unmanned aerial vehicle platform 1 is moved from the initial operation point to the sub-operation point, the longitude and latitude of the unmanned aerial vehicle platform 1 do not need to be changed, and only the preset flying height of the unmanned aerial vehicle platform 1 needs to be sequentially reduced.
Specifically, after the nozzle direction, the longitude and latitude of the unmanned aerial vehicle platform 1 and the head direction are determined, when the unmanned aerial vehicle platform 1 is located at other operation points, the nozzle direction, the longitude and latitude and the head direction are unchanged, and the unmanned aerial vehicle platform descends point by point according to the equal heights to plan each operation point, so that the autonomous planning of the air route is completed. Therefore, the automatic flight route planning method greatly improves the automation degree, does not need more human input, saves labor resources and reduces the detection cost.
Particularly, when planning the flight route of unmanned aerial vehicle platform 1 according to initial operation point, reduce the flight height of unmanned aerial vehicle platform 1 of predetermineeing the height in proper order to keep the injection direction of nozzle and the contained angle of horizontal direction, the longitude and latitude of unmanned aerial vehicle platform 1 and the aircraft nose direction of unmanned aerial vehicle platform 1 unchangeable, thereby confirm the sub-operation point that each insulator piece corresponds.
Specifically, when the unmanned aerial vehicle platform 1 moves according to a flight route, point-by-point operation is carried out according to the standard requirements, and a distance of 25cm is kept between a nozzle on the unmanned aerial vehicle platform 1 and the composite insulator 4.
It can be seen that, in the embodiment, by determining the initial operating point at first and then customizing the flight path according to the initial operating point, the unmanned aerial vehicle platform 1 can perform hydrophobicity detection on the composite insulator 4 according to the automation of the customized flight path. And the method carries out the automatic detection of the hydrophobicity of the composite insulator 4 according to the hydrophobicity detection method of the standard DL/T864-2004, thereby leading the detection process to be carried out more standardly and standardly.
Specifically, the unmanned aerial vehicle platform 1 flies and hovers according to a flight path, and works point by point on each working point according to the standard DL/T864-2004 rule, in order to ensure the working safety, the laser range finder is triggered to rotate back and forth once in the direction vertical to the nozzle in the positive and negative 30-degree direction at each working point, the distance value of each point is recorded, and the spraying distance is ensured to be kept at 25cm all the time.
Specifically, the drone platform 1 holds the pictures in the built-in memory after spraying water to each insulator sheet and taking the pictures. The memory carries out data transmission with the ground station system through the wireless communication system on the unmanned aerial vehicle platform 1 for the ground station system carries out real-time detection and data analysis.
Meanwhile, the shot picture can be stored in a built-in SD card and used for detection and data analysis by the ground station after the operation is finished. Specifically, in the actual operation process of the unmanned aerial vehicle platform, the SD card is only used for backing up data through automatic acquisition and transmission of image data, and the SD card may or may not be set.
Specifically, after the detection task of each operation point is completed, the unmanned aerial vehicle system automatically navigates back, or sets a preset path so that the unmanned aerial vehicle system automatically navigates back.
It can be seen that the method meets the hydrophobicity detection method specified in the standard DL/T864-2004, so that the automatic hydrophobicity detection of the composite insulator 4 is realized, and the detection process is carried out in a standardized and standardized manner.
In another preferred embodiment based on the above embodiment, when repeating the operation for the same composite insulator 4, the following steps are performed:
a) Enabling the unmanned aerial vehicle platform 1 to ascend to a preset height;
b) The ground station system is communicated with the unmanned aerial vehicle platform 1 in real time, the longitude and latitude and the flight height information of the unmanned aerial vehicle platform 1 acquired in real time are compared with the initial operation point in the historical operation stored in the ground station system;
c) When the latitude and longitude difference range in the comparison result is smaller than 1m, the ground station system transmits the flight path in the historical operation to the unmanned aerial vehicle platform 1;
d) The unmanned aerial vehicle platform 1 performs operation according to a flight line in historical operation.
It can be seen that the accuracy of the test result can be greatly ensured by repeatedly detecting the same composite insulator 4.
When the unmanned aerial vehicle platform detects the same insulator string (composite insulator) again, in specific implementation, the repeated operation of the same insulator string can be implemented according to the following steps:
a) The flyer controls the unmanned aerial vehicle to fly to a specified height
b) The ground station system compares the longitude and latitude and the height of the unmanned aerial vehicle with the longitude and latitude and the height of the first point of historical operation in real time
c) When the latitude and longitude difference range is less than 1m, the ground station system pops up the historical operation route of the insulator string
d) Prompting the flyer whether to execute the historical route, and confirming the execution of the historical route by the flyer
e) And the unmanned aerial vehicle automatically adjusts the nozzle direction and performs point-by-point operation according to the third step S203.
