CN112130583B - Partial discharge detection method and device for night inspection of unmanned aerial vehicle - Google Patents
Partial discharge detection method and device for night inspection of unmanned aerial vehicle Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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- 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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Abstract
The invention provides a method and a device for detecting partial discharge during night inspection of an unmanned aerial vehicle, which relate to the technical field of electric power overhaul and comprise the following steps: acquiring a laser radar signal to plan a flight line of the unmanned aerial vehicle so that the unmanned aerial vehicle transmits a first ultrasonic signal; acquiring a second ultrasonic signal by using a partial discharge detector carried by the unmanned aerial vehicle, wherein the second ultrasonic signal is a ranging feedback signal of the first ultrasonic signal; determining whether the frequencies of the second ultrasonic signal and the first ultrasonic signal are equal; if the two ultrasonic signals are equal, positioning the obstacle according to the second ultrasonic signals; if the first ultrasonic signals are not equal, carrying out signal amplification and denoising processing on the second ultrasonic signals to obtain third ultrasonic signals; filtering the third ultrasonic signal to obtain a fourth ultrasonic signal; and D, performing digital-to-analog conversion on the fourth ultrasonic signal to obtain the discharge intensity value of the local point. The invention can relieve the technical problem of inconvenient field and night overhaul in the prior art.
Description
Technical Field
The invention relates to the technical field of power distribution overhaul, in particular to a night inspection partial discharge detection method and device for an unmanned aerial vehicle.
Background
The overhead transmission lines are distributed in a cross-region mode, have wide points and multiple faces, are complex in terrain and bad in natural environment, and have partial discharge and other phenomena caused by continuous mechanical tension, lightning flashover, material aging and human factors, so that the overhead transmission lines must be overhauled or replaced in time.
At present, overhead line partial discharge inspection mainly relies on handheld partial discharge equipment to inspect along lines. The line inspection mode is hard in work, high in labor intensity, hard in working condition, low in labor efficiency and difficult to inspect in certain line areas.
In addition, the prior night inspection, the electric power transmission workers always face the problems of incapability of finding, seeing, avoiding, and judging the distance well. The ground personnel is required to set a headlight to the scene, the labor is wasted, the transportation is difficult, the back surfaces of the wires and the insulators can be always seen, and the line defect cannot be confirmed.
Utilize unmanned aerial vehicle to carry on the sensing module system of partial discharge, carry out quick shooting and partial discharge fault monitoring to iron tower, support, wire, insulator, damper, strain clamp, suspension clamp etc. of overhead line, not only can improve by a wide margin on work efficiency, also can the great reduction field work, unmanned aerial vehicle operation can also make the operating range enlarge rapidly, has reduced the line inspection cost, improves inspection efficiency.
And, night power inspection can find defects which are not easy to find in daytime, such as corona, insulator partial discharge, abnormal heating of a wire contact part and the like. However, the unmanned aerial vehicle is operated at night to fly in a shuttle mode near the electric tower wires, and a skilled flying hand is not free from being defibrillated. Once an operation error occurs, the unmanned aerial vehicle is damaged, and serious people damage the power equipment to cause power accidents.
Disclosure of Invention
Therefore, the invention aims to provide a night inspection partial discharge detection method and device for an unmanned aerial vehicle, so as to solve the technical problem of inconvenient field and night inspection in the prior art and improve the safety of a power system.
The invention provides a night inspection partial discharge detection method of an unmanned aerial vehicle, which comprises the following steps:
Acquiring a laser radar signal to plan a flight line of an unmanned aerial vehicle so that the unmanned aerial vehicle transmits a first ultrasonic signal;
acquiring a second ultrasonic signal by using a partial discharge detector carried by the unmanned aerial vehicle, wherein the second ultrasonic signal is a ranging feedback signal of the first ultrasonic signal;
Determining whether the frequencies of the second ultrasonic signal and the first ultrasonic signal are equal;
if the two ultrasonic signals are equal, positioning the obstacle according to the second ultrasonic signals;
if not, carrying out signal amplification and denoising processing on the second ultrasonic signal to obtain a third ultrasonic signal;
Filtering the third ultrasonic signal to obtain a fourth ultrasonic signal;
And D, performing digital-to-analog conversion on the fourth ultrasonic signal to obtain a discharge intensity value of the local point.
Preferably, the step of obtaining the laser radar signal to plan a flight path of the unmanned aerial vehicle so that the unmanned aerial vehicle transmits the first ultrasonic signal includes:
the unmanned aerial vehicle sends a first ultrasonic signal according to preset time.
