CN112067160A - Power transmission line monitoring unmanned aerial vehicle and monitoring method - Google Patents
Power transmission line monitoring unmanned aerial vehicle and monitoring method Download PDFInfo
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- 238000012544 monitoring process Methods 0.000 title claims abstract description 158
- 238000000034 method Methods 0.000 title claims abstract description 30
- 230000005540 biological transmission Effects 0.000 title claims abstract description 25
- 238000004891 communication Methods 0.000 claims abstract description 20
- 238000009529 body temperature measurement Methods 0.000 claims abstract description 9
- 238000010438 heat treatment Methods 0.000 claims description 26
- 238000004140 cleaning Methods 0.000 claims description 8
- 238000012549 training Methods 0.000 claims description 8
- 238000012423 maintenance Methods 0.000 abstract description 11
- 238000006467 substitution reaction Methods 0.000 description 3
- 230000007613 environmental effect Effects 0.000 description 2
- 230000003203 everyday effect Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
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- 238000013528 artificial neural network Methods 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01K—MEASURING TEMPERATURE; MEASURING QUANTITY OF HEAT; THERMALLY-SENSITIVE ELEMENTS NOT OTHERWISE PROVIDED FOR
- G01K13/00—Thermometers specially adapted for specific purposes
-
- 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
- G05D1/04—Control of altitude or depth
- G05D1/042—Control of altitude or depth specially adapted for aircraft
-
- 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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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
- G06F30/20—Design optimisation, verification or simulation
- G06F30/27—Design optimisation, verification or simulation using machine learning, e.g. artificial intelligence, neural networks, support vector machines [SVM] or training a model
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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
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F2113/00—Details relating to the application field
- G06F2113/04—Power grid distribution networks
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F2119/00—Details relating to the type or aim of the analysis or the optimisation
- G06F2119/08—Thermal analysis or thermal optimisation
Abstract
The invention provides a power transmission line monitoring unmanned aerial vehicle and a monitoring method, wherein the unmanned aerial vehicle comprises: the device comprises an infrared temperature measurement module, a video acquisition module, a laser ranging module, a control module and a communication module, wherein the infrared temperature measurement module, the video acquisition module, the laser ranging module and the communication module are all electrically connected with the control module. The method comprises the steps of using a connecting part of a power transmission line as a monitoring point through automatic cruise of an unmanned aerial vehicle at regular intervals, collecting the temperature of each monitoring point, generating a temperature time sequence of each monitoring point from the temperature values of the monitoring points collected for multiple times, and inputting the temperature time sequence of each monitoring point into an LSTM (least squares metric model) to obtain the remaining time of each monitoring point reaching fault temperature. Maintenance personnel can carry out maintenance in advance to each monitoring point through monitoring the remaining time, avoid causing transmission line trouble, cause the loss for the electric wire netting.
Description
Technical Field
The invention belongs to the technical field of power transmission, and particularly relates to a power transmission line monitoring unmanned aerial vehicle and a monitoring method.
Background
With the increase in national economy at a rate of development of nearly 10% per year, power systems as leading officers of national economy have been increasing at an extraordinary rate in recent years. The scale of the power grid is larger and more complex, and great challenges are brought to the maintenance of the power grid.
The transmission line is widely distributed, and the line junction often becomes flexible and fault heating because of the long-term or other environmental reasons, and at present, no effective maintenance means exists. Usually after a failure, the failure point is manually inspected and repaired. This leads to a delay for the maintenance personnel and a loss in the transmission.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a power transmission line monitoring unmanned aerial vehicle and a monitoring method, so as to solve the technical problems.
The embodiment of the application provides a transmission line control unmanned aerial vehicle, unmanned aerial vehicle includes:
the device comprises an infrared temperature measurement module, a video acquisition module, a laser ranging module, a control module and a communication module, wherein the infrared temperature measurement module, the video acquisition module, the laser ranging module and the communication module are all electrically connected with the control module.