Specifically, after the operation is finished, the data is transmitted to the ground station system to output the detection result.
Specifically, the two detection results are compared to verify the accuracy of the final detection result.
With reference to fig. 2, based on another preferred implementation of the foregoing embodiment, the present embodiment provides an automatic hydrophobicity detecting device for a composite insulator 4 based on an unmanned aerial vehicle platform 1, which is applied to the foregoing method,
the method comprises the following steps: unmanned aerial vehicle platform 1 and ground station system, unmanned aerial vehicle platform 1 and ground station system communication connection, ground station system are used for carrying out data transmission with unmanned aerial vehicle platform 1 to carry out the hydrophobicity to composite insulator 4 and detect.
Particularly, unmanned aerial vehicle platform 1 includes unmanned aerial vehicle, sprinkler and laser rangefinder sensor 3, and sprinkler includes water tank, injection pipe 2 and nozzle, and the water tank sets up under unmanned aerial vehicle, and the lateral wall rotatable coupling of the one end of injection pipe 2 and water tank, the nozzle is connected with the other end of injection pipe 2, and laser rangefinder sensor 3 sets up directly over the nozzle, and laser sensor and ground station system communication connection.
Specifically, the water spraying equipment is independently designed, is suitable for various unmanned aerial vehicle models, and the whole detection process is completely carried out according to the standard DL/T864-2004 standard, does not need manual intervention, can be independently completed by one person, and has high automation degree.
Specifically, above-mentioned unmanned aerial vehicle platform 1 still includes wireless transmission module and storage module, and wireless transmission module is used for carrying out wireless data transmission, and it can be wireless transmission mode such as wiFi, bluetooth or infrared. The storage module is used for storing data, and simultaneously, the data processing module of unmanned aerial vehicle platform 1 is connected with the storage module, and the data processing module passes through wireless transmission module and ground station headtotail to make the real-time data that read in the storage module of ground station system.
Particularly, still be provided with the module of making a video recording on the unmanned aerial vehicle platform 1, the module of making a video recording is used for shooing image data.
It can be seen that the device in the present embodiment is applied to the detection method in the above embodiment, and the present device has the same advantageous effects as the detection method. Meanwhile, the device has the advantages of simple structure, convenience in operation, low manufacturing cost and high working efficiency.
Referring to fig. 5, specifically, the automatic hydrophobicity detecting device preferably includes an embedded platform, a laser ranging system, an image capturing system, a water spraying system and an unmanned aerial vehicle, the laser ranging system, the image capturing system, the water spraying system and the unmanned aerial vehicle are controlled by the embedded platform, and the embedded platform is preferably MTK.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (8)
1. The utility model provides a composite insulator hydrophobicity automated inspection method based on unmanned aerial vehicle platform which characterized in that includes:
determining a flight path of the unmanned aerial vehicle platform;
according to the flight route, the unmanned aerial vehicle platform sprays water to all the insulator pieces on the composite insulator in sequence, and image data of the insulator pieces after water spraying are shot;
the unmanned aerial vehicle platform transmits the image data to a ground station system, and the ground station system performs hydrophobicity detection on the composite insulator according to the image data;
when the flight path of the unmanned aerial vehicle platform is determined, firstly, an initial operation point of the unmanned aerial vehicle platform is determined, and the flight path is planned according to the initial operation point;
the initial operation point is determined according to the following steps:
a) Enabling the unmanned aerial vehicle platform to ascend along the composite insulator and hover when approaching the middle position of the composite insulator;
b) The nozzle on the unmanned aerial vehicle platform is kept horizontal, a laser ranging sensor arranged right above the nozzle scans left and right and measures distance information between the nozzle and the composite insulator in real time, the unmanned aerial vehicle platform slowly approaches the composite insulator, and the unmanned aerial vehicle platform hovers when the distance between the nozzle and the composite insulator is 10-16 cm;
c) Keeping the longitude and latitude of the unmanned aerial vehicle platform unchanged, and lifting the height of the unmanned aerial vehicle platform to enable the unmanned aerial vehicle platform to hover above the first insulator sheet obliquely;
d) Keeping the included angle between the spraying direction of the nozzle and the horizontal direction between 50 and 70 degrees, and sequentially adjusting the included angle between the spraying direction of the nozzle and the horizontal direction at intervals of every 5 degrees;
e) The laser ranging sensor which is in the same direction with the nozzle swings back and forth in the direction vertical to the nozzle within the range of plus or minus 30 degrees every time the included angle between the spraying direction of the nozzle and the horizontal direction is adjusted, and the distance value of each point is collected;
f) Transmitting the distance value to the ground station system, and adjusting the position of the unmanned aerial vehicle platform in real time by the ground station system according to the included angle between the spraying direction of the nozzle and the horizontal direction and the distance value;
g) And when the nozzle simultaneously meets the conditions that the included angle between the spraying direction and the horizontal direction is within the range of 50-70 degrees and the distance between the nozzle and the insulator is 25cm, the unmanned aerial vehicle platform is hovered, and the position information of the unmanned aerial vehicle platform is recorded to determine as the initial operating point of the unmanned aerial vehicle platform.
