CN112051228A - Method, device and system for generating power transmission line inspection report - Google Patents
Method, device and system for generating power transmission line inspection report Download PDFInfo
- Publication number
- CN112051228A CN112051228A CN202010954976.8A CN202010954976A CN112051228A CN 112051228 A CN112051228 A CN 112051228A CN 202010954976 A CN202010954976 A CN 202010954976A CN 112051228 A CN112051228 A CN 112051228A
- Authority
- CN
- China
- Prior art keywords
- transmission line
- power transmission
- obstacle
- determining
- generating
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 230000005540 biological transmission Effects 0.000 title claims abstract description 145
- 238000007689 inspection Methods 0.000 title claims abstract description 74
- 238000000034 method Methods 0.000 title claims abstract description 57
- 238000001228 spectrum Methods 0.000 claims abstract description 45
- 239000000463 material Substances 0.000 claims abstract description 41
- 238000001514 detection method Methods 0.000 claims description 20
- 230000007547 defect Effects 0.000 claims description 13
- 230000004888 barrier function Effects 0.000 claims description 9
- 230000002159 abnormal effect Effects 0.000 claims description 4
- 238000001914 filtration Methods 0.000 claims description 4
- 230000001678 irradiating effect Effects 0.000 claims description 4
- 238000012545 processing Methods 0.000 abstract description 6
- 238000009877 rendering Methods 0.000 abstract description 5
- 230000008569 process Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 239000002105 nanoparticle Substances 0.000 description 4
- 238000010521 absorption reaction Methods 0.000 description 2
- 238000012937 correction Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000004445 quantitative analysis Methods 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 239000012212 insulator Substances 0.000 description 1
- 238000002536 laser-induced breakdown spectroscopy Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 239000000155 melt Substances 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 238000004451 qualitative analysis Methods 0.000 description 1
- 239000011435 rock Substances 0.000 description 1
- 239000002689 soil Substances 0.000 description 1
- 239000003643 water by type Substances 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/17—Systems in which incident light is modified in accordance with the properties of the material investigated
- G01N21/25—Colour; Spectral properties, i.e. comparison of effect of material on the light at two or more different wavelengths or wavelength bands
- G01N21/31—Investigating relative effect of material at wavelengths characteristic of specific elements or molecules, e.g. atomic absorption spectrometry
- G01N21/3103—Atomic absorption analysis
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N23/00—Investigating or analysing materials by the use of wave or particle radiation, e.g. X-rays or neutrons, not covered by groups G01N3/00 – G01N17/00, G01N21/00 or G01N22/00
- G01N23/02—Investigating or analysing materials by the use of wave or particle radiation, e.g. X-rays or neutrons, not covered by groups G01N3/00 – G01N17/00, G01N21/00 or G01N22/00 by transmitting the radiation through the material
- G01N23/04—Investigating or analysing materials by the use of wave or particle radiation, e.g. X-rays or neutrons, not covered by groups G01N3/00 – G01N17/00, G01N21/00 or G01N22/00 by transmitting the radiation through the material and forming images of the material
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/42—Simultaneous measurement of distance and other co-ordinates
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N2223/00—Investigating materials by wave or particle radiation
- G01N2223/60—Specific applications or type of materials
- G01N2223/646—Specific applications or type of materials flaws, defects
Abstract
The application discloses a method for generating a patrol inspection report of a power transmission line, which comprises the steps of determining the positions of obstacles around the power transmission line through position determination equipment; the position determining equipment is carried on an unmanned aerial vehicle flying along the power transmission line; acquiring a spectrum of atoms of the obstacle excited by laser, and determining the type of the material of the obstacle according to the spectrum; and generating a routing inspection report of the power transmission line according to the position and the material type. The inspection report generation method generates the inspection report according to the position of the obstacle and the material type of the obstacle, wherein the position of the obstacle is determined through the position determination equipment, the material type of the obstacle is directly determined through the spectrum of atoms excited by laser of the obstacle, the data of all environments where the power transmission line is located do not need to be subjected to denoising, deviation rectification, rendering and other processing, the method is very quick, and the inspection report generation efficiency is improved. In addition, the application also provides a device and a system with the advantages.
Description
Technical Field
The application relates to the technical field of line inspection, in particular to a method, a device and a system for generating an inspection report of a power transmission line.
Background
The transmission line has the function of transmitting electric energy and is an important infrastructure of a power grid. Obstacles such as branches often exist around the power transmission line, and once the obstacles are pressed on the power transmission line, the power transmission line is affected, and even the power transmission line is broken.
At present, an inspection report for inspecting a power transmission line includes an identification result of an obstacle around the power transmission line, a defect detection result of hardware on the power transmission line, and the like. The obstacle to the transmission line is identified through the unmanned aerial vehicle carrying the laser radar, the data of all environments where the transmission line is located are scanned at a certain height above the tower pole, then a series of processing processes such as denoising, deviation rectifying and rendering are carried out, point cloud data are classified according to categories, maps are needed to be used in the classification sometimes, and a transmission line model needs to be established, the whole identification process is very complicated, the efficiency is low, and then the generation process of the routing inspection report is complex, and the efficiency is low.