Preferably, the step of locating the obstacle according to the second ultrasonic signal includes:
and comparing the second ultrasonic signal obtained by the first ultrasonic signal feedback with the second ultrasonic signal obtained by the first ultrasonic signal feedback in the previous period to obtain a time difference.
Preferably, the method further comprises:
And (5) acquiring a daytime inspection image and a night inspection image of the power transmission line so as to perform fault analysis on the power transmission line.
Preferably, the steps further include:
controlling the direction of a machine head of the unmanned aerial vehicle so that the unmanned aerial vehicle is perpendicular to the direction of the machine head, and acquiring azimuth information of a power transmission line;
Judging whether the power transmission line is within a preset angle distance range or not based on the power transmission line azimuth information;
If not, correcting the deviation of the unmanned aerial vehicle.
Preferably, the step of obtaining the position of the power transmission line to control the unmanned aerial vehicle to fly along the power transmission line includes:
acquiring angle information and distance information fed back by the unmanned aerial vehicle, and eliminating abnormal values in the angle information and the distance information by using a Kalman filtering method;
acquiring an average value of abnormal values of the eliminating angle information to acquire real-time angle information of the power transmission line;
And acquiring the minimum value of the abnormal value of the eliminating distance information to acquire the real-time distance information of the power transmission line.
In a second aspect, the present invention provides an unmanned aerial vehicle night patrol partial discharge detection device, comprising:
An ultrasonic wave transmitting module: the method comprises the steps of acquiring laser radar signals to plan a flight line of an unmanned aerial vehicle so that the unmanned aerial vehicle can send first ultrasonic signals;
the feedback signal acquisition module: the method comprises the steps that a partial discharge detector carried by the unmanned aerial vehicle is used for obtaining a second ultrasonic signal, wherein the second ultrasonic signal is a ranging feedback signal of the first ultrasonic signal;
and a judging module: determining whether the frequencies of the second ultrasonic signal and the first ultrasonic signal are equal;
if the two ultrasonic signals are equal, positioning the obstacle according to the second ultrasonic signals;
if not, carrying out signal amplification and denoising processing on the second ultrasonic signal to obtain a third ultrasonic signal;
and a signal processing module: the filter is used for filtering the third ultrasonic signal to obtain a fourth ultrasonic signal;
The intensity value acquisition module is used for: and the fourth ultrasonic signal is used for performing digital-to-analog conversion to obtain a discharge intensity value of the local point.
The embodiment of the invention has the following beneficial effects: the invention provides a night inspection partial discharge detection method of an unmanned aerial vehicle, which relates to the technical field of electric power overhaul and comprises the following steps: acquiring a laser radar signal to plan a flight line of the unmanned aerial vehicle so that the unmanned aerial vehicle transmits a first ultrasonic signal; acquiring a second ultrasonic signal by using a partial discharge detector carried by the unmanned aerial vehicle, wherein the second ultrasonic signal is a ranging feedback signal of the first ultrasonic signal; determining whether the frequencies of the second ultrasonic signal and the first ultrasonic signal are equal; if the two ultrasonic signals are equal, positioning the obstacle according to the second ultrasonic signals; if the first ultrasonic signals are not equal, carrying out signal amplification and denoising processing on the second ultrasonic signals to obtain third ultrasonic signals; filtering the third ultrasonic signal to obtain a fourth ultrasonic signal; and D, performing digital-to-analog conversion on the fourth ultrasonic signal to obtain the discharge intensity value of the local point. The method and the device provided by the invention can be used for relieving the technical problem of inconvenient field and night overhaul in the prior art and improving the safety of the power system.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
In order to make the above objects, features and advantages of the present invention more comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
Fig. 1 is a flowchart of a method for detecting partial discharge during night inspection of an unmanned aerial vehicle according to an embodiment of the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Currently, overhead line partial discharge inspection mainly relies on handheld partial discharge equipment to inspect along lines. The inspection method and the device for the partial discharge of the unmanned aerial vehicle at night can relieve the technical problems of inconvenient field and night inspection in the prior art and improve the safety of a power system.
For the convenience of understanding the present embodiment, first, a detailed description is provided of a method for detecting partial discharge during night inspection of an unmanned aerial vehicle disclosed in the present embodiment.
