CN112053461A - Unmanned aerial vehicle-based power inspection method - Google Patents
Unmanned aerial vehicle-based power inspection method Download PDFInfo
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- CN112053461A CN112053461A CN202010972935.1A CN202010972935A CN112053461A CN 112053461 A CN112053461 A CN 112053461A CN 202010972935 A CN202010972935 A CN 202010972935A CN 112053461 A CN112053461 A CN 112053461A
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C1/00—Registering, indicating or recording the time of events or elapsed time, e.g. time-recorders for work people
- G07C1/20—Checking timed patrols, e.g. of watchman
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
Abstract
The invention relates to the technical field of power inspection, and discloses a power inspection method based on an unmanned aerial vehicle. This electric power inspection method based on unmanned aerial vehicle avoids the record through the line obstacle, and unmanned aerial vehicle is patrolling and examining the in-process, and infrared ranging system gathers the distance data of unmanned aerial vehicle and ground, judges that the forest tree grows the condition so, and if the trees under the unmanned aerial vehicle patrols and examines the route grow to when threatening unmanned aerial vehicle's height soon, ground personnel can send the people to go to cut down and prune these trees, and unmanned aerial vehicle can consequently not appear the damage, and positioning system can make things convenient for the unmanned aerial vehicle to find back after the dropout.
Description
Technical Field
The invention relates to the technical field of power inspection, in particular to a power inspection method based on an unmanned aerial vehicle.
Background
Unmanned aerial vehicle patrols and examines as an use equipment of patrolling and examining such as visible light and thermal infrared imager to the transmission line and patrols and examines the whole new technique of patrolling and examining, rapid has, work efficiency is high, do not receive the region influence, it is high and high advantage of security to patrol and examine, according to statistics, application unmanned aerial vehicle carries out defect identification, the shaft tower bottleneck reaches above position, the artifical defect that is difficult to discover accounts for than 78.5%, efficiency and quality are showing and are improving to the equipment body is patrolled and examined, and greatly reduced intensity of labour, it patrols and examines efficiency to have promoted, the operation maintenance ability to the power equipment state has been.
The traditional unmanned aerial vehicle power inspection method is simple, if the inspection line naturally changes, the unmanned aerial vehicle can be damaged with great probability, and therefore the unmanned aerial vehicle-based power inspection method is provided.
Disclosure of Invention
Technical problem to be solved
Aiming at the defects of the prior art, the invention provides the power inspection method based on the unmanned aerial vehicle, which has the advantages of collecting information of natural conditions in a line and the like, and solves the problems that the traditional power inspection method of the unmanned aerial vehicle is simple, and the unmanned aerial vehicle is damaged with great probability if the inspection line is naturally changed.
(II) technical scheme
In order to achieve the purpose of acquiring the natural condition information in the line, the invention provides the following technical scheme: an electric power inspection method based on an unmanned aerial vehicle comprises the following steps:
1) the unmanned aerial vehicle carries an illuminating system, an infrared imaging system, a video recording system, an infrared distance measuring system, a GPS positioning system, a control system and a signal receiving and transmitting system, and a signal transceiver and a display are arranged on the ground;
2) formulating an inspection line, formulating a reasonable unmanned aerial vehicle inspection line according to the trend of the power system, clearing forest obstacles in the line, recording the height of a cliff, generating a three-dimensional line, and burning the line into a control system of the unmanned aerial vehicle;
3) in the daytime inspection, starting the unmanned aerial vehicle in the hailsless weather with wind power not higher than four levels, taking off to inspect according to an inspection line, shooting an inspection video by a video recording system on the unmanned aerial vehicle, sending the inspection video to a signal transceiver on the ground through a signal transceiving system, and monitoring by ground personnel in real time through a display;
4) during night inspection, starting the unmanned aerial vehicle in the hailsless weather with wind power not higher than four levels, taking off according to an inspection line for inspection, shooting an inspection video by an infrared imaging system on the unmanned aerial vehicle, sending the inspection video to a signal transceiver on the ground through a signal transceiver system, and monitoring by ground personnel in real time through a display;
5) the method comprises the following steps of recording line obstacle avoidance, wherein in the process of routing inspection of the unmanned aerial vehicle, an infrared distance measuring system collects distance data between the unmanned aerial vehicle and the ground, judging the growth condition of trees, and recording road conditions possibly influencing routing inspection of the unmanned aerial vehicle by ground personnel to remove obstacles;
6) and automatically correcting the deviation, wherein a GPS (global positioning system) in the unmanned aerial vehicle positions the unmanned aerial vehicle in real time, transmits data to a control system, and corrects the deviation in time when the unmanned aerial vehicle deviates from a routing inspection route.