Therefore, how to solve the above technical problems should be a great concern to those skilled in the art.
Disclosure of Invention
The application aims to provide a method, a device and a system for generating a power transmission line inspection report so as to improve the generation efficiency of the inspection report.
In order to solve the technical problem, the present application provides a method for generating a polling report of a power transmission line, including:
determining the position of an obstacle around the power transmission line through position determining equipment; the position determining equipment is carried on an unmanned aerial vehicle flying along the power transmission line;
acquiring a spectrum of atoms of the obstacle excited by laser, and determining the type of the material of the obstacle according to the spectrum;
and generating a routing inspection report of the power transmission line according to the position and the material type.
Optionally, before the acquiring the spectrum of the atoms excited by the laser light on the obstacle, the method further includes:
determining a distance of the drone from the obstacle;
judging whether the distance is smaller than a preset distance threshold value or not;
if the distance is not smaller than the preset distance threshold, adjusting the position of the unmanned aerial vehicle so that the distance between the unmanned aerial vehicle and the obstacle is smaller than the preset distance threshold.
Optionally, the acquiring a spectrum of atoms of the obstacle excited by the laser includes:
sending a laser irradiation instruction to a laser so that the laser emits laser for irradiating the obstacle to enable the obstacle to be excited to form atoms;
acquiring the spectrum generated from the light emitted by the detector from the atoms.
Optionally, when the position determining device is a single line laser radar, the determining, by the position determining device, the position of an obstacle around the power transmission line includes:
acquiring the angle and the distance of the obstacle relative to the unmanned aerial vehicle through the single-line laser radar;
determining the position of the obstacle according to the angle, the distance, and the position of the drone.
Optionally, before determining, by the location determining device, the location of an obstacle around the power transmission line, the method further includes:
adjusting the head direction of the unmanned aerial vehicle to enable the head direction to be perpendicular to the power transmission line;
acquiring azimuth information of the power transmission line through the single-line laser radar; the orientation information comprises an angle and a distance;
judging whether the power transmission line is in a preset angle fluctuation range and a preset offline distance fluctuation range according to the azimuth information;
if not, correcting the unmanned aerial vehicle according to preset flight parameters so that the unmanned aerial vehicle flies along the power transmission line.
Optionally, the obtaining the azimuth information of the power transmission line by the single-line laser radar includes:
acquiring a plurality of angles to be processed and distances to be processed, which are sent by the single-line laser radar;
removing abnormal values in the angle to be processed and the distance to be processed by using a Kalman filtering algorithm, and correspondingly obtaining a removed angle and a removed distance;
determining the average value of the eliminated angles as the angle;
and determining the minimum value in the eliminated distances as the distance.
Optionally, after determining the type of the material of the obstacle according to the spectrum, the method further includes:
controlling X-ray flaw detection equipment to emit X-rays to hardware fittings on the power transmission line in different directions;
acquiring the intensity of the X-ray after the X-ray passes through the hardware fitting;
constructing an image of the hardware according to the X-ray intensity, and determining a defect detection result of the hardware according to the image;
correspondingly, the generating of the inspection report of the power transmission line according to the position and the material type includes:
and generating an inspection report of the power transmission line according to the position, the material type, the defect detection result and the hardware name.
The application also provides a transmission line's report generation device that patrols and examines, includes:
the determining module is used for determining the positions of obstacles around the power transmission line through the position determining equipment; the position determining equipment is carried on an unmanned aerial vehicle flying along the power transmission line;
the acquisition and determination module is used for acquiring the spectrum of the excited atoms of the obstacle and determining the material type of the obstacle according to the spectrum;
and the generating module is used for generating the inspection report of the power transmission line according to the position and the material type.
The present application further provides a system for generating a patrol report of a power transmission line, including:
an unmanned aerial vehicle;
a position determining device mounted on the drone;
the laser detection equipment is carried on the unmanned aerial vehicle and used for emitting laser for exciting the barrier, so that the barrier is excited to form atoms, and a spectrum is generated according to the atoms;
and the equipment for generating the inspection report of the power transmission line is used for executing the steps of any one of the methods for generating the inspection report of the power transmission line.
Optionally, the method further includes:
carry on at X ray inspection equipment on the unmanned aerial vehicle.
The method for generating the inspection report of the power transmission line comprises the steps of determining the positions of obstacles around the power transmission line through position determination equipment; the position determining equipment is carried on an unmanned aerial vehicle flying along the power transmission line; acquiring a spectrum of atoms of the obstacle excited by laser, and determining the type of the material of the obstacle according to the spectrum; and generating a routing inspection report of the power transmission line according to the position and the material type.