Embodiment one:
the invention provides a night inspection partial discharge detection method of an unmanned aerial vehicle, which comprises the following steps:
Acquiring a laser radar signal to plan a flight line of an unmanned aerial vehicle so that the unmanned aerial vehicle transmits a first ultrasonic signal;
acquiring a second ultrasonic signal by using a partial discharge detector carried by the unmanned aerial vehicle, wherein the second ultrasonic signal is a ranging feedback signal of the first ultrasonic signal;
further, the second ultrasonic signal includes angle information and distance information
Determining whether the frequencies of the second ultrasonic signal and the first ultrasonic signal are equal;
if the two ultrasonic signals are equal, positioning the obstacle according to the second ultrasonic signals;
if not, carrying out signal amplification and denoising processing on the second ultrasonic signal to obtain a third ultrasonic signal;
Filtering the third ultrasonic signal to obtain a fourth ultrasonic signal;
And D, performing digital-to-analog conversion on the fourth ultrasonic signal to obtain a discharge intensity value of the local point.
Preferably, the step of obtaining the laser radar signal to plan a flight path of the unmanned aerial vehicle so that the unmanned aerial vehicle transmits the first ultrasonic signal includes:
the unmanned aerial vehicle sends a first ultrasonic signal according to preset time.
Preferably, the step of locating the obstacle according to the second ultrasonic signal includes:
and comparing the second ultrasonic signal obtained by the first ultrasonic signal feedback with the second ultrasonic signal obtained by the first ultrasonic signal feedback in the previous period to obtain a time difference.
Further, positioning the obstacle through the time difference;
Preferably, the method further comprises:
Preferably, the method further comprises: and acquiring daytime inspection images and night inspection images of the power transmission line so as to perform fault analysis on the power transmission line, and performing defect inspection and defect analysis on inspection operation staff of the power transmission line so as to discover defects in time and shorten defect elimination period.
Preferably, the steps further include:
controlling the direction of a machine head of the unmanned aerial vehicle so that the unmanned aerial vehicle is perpendicular to the direction of the machine head, and acquiring azimuth information of a power transmission line;
Judging whether the power transmission line is within a preset angle distance range or not based on the power transmission line azimuth information;
If not, correcting the deviation of the unmanned aerial vehicle.
Preferably, the step of obtaining the position of the power transmission line to control the unmanned aerial vehicle to fly along the power transmission line includes:
acquiring angle information and distance information fed back by the unmanned aerial vehicle, and eliminating abnormal values in the angle information and the distance information by using a Kalman filtering method;
acquiring an average value of abnormal values of the eliminating angle information to acquire real-time angle information of the power transmission line;
And acquiring the minimum value of the abnormal value of the eliminating distance information to acquire the real-time distance information of the power transmission line.
In a second aspect, the present invention provides an unmanned aerial vehicle night patrol partial discharge detection device, comprising:
An ultrasonic wave transmitting module: the method comprises the steps of acquiring laser radar signals to plan a flight line of an unmanned aerial vehicle so that the unmanned aerial vehicle can send first ultrasonic signals;
the feedback signal acquisition module: the method comprises the steps that a partial discharge detector carried by the unmanned aerial vehicle is used for obtaining a second ultrasonic signal, wherein the second ultrasonic signal is a ranging feedback signal of the first ultrasonic signal;
and a judging module: determining whether the frequencies of the second ultrasonic signal and the first ultrasonic signal are equal;
if the two ultrasonic signals are equal, positioning the obstacle according to the second ultrasonic signals;
if not, carrying out signal amplification and denoising processing on the second ultrasonic signal to obtain a third ultrasonic signal;
and a signal processing module: the filter is used for filtering the third ultrasonic signal to obtain a fourth ultrasonic signal;
The intensity value acquisition module is used for: and the fourth ultrasonic signal is used for performing digital-to-analog conversion to obtain a discharge intensity value of the local point.
The relative steps, numerical expressions and numerical values of the components and steps set forth in these embodiments do not limit the scope of the present invention unless it is specifically stated otherwise.
The device provided by the embodiment of the present invention has the same implementation principle and technical effects as those of the foregoing method embodiment, and for the sake of brevity, reference may be made to the corresponding content in the foregoing method embodiment where the device embodiment is not mentioned.
The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
It will be clear to those skilled in the art that, for convenience and brevity of description, specific working procedures of the above-described system and apparatus may refer to corresponding procedures in the foregoing method embodiments, which are not described herein again.