Preferably, step 1 unmanned aerial vehicle carries on lighting system, infrared imaging system, video recording system, infrared ranging system, GPS positioning system, control system and signal transceiver system, and ground sets up signal transceiver and display, and infrared ranging system sets up in unmanned aerial vehicle's bottom, and lighting system, infrared imaging system, video recording system, infrared ranging system, GPS positioning system and signal transceiver system all are connected with the control system electricity.
Preferably, step 2 the route is patrolled and examined in the formulation, and reasonable unmanned aerial vehicle patrols and examines the route according to electric power system's trend formulation, clears up the forest obstacle in the route, and the record cliff height generates three-dimensional route, burns into unmanned aerial vehicle's control system with the route in, when unmanned aerial vehicle patrolled and examined the electric power tower, set up and patrol and examine flight height and be not higher than thirty meters.
Preferably, step 4 patrol and examine night, start unmanned aerial vehicle at the hail-free weather that wind-force is not higher than the level four, take off according to patrolling and examining the circuit and patrol and examine, the video is patrolled and examined in the shooting of the infrared imaging system on the unmanned aerial vehicle, sends the signal transceiver for ground through signal transceiver system, and ground personnel pass through display real-time supervision, detect the temperature anomaly, patrol and examine whether the temperature of wire node is unusual.
Preferably, step 3 patrol and examine in the daytime, start unmanned aerial vehicle at the hail-free weather that wind-force is not higher than the level four, take off according to patrolling and examining the circuit and patrol and examine, the video recording system on unmanned aerial vehicle shoots and patrol and examine the video, sends the signal transceiver for ground through signal transceiver system, and ground personnel pass through display real-time supervision, patrol and examine whether electric power tower screw lacks, whether the insulator breaks, whether power device rusts, whether have birds nest to nest.
(III) advantageous effects
Compared with the prior art, the invention provides an electric power inspection method based on an unmanned aerial vehicle, which has the following beneficial effects:
1. this electric power inspection method based on unmanned aerial vehicle, avoid the record through the circuit obstacle, unmanned aerial vehicle is patrolling and examining the in-process, infrared ranging system gathers the distance data of unmanned aerial vehicle and ground, judge the forest growing condition, ground personnel record probably influences the highway section condition that unmanned aerial vehicle patrolled and examined and carry out the obstacle clearance, automatic deviation rectification, unmanned aerial vehicle's interior GPS positioning system fixes a position unmanned aerial vehicle position in real time, and with data transfer to control system, in time rectify when the skew is patrolled and examined the route, so, unmanned aerial vehicle patrols and examines trees under the route if the growing is to threaten unmanned aerial vehicle's height soon, ground personnel can send the people to go ahead to cut and prune these trees, unmanned aerial vehicle can consequently not appear the damage, and positioning system.
2. The electric power inspection method based on the unmanned aerial vehicle comprises the steps that the unmanned aerial vehicle carries an illuminating system, an infrared imaging system, a video recording system, an infrared distance measuring system, a GPS positioning system, a control system and a signal receiving and transmitting system, a signal transceiver and a display are arranged on the ground, an inspection line is formulated, a reasonable unmanned aerial vehicle inspection line is formulated according to the trend of the electric power system, forest barriers in the line are cleared, the height of a cliff is recorded, a three-dimensional line is generated, the line is burnt into the control system of the unmanned aerial vehicle, the unmanned aerial vehicle is started in hail-free weather with wind power not higher than four levels, the unmanned aerial vehicle takes off to conduct inspection according to the inspection line, a video recording system on the unmanned aerial vehicle shoots an inspection video, the inspection video is sent to the signal transceiver on the ground through the signal receiving and transmitting system, ground personnel monitor in real time through the display, inspect at night, take off according to patrolling and examining the circuit and patrol and examine, the video is patrolled and examined in the shooting of the infrared imaging system on the unmanned aerial vehicle, sends the signal transceiver for ground through signal transceiver system, and ground personnel pass through display real-time supervision, and the temperature of target can be judged out to the infrared detection picture, if the circuit breaks down, equipment can the very first time discovery abnormal point.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the 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 invention.