Therefore, the patrol report generation method generates the patrol report according to the position of the obstacle and the material type of the obstacle, wherein the position of the obstacle is determined through the position determination equipment, the material type of the obstacle is directly determined by the spectrum of the atoms excited by the laser of the obstacle, the data of all environments where the power transmission line is located do not need to be subjected to denoising, deviation rectification, rendering and other processing, the patrol report generation method is very quick, and the patrol report generation efficiency is improved.
In addition, the application also provides a device and a system with the advantages.
Drawings
For a clearer explanation of the embodiments or technical solutions of the prior art of the present application, the drawings needed for the description of the embodiments or prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a flowchart of a method for generating a polling report of a power transmission line according to an embodiment of the present application;
fig. 2 is a flowchart of another method for generating a polling report of a power transmission line according to the embodiment of the present application;
fig. 3 is a flowchart of another method for generating a polling report of a power transmission line according to the embodiment of the present application;
fig. 4 is a block diagram of a structure of an inspection report generation apparatus for a power transmission line according to an embodiment of the present disclosure;
fig. 5 is a schematic diagram of a system for generating an inspection report of a power transmission line according to an embodiment of the present application.
Detailed Description
In order that those skilled in the art will better understand the disclosure, the following detailed description will be given with reference to the accompanying drawings. It is to be understood that the embodiments described are only a few embodiments of the present application and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, but the present invention may be practiced in other ways than those specifically described and will be readily apparent to those of ordinary skill in the art without departing from the spirit of the present invention, and therefore the present invention is not limited to the specific embodiments disclosed below.
As described in the background section, at present, an unmanned aerial vehicle carrying a laser radar is used for identifying obstacles of a power transmission line, data of all environments where the power transmission line is located are scanned at a certain height above a tower pole, then a series of processing processes such as denoising, deviation rectifying and rendering are performed, point cloud data are classified according to categories, the categories are divided into vegetation, rivers and the like, a map is needed to be used when the data are classified, a power transmission line model needs to be established, the whole identification process is very complicated, the efficiency is low, and the generation efficiency of an inspection report is low.
In view of this, the present application provides a method for generating an inspection report of a power transmission line, please refer to fig. 1, where fig. 1 is a flowchart of the method for generating an inspection report of a power transmission line provided in an embodiment of the present application, and the method includes:
step S101: determining the position of an obstacle around the power transmission line through position determining equipment; the position determining device is mounted on an unmanned aerial vehicle flying along the power transmission line.
Optionally, when the position determining device is a single line laser radar, the determining, by the position determining device, the position of an obstacle around the power transmission line includes:
acquiring the angle and the distance of the obstacle relative to the unmanned aerial vehicle through the single-line laser radar;
determining the position of the obstacle according to the angle, the distance, and the position of the drone.
It should be noted that the position of the obstacle may also be measured by a multi-line laser radar or an infrared distance measuring device.
It should be pointed out that unmanned aerial vehicle's position is absolute position, again according to barrier and unmanned aerial vehicle's relative angle and distance, alright in order to obtain the position of barrier.
Step S102: acquiring a spectrum of atoms of the obstacle excited by the laser, and determining the type of the material of the obstacle according to the spectrum.
Optionally, the acquiring a spectrum of atoms of the obstacle excited by the laser includes:
sending a laser irradiation instruction to a laser so that the laser emits laser for irradiating the obstacle to enable the obstacle to be excited to form atoms;
acquiring said spectrum generated by the detector from the light emitted by the atoms.
Wherein the determination of the material type of the obstacle is based on a laser induced breakdown spectroscopy technique. The laser is a focused pulse laser, and can emit thousands of times within 1 second, so that the area irradiated by the laser on the obstacle is ablated and stripped, and a nano particle cloud is formed above the obstacle. Since the peak energy of the laser is rather high, its absorption and multiphoton ionization effects increase the opacity of the nanoparticle cloud generated above the obstacle. The energy of the laser is significantly absorbed by the cloud of nanoparticles, gradually forming a plasma, which melts the nanoparticles, exciting the atoms therein and emitting light. The detector can generate a spectrum according to light emitted by the atoms, and the spectrum is analyzed to obtain element information existing in the barrier, namely the material type of the barrier. The analysis of the spectrum includes qualitative analysis and quantitative analysis.
In quantitative analysis, the detection limit of most elements can reach 10ppm to 100ppm, the relative standard deviation of the measurement result can reach 3-5%, and the detection limit can reach 2% or even less than 1% for homogeneous materials, and the accuracy is high.
Step S103: and generating a routing inspection report of the power transmission line according to the position and the material type.
The inspection report generation method generates the inspection report according to the position of the obstacle and the material type of the obstacle, wherein the position of the obstacle is determined through the position determination equipment, the material type of the obstacle is directly determined through the spectrum of atoms excited by laser of the obstacle, the data of all environments where the power transmission line is located do not need to be subjected to denoising, deviation rectification, rendering and other processing, the method is very quick, and the inspection report generation efficiency is improved.