In addition, in the description of embodiments of the present invention, unless explicitly stated and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
In the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
Finally, it should be noted that: the above examples are only specific embodiments of the present invention, and are not intended to limit the scope of the present invention, but it should be understood by those skilled in the art that the present invention is not limited thereto, and that the present invention is described in detail with reference to the foregoing examples: any person skilled in the art may modify or easily conceive of the technical solution described in the foregoing embodiments, or perform equivalent substitution of some of the technical features, while remaining within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention, and are intended to be included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (5)
1. The night inspection partial discharge detection method for the unmanned aerial vehicle is characterized by comprising the following steps of:
acquiring a laser radar signal to plan a flight line of the unmanned aerial vehicle, and acquiring the position of the transmission line to control the unmanned aerial vehicle to fly along the transmission line so that the unmanned aerial vehicle transmits a first ultrasonic signal according to preset time;
acquiring a second ultrasonic signal by using a partial discharge detector carried by the unmanned aerial vehicle, wherein the second ultrasonic signal is a ranging feedback signal of the first ultrasonic signal;
Determining whether the frequencies of the second ultrasonic signal and the first ultrasonic signal are equal;
if the time difference is equal, the second ultrasonic signal obtained by the feedback of the first ultrasonic signal is obtained and compared with the second ultrasonic signal obtained by the feedback of the first ultrasonic signal in the previous period to obtain a time difference, and the obstacle is positioned according to the second ultrasonic signal;
if not, carrying out signal amplification and denoising processing on the second ultrasonic signal to obtain a third ultrasonic signal;
Filtering the third ultrasonic signal to obtain a fourth ultrasonic signal;
And D, performing digital-to-analog conversion on the fourth ultrasonic signal to obtain a discharge intensity value of the local point.
2. The method according to claim 1, wherein the method further comprises:
Acquiring daytime inspection images and night inspection images of the power transmission line so as to perform fault analysis on the power transmission line;
So that the inspection operation and maintenance personnel of the power transmission line can check and analyze the defects, find the defects in time and shorten the defect elimination period.
3. The method according to claim 1, wherein the method further comprises:
controlling the direction of a machine head of the unmanned aerial vehicle so that the unmanned aerial vehicle is perpendicular to the direction of the machine head, and acquiring azimuth information of a power transmission line;
Judging whether the power transmission line is within a preset angle distance range or not based on the power transmission line azimuth information;
If not, correcting the deviation of the unmanned aerial vehicle.
4. The method of claim 1, wherein the step of obtaining the location of the power transmission line to control the flight of the drone along the power transmission line comprises:
acquiring angle information and distance information fed back by the unmanned aerial vehicle, and eliminating abnormal values in the angle information and the distance information by using a Kalman filtering method;
acquiring an average value of abnormal values of the eliminating angle information to acquire real-time angle information of the power transmission line;
And acquiring the minimum value of the abnormal value of the eliminating distance information to acquire the real-time distance information of the power transmission line.
5. The utility model provides an unmanned aerial vehicle night inspection partial discharge detection device which characterized in that includes:
An ultrasonic wave transmitting module: the method comprises the steps of acquiring laser radar signals to plan a flight line of an unmanned aerial vehicle so that the unmanned aerial vehicle can send first ultrasonic signals;
the feedback signal acquisition module: the method comprises the steps that a partial discharge detector carried by the unmanned aerial vehicle is used for obtaining a second ultrasonic signal, wherein the second ultrasonic signal is a ranging feedback signal of the first ultrasonic signal;
and a judging module: determining whether the frequencies of the second ultrasonic signal and the first ultrasonic signal are equal;
if the two ultrasonic signals are equal, positioning the obstacle according to the second ultrasonic signals;
if not, carrying out signal amplification and denoising processing on the second ultrasonic signal to obtain a third ultrasonic signal;
and a signal processing module: the filter is used for filtering the third ultrasonic signal to obtain a fourth ultrasonic signal;
The intensity value acquisition module is used for: and the fourth ultrasonic signal is used for performing digital-to-analog conversion to obtain a discharge intensity value of the local point.
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| CN112787264B (en) * | 2020-12-30 | 2023-03-31 | 珠海华网科技有限责任公司 | Electric power overhead line inspection device and method based on ultrasonic technology |
| CN112528979B (en) * | 2021-02-10 | 2021-05-11 | 成都信息工程大学 | Transformer substation inspection robot obstacle distinguishing method and system |
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| 基于四旋翼无人机的输电线路巡检系统研究;王振华;黄宵宁;梁焜;李少斌;杨忠;;中国电力;20121005(第10期);全文 * |
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