Example (b): an electric power inspection method based on an unmanned aerial vehicle comprises the following steps:
1) the unmanned aerial vehicle carries an illuminating system, an infrared imaging system, a video recording system, an infrared distance measuring system, a GPS positioning system, a control system and a signal receiving and transmitting system, and a signal transceiver and a display are arranged on the ground;
2) formulating an inspection line, formulating a reasonable unmanned aerial vehicle inspection line according to the trend of the power system, clearing forest obstacles in the line, recording the height of a cliff, generating a three-dimensional line, and burning the line into a control system of the unmanned aerial vehicle;
3) in the daytime inspection, starting the unmanned aerial vehicle in the hailsless weather with wind power not higher than four levels, taking off to inspect according to an inspection line, shooting an inspection video by a video recording system on the unmanned aerial vehicle, sending the inspection video to a signal transceiver on the ground through a signal transceiving system, and monitoring by ground personnel in real time through a display;
4) during night inspection, starting the unmanned aerial vehicle in the hailsless weather with wind power not higher than four levels, taking off according to an inspection line for inspection, shooting an inspection video by an infrared imaging system on the unmanned aerial vehicle, sending the inspection video to a signal transceiver on the ground through a signal transceiver system, and monitoring by ground personnel in real time through a display;
5) the method comprises the following steps of recording line obstacle avoidance, wherein in the process of routing inspection of the unmanned aerial vehicle, an infrared distance measuring system collects distance data between the unmanned aerial vehicle and the ground, judging the growth condition of trees, and recording road conditions possibly influencing routing inspection of the unmanned aerial vehicle by ground personnel to remove obstacles;
6) and automatically correcting the deviation, wherein a GPS (global positioning system) in the unmanned aerial vehicle positions the unmanned aerial vehicle in real time, transmits data to a control system, and corrects the deviation in time when the unmanned aerial vehicle deviates from a routing inspection route.
Unmanned aerial vehicle carries on lighting system, infrared imaging system, video recording system, infrared range finding system, GPS positioning system, control system and signal transceiver system, and ground sets up signal transceiver and display, and infrared range finding system sets up in unmanned aerial vehicle's bottom, and lighting system, infrared imaging system, video recording system, infrared range finding system, GPS positioning system and signal transceiver system all are connected with the control system electricity.
The circuit is patrolled and examined in the formulation, and reasonable unmanned aerial vehicle patrols and examines the route according to electric power system's trend formulation, and the forest obstacle in the clearance route takes notes the cliff height, generates three-dimensional route, burns into unmanned aerial vehicle's control system with the route in, and when unmanned aerial vehicle patrolled and examined the electric power tower, the flight height of patrolling and examining was not higher than thirty meters was set up.
Patrol and examine night, do not be higher than the hail-free weather of level four at wind-force and start unmanned aerial vehicle, take off according to patrolling and examining the circuit and patrol and examine, the video is patrolled and examined in the infrared imaging system shooting on the unmanned aerial vehicle, sends the signal transceiver for ground through signal transceiver system, and ground personnel pass through display real-time supervision, detect the temperature anomaly, patrol and examine whether the temperature anomaly of wire node.
Patrol and examine in the daytime, start unmanned aerial vehicle at the hail-free weather that wind-force is not higher than the level four, take off according to patrolling and examining the circuit and patrol and examine, video recording system on the unmanned aerial vehicle shoots and patrol and examine the video, sends the signal transceiver for ground through signal transceiver system, and ground personnel pass through display real-time supervision, patrol and examine whether electric power tower screw lacks, and whether the insulator breaks, whether electric power unit rusts, whether have birds to nest.
The power inspection method based on the unmanned aerial vehicle comprises the steps that a line obstacle avoiding record is carried out, the unmanned aerial vehicle is in an inspection process, an infrared distance measuring system collects distance data between the unmanned aerial vehicle and the ground, the condition of forest growing is judged, ground personnel record road conditions which possibly influence inspection of the unmanned aerial vehicle and carry out obstacle clearing, automatic deviation correction is carried out, a GPS positioning system in the unmanned aerial vehicle can position the position of the unmanned aerial vehicle in real time, the data are transmitted to a control system, deviation correction is carried out in time when the unmanned aerial vehicle deviates from an inspection route, and therefore, if trees under the inspection route of the unmanned aerial vehicle grow to the height of the unmanned aerial vehicle, the ground personnel can send people to cut and trim the trees, the unmanned aerial vehicle cannot be damaged, the positioning system can conveniently find the unmanned aerial vehicle back after the unmanned aerial vehicle falls down, and an illuminating system, an infrared imaging system, The ground is provided with a signal transceiver and a display, an inspection line is formulated, a reasonable unmanned aerial vehicle inspection line is formulated according to the trend of an electric power system, forest obstacles in the line are cleared, the height of a cliff is recorded, a three-dimensional line is generated, the line is burned into a control system of the unmanned aerial vehicle for inspection in the daytime, the unmanned aerial vehicle is started in the hail-free weather with the wind power not higher than four levels, the unmanned aerial vehicle takes off to inspect according to the inspection line, a video recording system on the unmanned aerial vehicle shoots an inspection video, the inspection video is sent to the signal transceiver on the ground through the signal transceiver, ground personnel carry out real-time monitoring through the display and night inspection, the unmanned aerial vehicle is started in the hail-free weather with the wind power not higher than four levels, the inspection is carried out according to the takeoff of the inspection line, an infrared imaging system on the unmanned aerial vehicle shoots the inspection, ground personnel can judge the temperature of the target through the real-time monitoring of the display and the infrared detection picture, and if the circuit breaks down, the equipment can find abnormal points at the first time
The invention has the beneficial effects that: the power inspection method based on the unmanned aerial vehicle comprises the steps that a line obstacle avoiding record is carried out, the unmanned aerial vehicle is in an inspection process, an infrared distance measuring system collects distance data between the unmanned aerial vehicle and the ground, the condition of forest growing is judged, ground personnel record road conditions which possibly influence inspection of the unmanned aerial vehicle and carry out obstacle clearing, automatic deviation correction is carried out, a GPS positioning system in the unmanned aerial vehicle can position the position of the unmanned aerial vehicle in real time, the data are transmitted to a control system, deviation correction is carried out in time when the unmanned aerial vehicle deviates from an inspection route, and therefore, if trees under the inspection route of the unmanned aerial vehicle grow to the height of the unmanned aerial vehicle, the ground personnel can send people to cut and trim the trees, the unmanned aerial vehicle cannot be damaged, the positioning system can conveniently find the unmanned aerial vehicle back after the unmanned aerial vehicle falls down, and an illuminating system, an infrared imaging system, The ground is provided with a signal transceiver and a display, an inspection line is formulated, a reasonable unmanned aerial vehicle inspection line is formulated according to the trend of an electric power system, forest obstacles in the line are cleared, the height of a cliff is recorded, a three-dimensional line is generated, the line is burned into a control system of the unmanned aerial vehicle for inspection in the daytime, the unmanned aerial vehicle is started in the hail-free weather with the wind power not higher than four levels, the unmanned aerial vehicle takes off to inspect according to the inspection line, a video recording system on the unmanned aerial vehicle shoots an inspection video, the inspection video is sent to the signal transceiver on the ground through the signal transceiver, ground personnel carry out real-time monitoring through the display and night inspection, the unmanned aerial vehicle is started in the hail-free weather with the wind power not higher than four levels, the inspection is carried out according to the takeoff of the inspection line, an infrared imaging system on the unmanned aerial vehicle shoots the inspection, ground personnel pass through display real-time supervision, and the temperature of target can be judged out to the infrared detection picture, if the circuit breaks down, equipment can the very first time discovery abnormal point, and it is comparatively simple to have solved traditional unmanned aerial vehicle electric power and have patrolled and examined the method, if it produces the natural change to patrol and examine the circuit, unmanned aerial vehicle will have the problem of very big probability damage.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (5)
1. The power inspection method based on the unmanned aerial vehicle is characterized by comprising the following steps of:
1) the unmanned aerial vehicle carries an illuminating system, an infrared imaging system, a video recording system, an infrared distance measuring system, a GPS positioning system, a control system and a signal receiving and transmitting system, and a signal transceiver and a display are arranged on the ground;
2) formulating an inspection line, formulating a reasonable unmanned aerial vehicle inspection line according to the trend of the power system, clearing forest obstacles in the line, recording the height of a cliff, generating a three-dimensional line, and burning the line into a control system of the unmanned aerial vehicle;
3) in the daytime inspection, starting the unmanned aerial vehicle in the hailsless weather with wind power not higher than four levels, taking off to inspect according to an inspection line, shooting an inspection video by a video recording system on the unmanned aerial vehicle, sending the inspection video to a signal transceiver on the ground through a signal transceiving system, and monitoring by ground personnel in real time through a display;
4) during night inspection, starting the unmanned aerial vehicle in the hailsless weather with wind power not higher than four levels, taking off according to an inspection line for inspection, shooting an inspection video by an infrared imaging system on the unmanned aerial vehicle, sending the inspection video to a signal transceiver on the ground through a signal transceiver system, and monitoring by ground personnel in real time through a display;
5) the method comprises the following steps of recording line obstacle avoidance, wherein in the process of routing inspection of the unmanned aerial vehicle, an infrared distance measuring system collects distance data between the unmanned aerial vehicle and the ground, judging the growth condition of trees, and recording road conditions possibly influencing routing inspection of the unmanned aerial vehicle by ground personnel to remove obstacles;
6) and automatically correcting the deviation, wherein a GPS (global positioning system) in the unmanned aerial vehicle positions the unmanned aerial vehicle in real time, transmits data to a control system, and corrects the deviation in time when the unmanned aerial vehicle deviates from a routing inspection route.