Referring to fig. 2, fig. 2 is a flowchart of another method for generating a polling report of a power transmission line according to an embodiment of the present application. The method comprises the following steps:
step S201: determining the position of an obstacle around the power transmission line through position determining equipment; the position determining device is mounted on an unmanned aerial vehicle flying along the power transmission line.
Step S202: determining a distance of the drone from the obstacle.
Step S203: and judging whether the distance is smaller than a preset distance threshold value.
It should be noted that, in the present application, the preset distance threshold is not specifically set, and may be determined as the case may be. Typically, the predetermined distance threshold may be 4 meters.
Step S204: if the distance is not smaller than the preset distance threshold, adjusting the position of the unmanned aerial vehicle so that the distance between the unmanned aerial vehicle and the obstacle is smaller than the preset distance threshold.
And when the distance between the unmanned aerial vehicle and the obstacle is smaller than the preset distance threshold, directly performing step S205.
Step S205: acquiring a spectrum of atoms of the obstacle excited by the laser, and determining the type of the material of the obstacle according to the spectrum.
Step S206: and generating a routing inspection report of the power transmission line according to the position and the material type.
In this embodiment, after determining that the distance between the unmanned aerial vehicle and the obstacle is smaller than the preset distance threshold, the spectrum of the atom excited by the laser on the obstacle is obtained, the material type of the obstacle is determined, the accuracy of obtaining the spectrum can be improved, and the accuracy of the determination result of the material type is further improved.
On the basis of the foregoing embodiment, in an embodiment of the present application, before determining, by the location determination device, the location of an obstacle around the power transmission line, the method further includes:
adjusting the head direction of the unmanned aerial vehicle to enable the head direction to be perpendicular to the power transmission line;
acquiring azimuth information of the power transmission line through the single-line laser radar; the orientation information comprises an angle and a distance;
judging whether the power transmission line is in a preset angle fluctuation range and a preset offline distance fluctuation range according to the azimuth information;
if not, correcting the unmanned aerial vehicle according to preset flight parameters so that the unmanned aerial vehicle flies along the power transmission line.
If the power transmission line is in the preset angle fluctuation range and the preset off-line distance fluctuation range, correction is not needed, and the current flight state is maintained.
Preferably, during the adjustment unmanned aerial vehicle's aircraft nose direction, control unmanned aerial vehicle flight to the parallel position with transmission line, parallel position is transmission line's left side or right side, and single line laser radar is at same horizontal plane with transmission line. At this time, the single line laser radar is over against the power transmission line, and the angle between the single line laser radar and the power transmission line is 90 degrees.
It should be noted that the preset angle fluctuation range is not specifically limited in the present application, as the case may be. For example, the predetermined angular fluctuation range may be 85 ° to 95 °. Similarly, the preset offline distance fluctuation range in the present application is not specifically limited, depending on the situation. For example, the preset off-line distance fluctuation range may be 4m to 6 m.
Further, the obtaining the azimuth information of the power transmission line through the single-line laser radar includes:
acquiring a plurality of angles to be processed and distances to be processed, which are sent by the single-line laser radar;
removing abnormal values in the angle to be processed and the distance to be processed by using a Kalman filtering algorithm, and correspondingly obtaining a removed angle and a removed distance;
determining the average value of the eliminated angles as the angle;
and determining the minimum value in the eliminated distances as the distance.
Because the single line laser radar obtains the distance and the angle within the range of 360 degrees, the unmanned aerial vehicle is closest to the power transmission line, the angle between the single line laser radar and the power transmission line is 90 degrees, a group of distances are screened out to be the minimum, and the angle and the distance information of which are 90 degrees are the real-time azimuth information of the power transmission line.
Referring to fig. 3, fig. 3 is a flowchart of another method for generating a polling report of a power transmission line according to an embodiment of the present application. The method comprises the following steps:
step S301: determining the position of an obstacle around the power transmission line through position determining equipment; the position determining device is mounted on an unmanned aerial vehicle flying along the power transmission line.
Step S302: determining a distance of the drone from the obstacle.
Step S303: and judging whether the distance is smaller than a preset distance threshold value.
Step S304: if the distance is not smaller than the preset distance threshold, adjusting the position of the unmanned aerial vehicle so that the distance between the unmanned aerial vehicle and the obstacle is smaller than the preset distance threshold.
Step S305: acquiring a spectrum of atoms of the obstacle excited by the laser, and determining the type of the material of the obstacle according to the spectrum.
Step S306: and controlling X-ray flaw detection equipment to emit X-rays to hardware fittings on the power transmission line in different directions.
The hardware refers to a metal part for connecting the pole tower, the transmission line, the ground wire and the insulator.
When the X-ray penetrates through the hardware, the absorption capacity of the defect part of the hardware to the X-ray is different from that of the surrounding intact part, so that the intensity of the X-ray penetrating through the defect part is different from that of the surrounding intact part.