2. The unmanned aerial vehicle platform-based composite insulator hydrophobicity automatic detection method according to claim 1, wherein the unmanned aerial vehicle platform sequentially sprays water to the insulator pieces of the composite insulators corresponding to all the sub-operation points from the initial operation point according to the flight line, and images of the image data after the water is sprayed to the insulator pieces are shot.
3. The unmanned aerial vehicle platform-based composite insulator hydrophobicity automatic detection method according to claim 2, wherein after the initial operation point is determined, position information of the unmanned aerial vehicle platform when the unmanned aerial vehicle platform is located at the initial operation point is obtained, and each sub-operation point and position information of each sub-operation point are determined according to the initial operation point.
4. The unmanned aerial vehicle platform-based composite insulator hydrophobicity automatic detection method according to claim 3, wherein the unmanned aerial vehicle platform passes through each of the sub-operation points in sequence from the initial operation point according to the position information.
5. The unmanned aerial vehicle platform-based composite insulator hydrophobicity automated detection method of claim 4, wherein the position information comprises an included angle between a nozzle spraying direction on the unmanned aerial vehicle platform and a horizontal direction, a flying height and longitude and latitude of the unmanned aerial vehicle platform, and a nose direction of the unmanned aerial vehicle platform.
6. The unmanned aerial vehicle platform-based composite insulator hydrophobicity automatic detection method according to claim 5, wherein when a flight path of the unmanned aerial vehicle platform is planned according to the initial operation point, the flight height of the unmanned aerial vehicle platform with a preset height is sequentially reduced, and an included angle between a spraying direction of the nozzle and a horizontal direction, a longitude and a latitude of the unmanned aerial vehicle platform and a head direction of the unmanned aerial vehicle platform are kept unchanged, so that the sub-operation point corresponding to each insulator piece is determined.
7. The unmanned aerial vehicle platform-based composite insulator hydrophobicity automatic detection method according to any one of claims 1-6, wherein when the same composite insulator is repeatedly operated, the method comprises the following steps:
a) Enabling the unmanned aerial vehicle platform to ascend to a preset height;
b) The ground station system is in real-time communication with the unmanned aerial vehicle platform, and compares the longitude and latitude and the flight height information of the unmanned aerial vehicle platform acquired in real time with the initial operation point in the historical operation stored in the ground station system;
c) When the latitude and longitude difference range in the comparison result is smaller than 1m, the ground station system transmits the flight path in the historical operation to the unmanned aerial vehicle platform;
d) And the unmanned aerial vehicle platform operates according to the flight routes in the historical operation.
8. An unmanned aerial vehicle platform-based composite insulator hydrophobicity automatic detection device applying the unmanned aerial vehicle platform-based composite insulator hydrophobicity automatic detection method of any one of claims 1 to 7, comprising: an unmanned aerial vehicle platform and a ground station system, wherein the unmanned aerial vehicle platform is in communication connection with the ground station system, the ground station system is used for carrying out data transmission with the unmanned aerial vehicle platform and carrying out hydrophobicity detection on the composite insulator, wherein,
unmanned aerial vehicle platform includes unmanned aerial vehicle, sprinkler and laser range finding sensor, sprinkler includes the water tank, sprays pole and nozzle, the water tank sets up unmanned aerial vehicle is under, spray the pole one end with the lateral wall rotatable coupling of water tank, the nozzle with the other end of spraying the pole is connected, laser range finding sensor sets up directly over the nozzle, just laser range finding sensor with ground station system communication connects.
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| CN111855501B (en) * | 2020-07-30 | 2024-02-20 | 华北电力大学（保定） | Automatic water spraying composite insulator hydrophobicity detection system and method based on unmanned aerial vehicle |
| CN113933215B (en) * | 2021-11-27 | 2023-09-12 | 中国南方电网有限责任公司超高压输电公司曲靖局 | Composite insulator hydrophobicity detection system, method and device and storage medium |
| CN114235639B (en) * | 2021-12-13 | 2023-08-22 | 广东电网有限责任公司 | Composite insulator hydrophobicity detection system and method based on unmanned aerial vehicle |
| CN116625884B (en) * | 2023-07-20 | 2023-11-07 | 国网湖北省电力有限公司超高压公司 | Composite insulator hydrophobicity intelligent detection method and system based on unmanned aerial vehicle platform |
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