2. The unmanned aerial vehicle-based power inspection method according to claim 1, wherein: step 1 the unmanned aerial vehicle carries on lighting system, infrared imaging system, video recording system, infrared range finding system, GPS positioning system, control system and signal transceiver system, and ground sets up signal transceiver and display, and infrared range finding system sets up in unmanned aerial vehicle's bottom, and lighting system, infrared imaging system, video recording system, infrared range finding system, GPS positioning system and signal transceiver system all are connected with the control system electricity.
3. The unmanned aerial vehicle-based power inspection method according to claim 1, wherein: step 2, formulating an inspection line, formulating a reasonable unmanned aerial vehicle inspection line according to the trend of the power system, clearing forest obstacles in the line, recording the height of a cliff, generating a three-dimensional line, burning the line into a control system of the unmanned aerial vehicle, and setting the inspection flight height to be not higher than thirty meters when the unmanned aerial vehicle inspects the power tower.
4. The unmanned aerial vehicle-based power inspection method according to claim 1, wherein: and 4, polling at night, starting the unmanned aerial vehicle in the hailsless weather with wind power not higher than four levels, taking off to patrol according to a polling line, shooting a polling video by an infrared imaging system on the unmanned aerial vehicle, sending the polling video to a signal transceiver on the ground through a signal receiving and sending system, monitoring in real time by ground personnel through a display, detecting temperature abnormity, and polling whether the temperature of an electric wire node is abnormal or not.
5. The unmanned aerial vehicle-based power inspection method according to claim 1, wherein: step 3, tour inspection in the daytime, start unmanned aerial vehicle at the hailstone-free weather that wind-force is not higher than the level four, take off according to the circuit of patrolling and examining and patrol and examine, video recording system on the unmanned aerial vehicle shoots and patrols and examines the video, sends the signal transceiver for ground through signal transceiver system, and ground personnel pass through display real-time supervision, patrol and examine whether electric power tower screw is lacked, whether the insulator breaks, whether power device rusts, whether have birds nest to nest.
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| CN113342046A (en) * | 2021-06-22 | 2021-09-03 | 国网湖北省电力有限公司宜昌供电公司 | Power transmission line unmanned aerial vehicle routing inspection path optimization method based on ant colony algorithm |
| CN113375642A (en) * | 2021-06-25 | 2021-09-10 | 上海大风技术有限公司 | Bridge cable detection method based on automatic photographing of unmanned aerial vehicle |
| CN113534840A (en) * | 2021-07-29 | 2021-10-22 | 广东电网有限责任公司 | Control method and control device of unmanned aerial vehicle |
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| CN117498225A (en) * | 2024-01-03 | 2024-02-02 | 山东黄金电力有限公司 | Unmanned aerial vehicle intelligent power line inspection system |
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| CN114326807A (en) * | 2021-12-29 | 2022-04-12 | 宁夏超高压电力工程有限公司 | Unmanned aerial vehicle substation inspection method and system and readable storage medium |
| CN116683349A (en) * | 2023-06-27 | 2023-09-01 | 国网青海省电力公司海北供电公司 | Correction method and system for power equipment sky inspection line and inspection unmanned aerial vehicle |
| CN116683349B (en) * | 2023-06-27 | 2024-01-26 | 国网青海省电力公司海北供电公司 | Correction method and system for power equipment sky inspection line and inspection unmanned aerial vehicle |
| CN117498225A (en) * | 2024-01-03 | 2024-02-02 | 山东黄金电力有限公司 | Unmanned aerial vehicle intelligent power line inspection system |
| CN117498225B (en) * | 2024-01-03 | 2024-03-19 | 山东黄金电力有限公司 | Unmanned aerial vehicle intelligent power line inspection system |
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Application publication date: 20201208 |