Step S307: and acquiring the intensity of the X-ray after the X-ray passes through the hardware.
Step S308: and constructing an image of the hardware according to the X-ray intensity, and determining a defect detection result of the hardware according to the image.
And performing analog-to-digital conversion on the intensity of the X-ray to obtain digital quantity intensity information of different parts, and performing correction and image reconstruction processing on the digital quantity intensity information to obtain a real image of the hardware on a certain section so as to determine a defect detection result of the hardware.
Step S309: and generating an inspection report of the power transmission line according to the position, the material type, the defect detection result and the hardware name.
Optionally, in an embodiment of the present application, after determining the type of the material of the obstacle according to the spectrum, the method further includes:
acquiring an environment spectrum of atoms excited by laser in the environment of the power transmission line, and determining the type of the environment of the power transmission line according to the environment spectrum;
the type of environment may be waters, mountain soil, rocks, and the like.
Correspondingly, generating the inspection report of the power transmission line according to the position and the material type comprises the following steps:
and generating a routing inspection report of the power transmission line according to the position, the material type and the type of the environment.
In the following, the inspection report generation device for the power transmission line provided by the embodiment of the present application is introduced, and the inspection report generation device for the power transmission line described below and the inspection report generation method for the power transmission line described above may be referred to in correspondence with each other.
Fig. 4 is a block diagram of a structure of an inspection report generation apparatus for a power transmission line according to an embodiment of the present application, where in reference to fig. 4, the inspection report generation apparatus for a power transmission line may include:
a determining module 100, configured to determine, by a position determining device, positions of obstacles around a power transmission line; the position determining equipment is carried on an unmanned aerial vehicle flying along the power transmission line;
an obtaining and determining module 200, configured to obtain a spectrum of atoms excited by the obstacle, and determine a material type of the obstacle according to the spectrum;
a generating module 300, configured to generate an inspection report of the power transmission line according to the position and the material type.
The inspection report generation device for a power transmission line of this embodiment is used to implement the foregoing inspection report generation method for a power transmission line, and therefore, specific embodiments in the inspection report generation device for a power transmission line may refer to the foregoing embodiments of the inspection report generation method for a power transmission line, for example, the determining module 100, the obtaining and determining module 200, and the generating module 300, which are respectively used to implement steps S101, S102, and S103 in the foregoing inspection report generation method for a power transmission line, so that the specific embodiments thereof may refer to descriptions of corresponding embodiments of each part, and are not described herein again.
Optionally, the device for generating an inspection report of an electrical line further includes:
a distance determination module for determining a distance between the drone and the obstacle;
the first judgment module is used for judging whether the distance is smaller than a preset distance threshold value or not;
and the adjusting module is used for adjusting the position of the unmanned aerial vehicle if the distance is not less than the preset distance threshold value, so that the distance between the unmanned aerial vehicle and the obstacle is less than the preset distance threshold value.
Optionally, the obtaining and determining module 200 includes:
a sending unit, configured to send a laser irradiation instruction to a laser device, so that the laser device emits laser light for irradiating the obstacle, and the obstacle is excited to emit atoms;
a first acquisition unit for acquiring the spectrum generated by the detector from the light emitted by the atoms.
Optionally, the determining module 100 is specifically configured to:
acquiring the angle and the distance of the obstacle relative to the unmanned aerial vehicle through the single-line laser radar;
determining the position of the obstacle according to the angle, the distance, and the position of the drone.
Optionally, the device for generating an inspection report of an electrical line further includes:
the direction adjusting module is used for adjusting the head direction of the unmanned aerial vehicle so as to enable the head direction to be perpendicular to the power transmission line;
the azimuth acquisition module is used for acquiring azimuth information of the power transmission line through the single-line laser radar; the orientation information comprises an angle and a distance;
the second judgment module is used for judging whether the power transmission line is in a preset angle fluctuation range and a preset offline distance fluctuation range according to the azimuth information;
and the deviation rectifying module is used for rectifying the deviation of the unmanned aerial vehicle according to preset flight parameters if the unmanned aerial vehicle does not fly along the power transmission line.
Optionally, the position obtaining module includes:
the second acquisition unit is used for acquiring a plurality of angles to be processed and distances to be processed which are sent by the single-line laser radar;
the eliminating unit is used for removing abnormal values in the angle to be processed and the distance to be processed by using a Kalman filtering algorithm, and correspondingly obtaining an eliminated angle and an eliminated distance;
the first determining unit is used for determining the average value of the removed angles as the angle;
and the second determining unit is used for determining the minimum value in the eliminated distances as the distance.
Optionally, the device for generating an inspection report of an electrical line further includes:
the control module is used for controlling the X-ray flaw detection equipment to emit X-rays to hardware fittings on the power transmission line in different directions;
the intensity acquisition module is used for acquiring the intensity of the X-ray after the X-ray passes through the hardware fitting;
the defect determining module is used for constructing an image of the hardware according to the X-ray intensity and determining a defect detection result of the hardware according to the image;
correspondingly, the generating module 300 is specifically configured to generate the inspection report of the power transmission line according to the position, the material type, the defect detection result, and the hardware name.