In an embodiment of the present application, the unmanned aerial vehicle further comprises a positioning module, and the positioning module is connected to the control module.
In one embodiment of the present application, the video capture module includes a camera and a lens cleaning device, the lens cleaning device includes a blower and a heating resistance wire, and the heating resistance wire is disposed in an inner cavity of the blower; the air outlet of the air blower is right opposite to one side of the camera lens.
In an embodiment of the application, the communication module adopts a 5G communication module, and the 5G communication module establishes communication connection with a remote control terminal.
The invention also provides a power transmission line monitoring method, which comprises the following steps:
collecting coordinates of each monitoring point and storing the coordinates into a monitoring list according to a cruise sequence;
setting a cruise monitoring period of the unmanned aerial vehicle;
controlling the unmanned aerial vehicle to regularly acquire temperature values of all monitoring points according to the monitoring list;
generating a temperature time sequence of each monitoring point according to the temperature values of each monitoring point collected historically;
and inputting the temperature time sequence of each monitoring point into an LSTM model to obtain the residual time of each monitoring point reaching the fault temperature.
In an embodiment of this application, control unmanned aerial vehicle regularly gathers the temperature value of each control point, include:
sending the target monitoring point coordinates to the unmanned aerial vehicle, and controlling the unmanned aerial vehicle to hover to the target monitoring point to acquire the temperature of the monitoring point;
judging whether a target monitoring point temperature value sent by the unmanned aerial vehicle is received:
and if so, sending the next monitoring point coordinate of the target monitoring point to the unmanned aerial vehicle according to the sequence of the monitoring list until traversing the monitoring point coordinates of the monitoring list.
In one embodiment of the present application, the method further comprises:
setting a hovering height range of the unmanned aerial vehicle;
acquiring the position coordinates of the unmanned aerial vehicle in real time;
judging whether the position coordinates of the unmanned aerial vehicle are consistent with the position coordinates of the target monitoring point:
if so, controlling the laser ranging module of the unmanned aerial vehicle to acquire the height difference between the unmanned aerial vehicle and the target monitoring point, and adjusting the height of the unmanned aerial vehicle to keep the height difference within the hovering height range.
In one embodiment of the present application, the method further comprises:
setting a temperature threshold;
judging whether the temperature of the target monitoring point exceeds the temperature threshold value:
if yes, generating alarm information and collecting video information of the target monitoring point through the unmanned aerial vehicle.
In one embodiment of the present application, the method further comprises:
and training an LSTM model by using the historical temperature time sequence and the fault record of each monitoring point.
In one embodiment of the present application, the method further comprises:
collecting a first temperature of a target monitoring point;
after waiting for a preset time, acquiring a second temperature of the target monitoring point;
taking the difference value of the second temperature and the first temperature as the temperature rise of the target monitoring point;
calculating the heating power of the target monitoring point according to the temperature rise and the air heat conductivity coefficient;
generating a heating time sequence from the historical heating power of the target monitoring point;
and inputting the heating time sequence into an LSTM model to obtain the remaining time of the target monitoring point reaching a preset heating threshold value.
The beneficial effect of the invention is that,
according to the power transmission line monitoring unmanned aerial vehicle and the monitoring method, the unmanned aerial vehicle regularly and automatically cruises, the connecting part of the power transmission line is used as a monitoring point, the temperature of each monitoring point is collected, the temperature values of the monitoring points collected for multiple times are generated into the temperature time sequence of each monitoring point, the temperature time sequence of each monitoring point is input into an LSTM model, and the remaining time of each monitoring point reaching the fault temperature is obtained. Maintenance personnel can carry out maintenance in advance to each monitoring point through monitoring the remaining time, avoid causing transmission line trouble, cause the loss for the electric wire netting. The invention can automatically monitor the information of the power transmission line, can early warn faults, saves human resources and can effectively avoid the paralysis of the regional power grid caused by the faults of the power transmission line.
In addition, the invention has reliable design principle, simple structure and very wide application prospect.
