CN110989657A - Mid-tower patrol inspection method based on unmanned aerial vehicle infrared detection - Google Patents
Mid-tower patrol inspection method based on unmanned aerial vehicle infrared detection Download PDFInfo
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- CN110989657A CN110989657A CN201911120186.3A CN201911120186A CN110989657A CN 110989657 A CN110989657 A CN 110989657A CN 201911120186 A CN201911120186 A CN 201911120186A CN 110989657 A CN110989657 A CN 110989657A
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- 238000007689 inspection Methods 0.000 title claims abstract description 39
- 238000000034 method Methods 0.000 title claims abstract description 22
- 238000001514 detection method Methods 0.000 title claims abstract description 13
- 239000012212 insulator Substances 0.000 claims description 38
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- 241000196324 Embryophyta Species 0.000 description 2
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000010438 heat treatment Methods 0.000 description 2
- 239000002023 wood Substances 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000002159 abnormal effect Effects 0.000 description 1
- 235000005770 birds nest Nutrition 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 239000002689 soil Substances 0.000 description 1
- GOLXNESZZPUPJE-UHFFFAOYSA-N spiromesifen Chemical compound CC1=CC(C)=CC(C)=C1C(C(O1)=O)=C(OC(=O)CC(C)(C)C)C11CCCC1 GOLXNESZZPUPJE-UHFFFAOYSA-N 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 238000012876 topography Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
- 235000005765 wild carrot Nutrition 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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- Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)
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Abstract
Aiming at the problem that the prior art does not have a standard for power equipment inspection, the invention provides a mid-mast tower inspection method based on unmanned aerial vehicle infrared detection, which takes a take-off and landing point of an unmanned aerial vehicle as a reference and detects one side close to the take-off and landing point; when patrolling and examining, at first from supreme centering shaft tower one side of following patrols and examines, then crosses from the middle shaft tower top, patrols and examines from top to bottom again, accomplishes the process of patrolling and examining. According to the appearance of the medium tower, the routing inspection route of the unmanned aerial vehicle is set to be based on the take-off and landing point of the unmanned aerial vehicle, and one side close to the take-off and landing point is detected; when patrolling and examining, at first from supreme centering shaft tower one side of following patrolling and examining, then cross from the middle shaft tower top, again from last to patrolling and examining down, accomplish the process of patrolling and examining to saved and patrolled and examined the step, not missed moreover. In the process of patrolling and examining again, take the mode that the multi-angle was shot to the department of patrolling and examining, reduce the possibility of missing to shoot, finally promote the accuracy of patrolling and examining the result.
Description
Technical Field
The invention belongs to the field of unmanned aerial vehicle application, and particularly relates to a mid-tower patrol inspection method based on unmanned aerial vehicle infrared detection.
Background
The main contents of the early line tower patrol are as follows:
(1) whether the tower is inclined or not; whether the iron tower component is bent, deformed or rusted or not; whether the bolt is loosened or not; the concrete pole has no crack, is loose, the steel bar is exposed, and the welding position has no corrosion; the wood pole is rotten, burnt and cracked, the binding pile is loosened, and the wood wedge is deformed or separated.
(2) The foundation is not damaged, sinks or is pulled up, surrounding soil is excavated or sinks, and the electric pole in cold regions is frozen or not.
(3) Whether the position of the tower is proper or not, whether the possibility of collision by vehicles exists or not, whether the protection facilities are intact or not and whether the marks are clear or not.
(4) The tower is flooded by water or not, and flood control facilities are not damaged.
(5) Whether pole tower marks (pole numbers, phases, warning boards and the like) are complete or obvious.
(6) Weeds and vine plants are attached around the tower; the bird nest, the kite and sundries which are dangerous to the safety exist.
Unmanned aerial vehicle patrols and examines to be a detection means that has emerged in recent years, and is applied to power device and patrols and examines also to be applied to the heat of recent years. The inspection of the middle pole tower in the power system is started to be performed by the practical unmanned aerial vehicle, the inspection content is continuously changed, and the inspection of the periphery and the appearance of the original pole tower is changed into the inspection of a suspicious heating position.
However, at present, the unmanned aerial vehicle aiming at the power equipment is patrolled without an operation standard, and is mostly patrolled according to the experience of an operator. The obtained result is that the collecting effect is usually poor, details are not reflected, and the inspection result is finally influenced.
Disclosure of Invention
Aiming at the problem that in the prior art, no standard for power equipment inspection exists, the invention provides a mid-tower inspection method based on unmanned aerial vehicle infrared detection. The invention standardizes the inspection method of the mid-tower, standardizes the inspection of the unmanned aerial vehicle, reduces the risk of incomplete acquisition and improves the inspection accuracy.
The technical scheme adopted by the invention to solve the technical problems is as follows: a method for inspecting a mid-tower based on infrared detection of an unmanned aerial vehicle is characterized in that one side close to a take-off and landing point is detected firstly based on the take-off and landing point of the unmanned aerial vehicle; when patrolling and examining, at first from supreme centering shaft tower one side of following patrols and examines, then crosses from the middle shaft tower top, patrols and examines from top to bottom again, accomplishes the process of patrolling and examining.
Specifically, a method for patrolling a mid-tower based on unmanned aerial vehicle infrared detection is characterized by comprising the following steps:
1) the unmanned aerial vehicle is controlled to take off from a take-off and landing field and fly to the position 5-8 meters outside the left-phase or right-phase insulator of the object to be detected, and the position near the large-size side of the insulator of the No. 1 inspection operation point;
2) photographing the left phase or right phase and middle phase insulator bodies in the step 1) to reflect the temperature of the core rod, wherein at least 2 infrared pictures are taken at each position;
3) flying to the position of a No. 2 inspection operation point on the small-size side of the insulator body by using an unmanned aerial vehicle, and repeating the step 2);
4) enabling the unmanned aerial vehicle to be located at the equal-height position of the high-voltage end of the insulator;
5) then, enabling the unmanned aerial vehicle to fly to the position 5-8 meters outside the right-phase or left-phase insulator and near the large-size side of the insulator body of the 3# inspection operation point;
6) photographing the right-side phase or left-side phase and middle-phase insulator bodies to reflect the temperature of the core rod, wherein at least 2 infrared pictures are taken at each position;
7) and finally, flying to the 4# inspection operating point position on the small-size side of the insulator body by using an unmanned aerial vehicle, and repeating the step 6).
And 4), vertically ascending the unmanned aerial vehicle to the highest tower height plus 10 meters, then controlling the unmanned aerial vehicle to fly to the position where the horizontal distance between the other side of the tower and the line sideline is 15 meters, and vertically descending to the high-voltage end of the insulator and the like.
Has the advantages that: according to the appearance of the medium tower, the routing inspection route of the unmanned aerial vehicle is set to be based on the take-off and landing point of the unmanned aerial vehicle, and one side close to the take-off and landing point is detected; when patrolling and examining, at first from supreme centering shaft tower one side of following patrolling and examining, then cross from the middle shaft tower top, again from last to patrolling and examining down, accomplish the process of patrolling and examining to saved and patrolled and examined the step, not missed moreover. In the process of patrolling and examining again, take the mode that the multi-angle was shot to the department of patrolling and examining, reduce the possibility of missing to shoot, finally promote the accuracy of patrolling and examining the result.
Drawings
FIG. 1 is a diagram of an embodiment of the present invention.
Detailed Description
The invention will be further described with reference to the accompanying drawings.
As fig. 1, before unmanned aerial vehicle patrols and examines, should notice:
1. before operation, the airspace application procedure should be handled, and after airspace approval, the operation can be performed, and the change condition of the local airspace is closely tracked.
2. Before operation, the model and parameters of the inspection equipment, the coordinates and height of the tower, the topography and the landform around the inspection line and the peripheral cross-over condition are mastered.
3. Whether each part of the unmanned aerial vehicle is normal or not is checked before operation, and the unmanned aerial vehicle comprises an unmanned aerial vehicle body, a remote controller, a holder camera, a storage card, battery power and the like.
4. Before operation, weather conditions should be confirmed, and operation is not suitable for severe weather such as fog, snow, rain, hailstones, strong wind and the like.
5. Guarantee that on-the-spot safety measure is complete, forbid pedestrian and other irrelevant personnel to patrol and examine the on-the-spot stay at unmanned aerial vehicle, pay attention to the safe distance who keeps with irrelevant personnel constantly. The lifting place is prevented from being arranged below the routing inspection line, on a busy road and near a densely populated area.
6. An emergency air route is planned before operation, and the emergency air route comprises an air route transfer strategy, a safe return path, an emergency forced landing point and the like.
7. The unmanned aerial vehicle should keep sufficient safe distance with overhead transmission line when patrolling and examining.
The infrared inspection of unmanned aerial vehicle should satisfy relevant technical requirement, specifically as follows:
1. the background temperature of the insulator of the shooting target is lower than the temperature of the insulator to be shot, and the shooting background is sky generally.
2. The distance between the unmanned aerial vehicle and the shooting target can clearly distinguish the insulator umbrella skirt and the core rod.
3. The umbrella skirt at the detection position of the shooting target insulator does not shield the core rod. The detection positions are generally a high-voltage end, a low-voltage end and an abnormal heating position of the insulator.
As shown in fig. 1, the following steps of inspection and shooting of the tower in the application process are explained:
1) and controlling the unmanned aerial vehicle to take off from the take-off and landing field and fly to the position 5-8 meters outside the left-phase insulator and near a 1# inspection operation point (the large-size side of the insulator body).
2) And photographing the left phase insulator body and the middle phase insulator body. The shielding influence on the ground, a pole tower and the insulator umbrella skirt and hardware fittings is eliminated, the temperature of the core rod is reflected, and at least 2 infrared pictures are taken.
3) And (3) controlling the unmanned aerial vehicle to fly to the 2# (small-size side of the insulator body) position, and repeating the step 2.
4) The unmanned aerial vehicle is operated to vertically ascend to the height of the highest tower by 10 meters, the unmanned aerial vehicle is operated to fly to the position, where the horizontal distance between the other side of the tower and the line sideline is 15 meters, of the tower, and the unmanned aerial vehicle vertically descends to the position, such as the high voltage end of the insulator, equal height.
5) The unmanned aerial vehicle is operated to fly to the position 5-8 meters outside the right-phase insulator, and the position near a 3# inspection operating point (the large-size side of the insulator body).
6) And photographing the right-side phase insulator body and the middle-phase insulator body. The shielding influence on the ground, a pole tower and the insulator umbrella skirt and hardware fittings is eliminated, the temperature of the core rod is reflected, and at least 2 infrared pictures are taken.
7) And (4) controlling the unmanned aerial vehicle to fly to the 4# (small-size side of the insulator body) position, and repeating the step 6.
The unmanned aerial vehicle body inspection system is suitable for the unmanned aerial vehicle body inspection of the overhead transmission line, the safety requirements, the technical requirements, the operation flow, the inspection path and the shooting rules of the multi-rotor unmanned aerial vehicle inspection are standardized, and the quality and the efficiency of the unmanned aerial vehicle body inspection are further improved.
The invention standardizes the operation flow and the shooting method of the multi-rotor unmanned aerial vehicle body inspection, provides standard sample data for the intelligent defect identification technology and accelerates the research progress of the intelligent defect identification technology.
The above description is only an embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily change or replace the present invention within the technical scope of the present invention. Therefore, the protection scope of the present invention is subject to the protection scope of the claims.
Claims (3)
1. A method for inspecting a mid-tower based on infrared detection of an unmanned aerial vehicle is characterized in that one side close to a take-off and landing point is detected firstly based on the take-off and landing point of the unmanned aerial vehicle; when patrolling and examining, at first from supreme centering shaft tower one side of following patrols and examines, then crosses from the middle shaft tower top, patrols and examines from top to bottom again, accomplishes the process of patrolling and examining.
2. The method for inspecting the mid-tower based on the infrared detection of the unmanned aerial vehicle according to claim 1, is characterized by comprising the following steps:
1) the unmanned aerial vehicle is controlled to take off from a take-off and landing field and fly to the position 5-8 meters outside the left-phase or right-phase insulator of the object to be detected, and the position near the large-size side of the insulator of the No. 1 inspection operation point;
2) photographing the left phase or right phase and middle phase insulator bodies in the step 1) to reflect the temperature of the core rod, wherein at least 2 infrared pictures are taken at each position;
3) flying to the position of a No. 2 inspection operation point on the small-size side of the insulator body by using an unmanned aerial vehicle, and repeating the step 2);
4) enabling the unmanned aerial vehicle to be located at the equal-height position of the high-voltage end of the insulator;
5) then, enabling the unmanned aerial vehicle to fly to the position 5-8 meters outside the right-phase or left-phase insulator and near the large-size side of the insulator body of the 3# inspection operation point;
6) photographing the right-side phase or left-side phase and middle-phase insulator bodies to reflect the temperature of the core rod, wherein at least 2 infrared pictures are taken at each position;
7) and finally, flying to the 4# inspection operating point position on the small-size side of the insulator body by using an unmanned aerial vehicle, and repeating the step 6).
3. The unmanned aerial vehicle infrared detection-based mid-tower patrol inspection method according to claim 1, wherein the step 4) comprises a process of vertically ascending the unmanned aerial vehicle to the highest tower height plus 10 meters, then controlling the unmanned aerial vehicle to fly to a position where the horizontal distance between the other side of the tower and the line sideline is 15 meters, and vertically descending to a position as high as the high-voltage end of the insulator.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911120186.3A CN110989657A (en) | 2019-11-15 | 2019-11-15 | Mid-tower patrol inspection method based on unmanned aerial vehicle infrared detection |
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| CN201911120186.3A CN110989657A (en) | 2019-11-15 | 2019-11-15 | Mid-tower patrol inspection method based on unmanned aerial vehicle infrared detection |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111931577A (en) * | 2020-07-07 | 2020-11-13 | 国网上海市电力公司 | Intelligent inspection method for specific foreign matters of power grid line |
| CN112102686A (en) * | 2020-09-04 | 2020-12-18 | 国网山东省电力公司莱州市供电公司 | Unmanned aerial vehicle line inspection combined training pile and training method thereof |
| CN112799422A (en) * | 2021-04-06 | 2021-05-14 | 众芯汉创（北京）科技有限公司 | Unmanned aerial vehicle flight control method and device for power inspection |
| CN113671984A (en) * | 2021-07-07 | 2021-11-19 | 广东省科学院广州地理研究所 | Method for acquiring candidate flying points of mobile nest |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
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| CN113671984A (en) * | 2021-07-07 | 2021-11-19 | 广东省科学院广州地理研究所 | Method for acquiring candidate flying points of mobile nest |
| CN113671984B (en) * | 2021-07-07 | 2022-06-24 | 广东省科学院广州地理研究所 | Method for acquiring candidate flying points of mobile nest |
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Application publication date: 20200410 |