In the following, the system for generating an inspection report of a power transmission line provided by the embodiment of the present application is introduced, and the system for generating an inspection report of a power transmission line described below and the method for generating an inspection report of a power transmission line described above may be referred to in a corresponding manner.
Referring to fig. 5, fig. 5 is a schematic structural diagram of a system for generating an inspection report of a power transmission line according to an embodiment of the present application, where the system includes:
an unmanned aerial vehicle 1;
a position determination device 2 mounted on the unmanned aerial vehicle 1;
the laser detection equipment 3 is mounted on the unmanned aerial vehicle 1 and used for emitting laser for exciting the obstacle, enabling the obstacle to be excited to form atoms and generating a spectrum according to the atoms;
the inspection report generation device 4 of the power transmission line is configured to execute the steps of the inspection report generation method of the power transmission line according to the above embodiment.
The laser detection device 3 comprises a laser and a detector.
Optionally, the system for generating a tour inspection report further includes:
carry on at X ray inspection equipment on the unmanned aerial vehicle.
The embodiments are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same or similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
Those of skill would further appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative components and steps have been described above generally in terms of their functionality in order to clearly illustrate this interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. A software module may reside in Random Access Memory (RAM), memory, Read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.
The method, the device and the system for generating the power transmission line inspection report are described in detail above. The principles and embodiments of the present application are explained herein using specific examples, which are provided only to help understand the method and the core idea of the present application. It should be noted that, for those skilled in the art, it is possible to make several improvements and modifications to the present application without departing from the principle of the present application, and such improvements and modifications also fall within the scope of the claims of the present application.
Claims (10)
1. A method for generating a patrol report of a power transmission line is characterized by comprising the following steps:
determining the position of an obstacle around the power transmission line through position determining equipment; the position determining equipment is carried on an unmanned aerial vehicle flying along the power transmission line;
acquiring a spectrum of atoms of the obstacle excited by laser, and determining the type of the material of the obstacle according to the spectrum;
and generating a routing inspection report of the power transmission line according to the position and the material type.
2. The method for generating an inspection report for an electric transmission line according to claim 1, further comprising, before the acquiring the spectrum of the atoms excited by the laser of the obstacle:
determining a distance of the drone from the obstacle;
judging whether the distance is smaller than a preset distance threshold value or not;
if the distance is not smaller than the preset distance threshold, adjusting the position of the unmanned aerial vehicle so that the distance between the unmanned aerial vehicle and the obstacle is smaller than the preset distance threshold.
3. The method for generating an inspection report for an electric transmission line according to claim 1 or 2, wherein the acquiring a spectrum of atoms of the obstacle excited by the laser comprises:
sending a laser irradiation instruction to a laser so that the laser emits laser for irradiating the obstacle to enable the obstacle to be excited to emit the atoms;
acquiring the spectrum generated by a detector from the light emitted by the atoms.
4. The inspection report generating method of an electric transmission line according to claim 3, wherein when the position determining device is a single line laser radar, the determining the position of the obstacle around the electric transmission line by the position determining device includes:
acquiring the angle and the distance of the obstacle relative to the unmanned aerial vehicle through the single-line laser radar;
determining the position of the obstacle according to the angle, the distance, and the position of the drone.
5. The method for generating an inspection report on an electric transmission line according to claim 4, wherein before the determining the position of the obstacle around the electric transmission line by the position determining device, the method further comprises:
adjusting the head direction of the unmanned aerial vehicle to enable the head direction to be perpendicular to the power transmission line;
acquiring azimuth information of the power transmission line through the single-line laser radar; the orientation information comprises an angle and a distance;
judging whether the power transmission line is in a preset angle fluctuation range and a preset offline distance fluctuation range according to the azimuth information;
if not, correcting the unmanned aerial vehicle according to preset flight parameters so that the unmanned aerial vehicle flies along the power transmission line.
6. The method for generating an inspection report on an electric transmission line according to claim 5, wherein the obtaining of the azimuth information of the electric transmission line by the single line lidar comprises:
acquiring a plurality of angles to be processed and distances to be processed, which are sent by the single-line laser radar;
removing abnormal values in the angle to be processed and the distance to be processed by using a Kalman filtering algorithm, and correspondingly obtaining a removed angle and a removed distance;
determining the average value of the eliminated angles as the angle;
and determining the minimum value in the eliminated distances as the distance.
7. The method for generating an inspection report for an electric transmission line according to claim 1, wherein after determining the type of the material of the obstacle according to the spectrum, the method further comprises:
controlling X-ray flaw detection equipment to emit X-rays to hardware fittings on the power transmission line in different directions;
acquiring the intensity of the X-ray after the X-ray passes through the hardware fitting;
constructing an image of the hardware according to the X-ray intensity, and determining a defect detection result of the hardware according to the image;
correspondingly, the generating of the inspection report of the power transmission line according to the position and the material type includes:
and generating an inspection report of the power transmission line according to the position, the material type, the defect detection result and the hardware name.