Drawings
In order to more clearly illustrate the embodiments or technical solutions in the prior art of the present invention, the drawings used in the description of the embodiments or prior art will be briefly described below, and it is obvious for those skilled in the art that other drawings can be obtained based on these drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a drone according to one embodiment of the present application;
FIG. 2 is an exemplary flow chart of a method of one embodiment of the present application.
Detailed Description
In order to make those skilled in the art better understand the technical solution of the present invention, the technical solution in the embodiment of the present invention will be clearly and completely described below with reference to the drawings in the embodiment of the present invention, and it is obvious that the described embodiment is only a part of the embodiment of the present invention, 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 invention.
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention. Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art through specific situations.
The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
Example 1
Referring to fig. 1, the present embodiment provides a power transmission line monitoring unmanned aerial vehicle, where the unmanned aerial vehicle includes:
the device comprises an infrared temperature measurement module, a video acquisition module, a laser ranging module, a control module and a communication module, wherein the infrared temperature measurement module, the video acquisition module, the laser ranging module and the communication module are all electrically connected with the control module. And a positioning module (a GPS system or a Beidou system) is also arranged in the unmanned aerial vehicle and is connected with the control module. The video acquisition module includes camera and camera lens cleaning device, because the air humidity is too big during in order to avoid unmanned aerial vehicle to cruise the water smoke that condenses on the camera lens, consequently sets up camera lens cleaning device. The lens cleaning device comprises a blower and a heating resistance wire, the heating resistance wire is arranged in an inner cavity of the blower, and an air outlet of the blower is opposite to one side of the camera lens. The lens cleaning device can blow dry the condensed water mist on the surface of the lens. In addition, the communication module adopts a 5G communication module, and the 5G communication module establishes communication connection with the remote control terminal to realize real-time transmission of data.
Example 2
Referring to fig. 2, the present embodiment provides a method for monitoring a power transmission line, where the method 200 includes the following steps:
and 250, inputting the temperature time sequence of each monitoring point into an LSTM model to obtain the residual time for each monitoring point to reach the fault temperature.
Example 3
The embodiment provides a power transmission line monitoring method, which comprises the following steps:
and S1, collecting the coordinates of each monitoring point and storing the coordinates into a monitoring list according to the cruise sequence.
The connection part of the power transmission line is used as a monitoring point, and the coordinates of each monitoring point are acquired in advance, wherein the acquisition method can be that a maintenance worker manually acquires and records the coordinates of the monitoring points through a positioning terminal.
And sequentially numbering each monitoring point according to the unmanned aerial vehicle cruising route, and storing the number and the coordinates of each monitoring point in pairs into a monitoring list.
And S2, setting a cruise monitoring period of the unmanned aerial vehicle.
The unmanned aerial vehicle cruise monitoring period is set to be 24h in the embodiment, for example, the unmanned aerial vehicle cruise is timed to cruise at 9:00 am every day.
And S3, controlling the unmanned aerial vehicle to regularly acquire the temperature value of each monitoring point according to the monitoring list.
Firstly, the first monitoring point coordinate in the monitoring list is sent to the unmanned aerial vehicle, and the unmanned aerial vehicle is controlled to fly to the coordinate position. During the flying process of the unmanned aerial vehicle, the position coordinate of the unmanned aerial vehicle is acquired in real time, the coordinate of the unmanned aerial vehicle is compared with the coordinate of the monitoring point, and after the unmanned aerial vehicle and the monitoring point are consistent, the hovering height of the unmanned aerial vehicle is adjusted.
The hovering height adjusting method of the unmanned aerial vehicle comprises the following steps: the unmanned aerial vehicle safety monitoring point temperature value is ensured in the hovering height range, the unmanned aerial vehicle laser ranging module is controlled to acquire the distance between the unmanned aerial vehicle and the monitoring point, whether the distance is in the hovering height range is judged, if not, the hovering height of the unmanned aerial vehicle needs to be adjusted until the distance between the unmanned aerial vehicle and the monitoring point is in the hovering height range.
After the unmanned aerial vehicle hovers stably, the infrared temperature measurement module of the unmanned aerial vehicle is controlled to acquire the temperature value of the monitoring point. The unmanned aerial vehicle returns the temperature value of gathering to the remote control end. And the remote control end sends the coordinates of the monitoring point of the next number in the monitoring list to the unmanned aerial vehicle, and the temperature values are obtained again in the same method until the temperature values of all the monitoring points in the monitoring list are collected, and the unmanned aerial vehicle cruise task is completed. Whole unmanned aerial vehicle process of cruising need not artifical on duty, has saved manpower resources greatly.
The temperature threshold range is preset, once the temperature value of the monitoring point returned by the unmanned aerial vehicle is not within the temperature threshold range, the alarm (aiming at short circuit and broken circuit) of the numbered monitoring point is immediately generated, and the coordinate information of the monitoring point is output. If the temperature value of the monitoring point 2 exceeds the temperature threshold value, the video acquisition module of the unmanned aerial vehicle is immediately controlled to acquire the video information of the monitoring point 2, and meanwhile, the unmanned aerial vehicle is controlled to shoot the video information of the power transmission line connected with the monitoring point 2, so that maintenance personnel can conveniently troubleshoot faults.
In order to reduce the error of the environmental temperature on the monitoring result, in another embodiment of the present invention, after the unmanned aerial vehicle hovers stably, the unmanned aerial vehicle first acquires the first temperature of the monitoring point, then continues to hover above the monitoring point, acquires the second temperature after 10min (or other time duration), calculates the difference between the second temperature and the first temperature, the difference is the temperature rise Δ T of the monitoring point, calculates the heating power P of the monitoring point according to the temperature rise Δ T and the air thermal conductivity r, and the calculation formula is as follows:
and S4, generating a temperature time sequence of each monitoring point according to the temperature values of each monitoring point collected historically.
If the step S3 is to monitorThe point temperature is collected, the temperature of the monitoring point collected every day is arranged, taking the monitoring point 1 as an example, the temperature value of the monitoring point 1 within 15 days is collected, and a temperature time sequence [ T ] is generated1,T2,…,T15]。
If the monitored point heating power is acquired in step S3, the acquired monitored point heating power is organized, taking the monitored point 1 as an example, the heating power of the monitored point 1 within 15 days is acquired, and a heating time sequence [ P ] is generated1,P2,…,P15]。
And S5, inputting the temperature time sequence of each monitoring point into an LSTM model to obtain the remaining time for each monitoring point to reach the fault temperature.
Taking time series prediction as an example, historical temperature values and fault conditions (temperature values corresponding to faults) of all monitoring points are collected, taking monitoring point 1 as an example, and a historical temperature time series [ T ] is obtained1,T2,…,Tn]And binding the sequence with the fault condition of the monitoring point 1, storing the information of the monitoring point 1 into a training data set, and storing the historical temperature time sequence and the fault condition of other monitoring points into the training data set. The LSTM model is trained using data in the training dataset. The Long Short-Term Memory network (LSTM) is a time-cycle neural network, and the method for creating and training the LSTM model is not an object protected by the invention, and therefore, the method is not described in detail.
And inputting the temperature time sequence of each monitoring point into the well-trained LSTM model, so as to obtain the residual time for each monitoring point to reach the fault temperature.
If the heating time series of the monitoring points are predicted, it is necessary to store the historical heating power series and the failure condition (heating power corresponding to the failure) of each monitoring point into a training data set, and train the LSTM using the training data set. And then inputting the heating time sequence of each monitoring point into the well-trained LSTM model, so as to obtain the remaining time for each monitoring point to reach the fault.
And (4) the maintainer can perform priority maintenance on the monitoring points (connecting parts) with less residual time by looking up the predicted residual time of the fault.
In addition, a remaining time threshold value can also be set, when the remaining time of a certain monitoring point is lower than the threshold value, a maintenance early warning of the monitoring point is immediately generated, and the coordinate information of the monitoring point is output.
Although the present invention has been described in detail by referring to the drawings in connection with the preferred embodiments, the present invention is not limited thereto. Various equivalent modifications or substitutions can be made on the embodiments of the present invention by those skilled in the art without departing from the spirit and scope of the present invention, and these modifications or substitutions are within the scope of the present invention/any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. The utility model provides a transmission line control unmanned aerial vehicle which characterized in that, unmanned aerial vehicle includes:
the device comprises an infrared temperature measurement module, a video acquisition module, a laser ranging module, a control module and a communication module, wherein the infrared temperature measurement module, the video acquisition module, the laser ranging module and the communication module are all electrically connected with the control module.
2. The drone of claim 1, further comprising a positioning module, the positioning module connected to the control module.
3. The unmanned aerial vehicle of claim 2, wherein the video capture module comprises a camera and a lens cleaning device, the lens cleaning device comprises a blower and a heating resistance wire, and the heating resistance wire is arranged in an inner cavity of the blower; the air outlet of the air blower is right opposite to one side of the camera lens.
4. The unmanned aerial vehicle of claim 1, wherein the communication module is a 5G communication module, and the 5G communication module establishes a communication connection with a remote control terminal.
5. A method for monitoring a power transmission line, the method comprising:
collecting coordinates of each monitoring point and storing the coordinates into a monitoring list according to a cruise sequence;
setting a cruise monitoring period of the unmanned aerial vehicle;
controlling the unmanned aerial vehicle to regularly acquire temperature values of all monitoring points according to the monitoring list;
generating a temperature time sequence of each monitoring point according to the temperature values of each monitoring point collected historically;
and inputting the temperature time sequence of each monitoring point into an LSTM model to obtain the residual time of each monitoring point reaching the fault temperature.
6. The method of claim 5, wherein the controlling the drone to periodically collect the temperature value of each monitoring point comprises:
sending the target monitoring point coordinates to the unmanned aerial vehicle, and controlling the unmanned aerial vehicle to hover to the target monitoring point to acquire the temperature of the monitoring point;
judging whether a target monitoring point temperature value sent by the unmanned aerial vehicle is received:
and if so, sending the next monitoring point coordinate of the target monitoring point to the unmanned aerial vehicle according to the sequence of the monitoring list until traversing the monitoring point coordinates of the monitoring list.
7. The method of claim 5, further comprising:
setting a hovering height range of the unmanned aerial vehicle;
acquiring the position coordinates of the unmanned aerial vehicle in real time;
judging whether the position coordinates of the unmanned aerial vehicle are consistent with the position coordinates of the target monitoring point:
if so, controlling the laser ranging module of the unmanned aerial vehicle to acquire the height difference between the unmanned aerial vehicle and the target monitoring point, and adjusting the height of the unmanned aerial vehicle to keep the height difference within the hovering height range.
8. The method of claim 5, further comprising:
setting a temperature threshold;
judging whether the temperature of the target monitoring point exceeds the temperature threshold value:
if yes, generating alarm information and collecting video information of the target monitoring point through the unmanned aerial vehicle.
9. The method of claim 5, further comprising:
and training an LSTM model by using the historical temperature time sequence and the fault record of each monitoring point.
10. The method of claim 5, further comprising:
collecting a first temperature of a target monitoring point;
after waiting for a preset time, acquiring a second temperature of the target monitoring point;
taking the difference value of the second temperature and the first temperature as the temperature rise of the target monitoring point;
calculating the heating power of the target monitoring point according to the temperature rise and the air heat conductivity coefficient;
generating a heating time sequence from the historical heating power of the target monitoring point;
and inputting the heating time sequence into an LSTM model to obtain the remaining time of the target monitoring point reaching a preset heating threshold value.
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Application publication date: 20201211 |
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