8. The utility model provides a transmission line's patrol and examine report generating device which characterized in that includes:
the determining module is used for determining the positions of obstacles around the power transmission line through the position determining equipment; the position determining equipment is carried on an unmanned aerial vehicle flying along the power transmission line;
the acquisition and determination module is used for acquiring the spectrum of the excited atoms of the obstacle and determining the material type of the obstacle according to the spectrum;
and the generating module is used for generating the inspection report of the power transmission line according to the position and the material type.
9. The utility model provides a system for generating patrol inspection report of transmission line which characterized in that includes:
an unmanned aerial vehicle;
a position determining device mounted on the drone;
the laser detection equipment is carried on the unmanned aerial vehicle and used for emitting laser for exciting the barrier, so that the barrier is excited to form atoms, and a spectrum is generated according to the atoms;
an inspection report generating apparatus of a power transmission line for performing the steps of the inspection report generating method of a power transmission line according to any one of claims 1 to 7.
10. The inspection report generating system for electric transmission lines of claim 9, further comprising:
carry on at X ray inspection equipment on the unmanned aerial vehicle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010954976.8A CN112051228B (en) | 2020-09-11 | 2020-09-11 | Method, device and system for generating transmission line inspection report |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010954976.8A CN112051228B (en) | 2020-09-11 | 2020-09-11 | Method, device and system for generating transmission line inspection report |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112051228A true CN112051228A (en) | 2020-12-08 |
| CN112051228B CN112051228B (en) | 2023-11-03 |
Family
ID=73610038
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010954976.8A Active CN112051228B (en) | 2020-09-11 | 2020-09-11 | Method, device and system for generating transmission line inspection report |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112051228B (en) |
Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106772412A (en) * | 2016-11-25 | 2017-05-31 | 国家电网公司 | The measuring method and device of the transmission line of electricity space length of unmanned plane |
| CN206209409U (en) * | 2016-11-25 | 2017-05-31 | 国家电网公司 | Unmanned aerial vehicle control system and unmanned plane |
| CN108037770A (en) * | 2017-11-22 | 2018-05-15 | 国网山东省电力公司济宁供电公司 | Unmanned plane power transmission line polling system and method based on artificial intelligence |
| CN108319982A (en) * | 2018-02-06 | 2018-07-24 | 贵州电网有限责任公司 | A kind of power-line patrolling unmanned plane Fusion obstacle detection method |
| CN109461142A (en) * | 2018-10-11 | 2019-03-12 | 广东电网有限责任公司 | Route Analysis of Potential method, apparatus and electric terminal |
| CN109541613A (en) * | 2018-11-26 | 2019-03-29 | 国网宁夏电力有限公司银川供电公司 | Aerial high-voltage conducting wire cruising inspection system and method for inspecting based on single line laser ranging |
| CN110308457A (en) * | 2018-03-27 | 2019-10-08 | 深圳天眼激光科技有限公司 | A kind of power transmission line polling system based on unmanned plane |
| CN110553734A (en) * | 2019-08-30 | 2019-12-10 | 国网福建省电力有限公司漳州供电公司 | Method for patrolling hidden danger of power transmission channel by carrying multispectral equipment through unmanned aerial vehicle |
| CN110833498A (en) * | 2019-11-27 | 2020-02-25 | 广东工业大学 | Blind guiding stick and blind guiding method thereof |
| CN111077904A (en) * | 2019-12-26 | 2020-04-28 | 国网宁夏电力有限公司固原供电公司 | Refined autonomous inspection method and device based on single-line laser radar multi-rotor unmanned aerial vehicle |
| CN111244822A (en) * | 2020-03-20 | 2020-06-05 | 广东电网有限责任公司 | Fixed-wing unmanned aerial vehicle line patrol method, system and device in complex geographic environment |
| CN111324143A (en) * | 2020-02-28 | 2020-06-23 | 广东电网有限责任公司 | Unmanned aerial vehicle autonomous patrol obstacle avoidance system, method and computer equipment |
| CN111555180A (en) * | 2020-05-08 | 2020-08-18 | 广东电网有限责任公司东莞供电局 | Method and system for eliminating line obstacle |
-
2020
- 2020-09-11 CN CN202010954976.8A patent/CN112051228B/en active Active
Patent Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106772412A (en) * | 2016-11-25 | 2017-05-31 | 国家电网公司 | The measuring method and device of the transmission line of electricity space length of unmanned plane |
| CN206209409U (en) * | 2016-11-25 | 2017-05-31 | 国家电网公司 | Unmanned aerial vehicle control system and unmanned plane |
| CN108037770A (en) * | 2017-11-22 | 2018-05-15 | 国网山东省电力公司济宁供电公司 | Unmanned plane power transmission line polling system and method based on artificial intelligence |
| CN108319982A (en) * | 2018-02-06 | 2018-07-24 | 贵州电网有限责任公司 | A kind of power-line patrolling unmanned plane Fusion obstacle detection method |
| CN110308457A (en) * | 2018-03-27 | 2019-10-08 | 深圳天眼激光科技有限公司 | A kind of power transmission line polling system based on unmanned plane |
| CN109461142A (en) * | 2018-10-11 | 2019-03-12 | 广东电网有限责任公司 | Route Analysis of Potential method, apparatus and electric terminal |
| CN109541613A (en) * | 2018-11-26 | 2019-03-29 | 国网宁夏电力有限公司银川供电公司 | Aerial high-voltage conducting wire cruising inspection system and method for inspecting based on single line laser ranging |
| CN110553734A (en) * | 2019-08-30 | 2019-12-10 | 国网福建省电力有限公司漳州供电公司 | Method for patrolling hidden danger of power transmission channel by carrying multispectral equipment through unmanned aerial vehicle |
| CN110833498A (en) * | 2019-11-27 | 2020-02-25 | 广东工业大学 | Blind guiding stick and blind guiding method thereof |
| CN111077904A (en) * | 2019-12-26 | 2020-04-28 | 国网宁夏电力有限公司固原供电公司 | Refined autonomous inspection method and device based on single-line laser radar multi-rotor unmanned aerial vehicle |
| CN111324143A (en) * | 2020-02-28 | 2020-06-23 | 广东电网有限责任公司 | Unmanned aerial vehicle autonomous patrol obstacle avoidance system, method and computer equipment |
| CN111244822A (en) * | 2020-03-20 | 2020-06-05 | 广东电网有限责任公司 | Fixed-wing unmanned aerial vehicle line patrol method, system and device in complex geographic environment |
| CN111555180A (en) * | 2020-05-08 | 2020-08-18 | 广东电网有限责任公司东莞供电局 | Method and system for eliminating line obstacle |
Non-Patent Citations (2)
| Title |
|---|
| 丁薇;黄绪勇;谭向宇;彭晶;于辉;聂鼎;: "基于机载激光点云的输电线路走廊树障自动化检测方法", 测绘与空间地理信息, no. 11, pages 135 - 138 * |
| 张险峰;陈功;龙维;程正逢;张凯;: "激光雷达直升机巡线技术的现状与应用前景", 电力建设, no. 03, pages 52 - 55 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112051228B (en) | 2023-11-03 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112033414A (en) | Unmanned aerial vehicle inspection route generation method, device, equipment and medium | |
| CN113313005B (en) | Power transmission conductor on-line monitoring method and system based on target identification and reconstruction | |
| Mirallès et al. | State-of-the-art review of computer vision for the management of power transmission lines | |
| Zormpas et al. | Power transmission lines inspection using properly equipped unmanned aerial vehicle (UAV) | |
| WO2018019278A1 (en) | Small radar-based thunder and lightning monitoring and warning method for electric transmission line, and storage medium | |
| CN108037514A (en) | One kind carries out screen of trees safety detection method using laser point cloud | |
| CN102353355A (en) | Method for measuring power transmission line pole and tower inclination based on video differences | |
| CN109541613A (en) | Aerial high-voltage conducting wire cruising inspection system and method for inspecting based on single line laser ranging | |
| CN111402447A (en) | Power grid line inspection method, server, system and storage medium | |
| CN111490489A (en) | Unmanned aerial vehicle trajectory planning method and device for power transmission line inspection | |
| CN113252701A (en) | Cloud edge cooperation-based power transmission line insulator self-explosion defect detection system and method | |
| Li et al. | Application of LiDAR technology in power line inspection | |
| CN112051228A (en) | Method, device and system for generating power transmission line inspection report | |
| EP4200683A1 (en) | Method and system for object capture | |
| CN113777622A (en) | Method and device for identifying rail obstacle | |
| US20220244303A1 (en) | Method for ascertaining and depicting potential damaged areas on components of overhead cables | |
| Mikhalap et al. | Study of overhead power line corridors on the territory of pskov region (russia) based on satellite sounding data | |
| CN103487813A (en) | Electric transmission line wildfire monitoring system and method based on laser radar technique | |
| Park et al. | Automatic inspection drone with deep learning-based auto-tracking camera gimbal to detect defects in power lines | |
| CN113223155A (en) | Distance prediction method, device, equipment and medium | |
| Kreutzfeldt et al. | Analytical volume model for optimized spatial radar bat detection in onshore wind parks | |
| CN110940278A (en) | Power inspection data processing method and device, computer equipment and storage medium | |
| CN108845526B (en) | Ancient building lightning protection method and system with combined effect of carbon dioxide and laser | |
| CN112835376B (en) | Machine head positioning method and system for unmanned aerial vehicle electricity testing | |
| Leaverton | Generation drone: The future of utility o&m |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |