CN112578395B - Laser radar system for helicopter power line inspection - Google Patents
Laser radar system for helicopter power line inspection Download PDFInfo
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- CN112578395B CN112578395B CN202110036631.9A CN202110036631A CN112578395B CN 112578395 B CN112578395 B CN 112578395B CN 202110036631 A CN202110036631 A CN 202110036631A CN 112578395 B CN112578395 B CN 112578395B
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- 238000007689 inspection Methods 0.000 title claims abstract description 23
- 239000007787 solid Substances 0.000 claims abstract description 21
- 238000006243 chemical reaction Methods 0.000 claims description 8
- 238000012545 processing Methods 0.000 claims description 8
- 230000005540 biological transmission Effects 0.000 claims description 7
- 230000003993 interaction Effects 0.000 claims description 2
- 238000005259 measurement Methods 0.000 claims description 2
- 239000003990 capacitor Substances 0.000 claims 73
- 238000012544 monitoring process Methods 0.000 abstract description 6
- 238000013497 data interchange Methods 0.000 abstract description 3
- 238000012423 maintenance Methods 0.000 abstract description 3
- 238000000034 method Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 5
- 238000011179 visual inspection Methods 0.000 description 3
- 230000007547 defect Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000013500 data storage Methods 0.000 description 1
- 238000009795 derivation Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
- 238000010438 heat treatment Methods 0.000 description 1
- 239000012212 insulator Substances 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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Classifications
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- 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
- G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
Abstract
The invention discloses a laser radar system for helicopter power line inspection, which comprises a main control board connected with a direct current power supply, wherein the main control board is respectively connected with a laser scanner, a POS (point of sale), a camera control board, a solid state disk and a tablet personal computer, and the data interchange is realized; the camera control board is in data interchange with the visible light camera, a full decoding battery box is arranged between the visible light camera and the main control board, and the POS is respectively connected with the laser scanner and the camera control board; an external solid state disk, more than one hundred meganetwork interface, a USB interface and a VGA interface which are movably fixed are arranged on the main control board; the invention has the advantages of high reliability, easy maintenance, convenient data export and real-time monitoring of the running state.
Description
Technical Field
The invention relates to a laser radar system for helicopter power line inspection, and belongs to the technical field of high-voltage line corridor environment safety condition detection.
Background
The power transmission line is an important component of the power system, the safety of the facility state and the channel environment of the power transmission line has important significance for the safe operation of the power grid, and if the potential safety hazard of the power transmission line can not be found and eliminated in time, various faults and even accidents can be developed, and the safety and the stability of the power system are threatened.
The conventional inspection of the transmission line mainly adopts a ground manual visual inspection method and a helicopter aerial survey method.
Manual visual inspection is a method mainly adopted at present, but has low inspection precision, high labor intensity and inspection blind areas.
The helicopter aerial survey method is a method for detecting the running condition and the surrounding environment of a high-voltage transmission line by using a series of sensors carried by a helicopter with people, can find equipment defects and hidden danger endangering the line safety, is an important transmission line safety guarantee technology, and has a wide application prospect in the power line safety inspection.
The helicopter power inspection can be divided into fine inspection and channel inspection according to tasks and functions, wherein the fine inspection mainly refers to detection of parameters such as damage condition, heating condition and the like of targets such as insulators, pins, power lines and the like by adopting equipment such as a visible light camera, an infrared camera and the like; the channel inspection mainly adopts a laser radar to detect the environmental safety conditions around the power line and the tower, and mainly relates to the safety influence of the growth conditions of surrounding plants on the power line and the tower.
Compared with the manual visual inspection method, the helicopter aerial inspection method has the characteristics of high precision, high reliability, high efficiency and the like, and is greatly popularized at home and abroad.
The existing helicopter laser radar system is generally assembled simply by a laser scanner, a POS (point of sale), a camera and a controller, does not have a real-time monitoring system state, mainly flies by experience, and can finish a certain inspection task, but has the problems of poor reliability, poor maintainability, inconvenient data derivation, incapability of judging whether operation data are effective in real time and the like. The existing system generally adopts built-in storage, is exported to a computer through a USB external hard disk or through gigabit Ethernet, in particular to a manned airborne laser radar system, and requires aircraft power supply or battery power supply switching to complete data export, so that the operation is complicated; in particular, in order to reduce the number of data exports, a large number of operators often fly a plurality of frames and export data at one time, and there is a possibility that the operation data is invalid, which wastes manpower and material resources and has a problem of unclear accident responsibility.
Namely: what is needed is a laser radar system for helicopter power line inspection that has high reliability, easy maintenance, convenient data export, and real-time monitoring of operating conditions.
Disclosure of Invention
The technical problem to be solved by the invention is to provide the laser radar system for the helicopter power line inspection, which has the advantages of high reliability, easy maintenance, convenient data export and real-time monitoring of the running state; can overcome the defects of the prior art.
The technical scheme of the invention is as follows: a laser radar system for helicopter power line inspection comprises a main control board connected with a direct current power supply, wherein the main control board is respectively connected with a laser scanner, a POS (point of sale), a camera control board, a solid state disk and a tablet personal computer, and the data are interacted; the camera control board is in data interchange with the visible light camera, a full decoding battery box is arranged between the visible light camera and the main control board, and the POS is respectively connected with the laser scanner and the camera control board; the main control board is provided with an external solid state disk which is movably fixed, more than one hundred meganetwork interface, a USB interface and a VGA interface.
The main control panel comprises a secondary voltage-stabilized power supply module, an industrial personal computer module and an interface expansion circuit, wherein the secondary voltage-stabilized power supply comprises the following functions: the direct-current power supply voltage is stabilized and filtered to supply power for the laser scanner, 12V voltage is generated to supply power for the POS and the tablet computer, 8V voltage is generated to supply power for the full decoding battery box to finish supplying power for the visible light camera, and 5V voltage is generated to supply power for the camera control board; the industrial personal computer module is the core of the whole main control board, receives instruction information sent by the tablet personal computer through the RS232 interface, sets and controls corresponding parameters of the laser scanner, the POS and the camera control board according to the instruction information, collects and stores data and working state information of the laser scanner, the POS and the camera control board, and sends the working state information to the tablet personal computer through the RS232 interface.
The camera control board is used for controlling the on-off of the visible light camera, controlling photographing and calculating time information of photographing time, and sending the information to the industrial personal computer module in the main control board through the RS232 interface.
The laser scanner is used for scanning the electric power circuit corridor to obtain three-dimensional point cloud data of the electric power circuit corridor for later modeling processing.
The visible light camera acquires visible light image data of the electric power circuit corridor and is used for fusing the visible light image data with the three-dimensional point cloud to obtain a model with higher precision.
The POS is used for acquiring real-time position and posture information of the laser scanner and the visible light camera, providing accurate time reference information and providing reference for three-dimensional point cloud generation and later modeling processing.
The full decoding battery box is used for providing power for the visible light camera for a long time, and the external solid state disk is used for storing original data output by the laser scanner and the POS, photographing time data of the camera and system log data.
The direct current power supply is a total power supply, the typical voltage is 24V, and a storage battery or an onboard power supply can be adopted to support 15-30V wide-voltage power supply.
The data and the working state information of the laser scanner, the POS and the camera control board are stored in a double-way mode, one path of the data and the working state information are stored in the internal solid state disk, and the other path of the data and the working state information are stored in the external solid state disk through the pluggable SATA interface.
The main control board is provided with a level conversion circuit and an impedance matching circuit.
And the working states of the laser scanner, the POS, the visible light camera, the main control panel and the camera control panel are displayed with the tablet personal computer in real time.
Compared with the prior art, the invention has the advantages that:
(1) The full decoding battery box is adopted to supply power for the camera, and the endurance time is not limited.
(2) In the aspect of data storage, the double-way storage is adopted, particularly, an external pluggable solid state disk is added, on one hand, the reliability is improved, on the other hand, the traditional online network data export or USB interface data export mode can be canceled, the later offline data export can be realized by directly adopting the replacement of the solid state disk, the total time of outfield operation can be obviously shortened, and the responsibility of each frame of operation data can be clear.
(3) The working state of each module in the system can be monitored in real time by the tablet personal computer, and whether the operation data are valid or not can be conveniently judged.
(4) The main control board part performs level compatibility processing on PPS signals output by the POS, so that 3.3V and 5V compatibility can be realized, interface unification can be realized, and most devices requiring time synchronization can be accessed.
(5) The reserved USB interface can be externally connected with a 4G network card, so that remote monitoring is realized. Meanwhile, the invention has higher integration level and flexible configuration, wherein the main control panel can be independently used, namely, the main control panel can be used for a laser radar system under the condition of no camera.
Drawings
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the accompanying drawings, in which:
FIG. 1 is a block diagram of the system components of the present invention.
Fig. 2 is a power supply circuit diagram of a laser scanner according to the present invention.
Fig. 3 is a diagram of a POS power supply circuit of the present invention.
Fig. 4 is a circuit diagram of the full decoding battery case input power supply of the present invention.
Fig. 5 is a power supply circuit diagram of the camera control board of the present invention.
Fig. 6 is a PPS signal compatibility switching circuit of the present invention.
Wherein, the direct current power supply 1; a main control board 2; a laser scanner 3; POS4; a camera control board; a full decoding battery case 7; a solid state disk 8; a tablet computer 9.
Detailed Description
Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. It should be understood that the preferred embodiments are presented by way of illustration only and not by way of limitation.
Embodiment 1. As shown in fig. 1, a laser radar system for helicopter power line inspection is characterized in that: the system comprises a main control board 2 connected with a direct-current power supply 1, wherein the main control board 2 is respectively connected with a laser scanner 3, a POS4, a camera control board 5, a solid state disk 8 and a tablet personal computer 9, and the data are interacted; the camera control board 5 is connected with the visible light camera 6 for data interaction, a full decoding battery box 7 is arranged between the visible light camera 6 and the main control board 2, and the POS4 is respectively connected with the laser scanner 3 and the camera control board 5; the main control board 2 is provided with an external solid state disk 8 which is movably fixed, and more than one hundred meganetwork interface, a USB interface and a VGA interface.
The main control board 2 comprises a secondary voltage-stabilized power supply module, an industrial personal computer module and an interface expansion circuit, wherein the secondary voltage-stabilized power supply comprises the following functions: the voltage of the direct current power supply 1 is stabilized and filtered to supply power to the laser scanner 3, 12V voltage is generated to supply power to the POS4 and the tablet computer 9, 8V voltage is generated to supply power to the full decoding battery box 7 to complete the power supply to the visible light camera 6, and 5V voltage is generated to supply power to the camera control board 5; the industrial personal computer module is the core of the whole main control board 2, receives instruction information sent by the tablet personal computer 9 through an RS232 interface, sets and controls corresponding parameters of the laser scanner 3, the POS4 and the camera control board 5 according to the instruction information, collects and stores data and working state information of the laser scanner 3, the POS4 and the camera control board 5, and sends the working state information to the tablet personal computer 9 through the RS232 interface.
The camera control board 5 is used for controlling the on-off of the visible light camera 6, controlling the photographing and calculating the time information of the photographing time, and sending the information to the industrial personal computer module in the main control board 2 through the RS232 interface.
The laser scanner 3 is used for scanning the electric power line corridor to acquire three-dimensional point cloud data of the electric power line corridor for later modeling processing.
The visible light camera 6 acquires visible light image data of the power line corridor and is used for fusion with the three-dimensional point cloud to obtain a model with higher precision.
The POS4 is configured to acquire real-time position and posture information of the laser scanner 3 and the visible light camera 6, and provide accurate time reference information, and provide a reference for three-dimensional point cloud generation and post modeling processing.
The full decoding battery box 7 is used for providing power for the visible light camera 6 for a long time, and the external solid state disk 8 is used for storing the original data output by the laser scanner 3 and the POS4, the camera photographing time measurement data and the system log data.
The direct current power supply 1 is a total power supply, the typical voltage is 24V, and a storage battery or an onboard power supply can be adopted to support 15-30V wide-voltage power supply.
The data and the working state information of the laser scanner 3, the POS4 and the camera control board 5 are stored in a double-way mode, one path of the data and the working state information are stored in the internal solid state disk, and the other path of the data and the working state information are stored in the external solid state disk 8 through a pluggable SATA interface, so that the plugging operation of the external solid state disk 8 is facilitated.
The main control board 2 is provided with a level conversion circuit and an impedance matching circuit, so that 3.3V PPS signals output by the POS4 are subjected to level compatibility processing, 3.3V and 5V levels can be compatible at the same time, the unification of interfaces is realized, and most of equipment requiring time synchronization can be accessed.
The working states of the laser scanner 3, the POS4, the visible light camera 6, the main control board 2 and the camera control board 5 are displayed with the tablet personal computer 9 in real time, so that the monitoring of equipment by operators is facilitated.
As shown in fig. 2, the input power +24vp is converted into the power supply +24vout of the laser scanner 3 through the common-mode inductance L2 and the capacitances C3, C4, and C7.
As shown in fig. 3, the +24vc power is converted to 12V power through the switching power supply chip LM2576S-12 to supply power to the POS4 and the tablet computer 9.
As shown in fig. 4, the +24vc power supply is converted into 8V voltage through an adjustable output switching power supply chip LM2576S-adj and a matched resistor to supply power to the full decoding battery case 7.
As shown in fig. 5, the +12v_imu power is converted to 5V voltage through the linear power chip 78MC05 to supply power to the camera control board 5.
As shown in fig. 6, the PPS signal pps_out_3.3v of 3.3V logic level outputted by POS4 is converted into PPS signal pps_out_5v of 5V logic level through the level conversion chip NLSX4373, and is converted into PPSc through the matching resistor of 510 ohms, which is compatible with both 3.3V and 5V logic levels.
Finally, it is noted that the above embodiments are only for illustrating the technical solution of the present invention and not for limiting the same, and although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications and equivalents may be made thereto without departing from the spirit and scope of the present invention, which is intended to be covered by the claims of the present invention.
Claims (4)
1. A laser radar system for helicopter power line inspection is characterized in that: the device comprises a main control board (2) connected with a direct current power supply (1), wherein the main control board (2) is respectively connected with a laser scanner (3), a POS (4), a camera control board (5), a solid state disk (8) and a tablet personal computer (9), and the data are mutually interacted; the camera control board (5) is in data interaction with the visible light camera (6), a full decoding battery box (7) is arranged between the visible light camera (6) and the main control board (2), and the POS (4) is respectively connected with the laser scanner (3) and the camera control board (5); an external solid state disk (8) which is movably fixed, more than one hundred meganetwork interface, a USB interface and a VGA interface are arranged on the main control board (2);
the main control panel (2) comprises a secondary voltage-stabilized power supply module, an industrial personal computer module and an interface expansion circuit, wherein the secondary voltage-stabilized power supply comprises the following functions: the voltage of the direct current power supply (1) is stabilized and filtered to supply power for the laser scanner (3); the laser scanner power supply circuit includes: diode D2, capacitor C3, capacitor C4, capacitor C5, capacitor C6, capacitor C7, capacitor C12, common-mode inductance L2;
the output end of the diode D2 is connected with one end of the capacitor C5, one end of the capacitor C6 and the first end of the common-mode inductor, and the output end of the diode D2 is also connected with a power supply output interface of the direct-current power supply; one end of a capacitor C12 at the other end of the capacitor C6, the other end of the capacitor C12 is connected with the second end of the common-mode inductor L2, and the other end of the capacitor C12 is also connected with the other end of the capacitor C5 and the other end of the diode D2; the input end of the diode D2 is also grounded;
one end of the capacitor C3, one end of the capacitor C4 and one end of the capacitor C7 are all connected with the fourth end of the common-mode inductor L2; the other end of the capacitor C3, the other end of the capacitor C4 and the other end of the capacitor C7 are all connected with the third end of the common-mode inductor L2; one end of the capacitor C3 is connected with a power supply interface of the laser scanner, and the other end of the capacitor C3 is grounded;
generating 12V voltage to supply power for the POS (4) and the tablet computer (9); POS and panel computer power supply circuit include: capacitor C27, capacitor C28, capacitor C29, capacitor C33, capacitor C34, capacitor C35, switching power supply chip LM2576S-12, inductor L4 and diode D5;
the capacitor C33, the capacitor C34 and the capacitor C35 are connected in parallel; one end of the capacitor C33 is respectively connected with a power supply and a power transmission of the direct current power supplyThe VIN pin of the output interface and switching power supply chip LM 2576S-12; the other end of the capacitor C33 is respectively connected with the ground, the GND pin of the switching power supply chip LM2576S-12 and the GND pin of the switching power supply chip LM2576S-12Pins;
the capacitor C27, the capacitor C28 and the capacitor C29 are connected in parallel; one end of the capacitor C27 is connected with the ground and the input end of the diode D5, the output end of the diode D5 is respectively connected with the OUT pin of the switching power supply chip LM2576S-12 and one end of the inductor L4, and the other end of the inductor L4 is respectively connected with the other end of the capacitor C27 and the FB pin of the switching power supply chip LM 2576S-12; the TAB pin of the switching power supply chip LM2576S-12 is grounded; one end of the capacitor C29 which is not grounded is connected with a power supply interface of the POS or the tablet computer;
generating 8V voltage to supply power for the full decoding battery box (7) so as to complete the power supply for the visible light camera (6); the full decoding battery box input power circuit comprises: capacitor C20, capacitor C21, capacitor C22, capacitor C24, capacitor C25, capacitor C26, switching power supply chip LM2576S-adj, inductor L3, diode D4, resistor R10, resistor R11 and resistor R12;
the capacitor C24, the capacitor C25 and the capacitor C26 are connected in parallel; one end of the capacitor C24 is respectively connected with a power supply output interface of the direct-current power supply and a VIN pin of the switching power supply chip LM 2576S-adj; the other end of the capacitor C24 is respectively connected with ground, the GND pin of the switching power supply chip LM2576S-adj and the GND pin of the switching power supply chipPins;
the capacitor C20, the capacitor C21 and the capacitor C22 are connected in parallel; one end of the capacitor C20 is connected with the ground and the input end of the diode D4, the output end of the diode D4 is respectively connected with the OUT pin of the switching power supply chip LM2576S-adj and one end of the inductor L3, and the other end of the inductor L3 is respectively connected with the other end of the capacitor C20 and the FB pin of the switching power supply chip LM 2576S-adj; the TAB pin of the switching power supply chip LM2576S-adj is grounded; one end of the capacitor C22 which is not grounded is connected with a power supply interface of the visible light camera; the other end of the capacitor C20 is grounded after passing through a resistor R10, a resistor R11 and a resistor R12 in sequence;
generating 5V voltage to supply power for a camera control board (5); the camera control board power supply circuit includes: capacitor C40, capacitor 41, capacitor C42, and linear power chip 78MC05;
one end of the capacitor C40 is respectively connected with the non-grounded end of the capacitor C29 in the POS and tablet computer power supply circuit and the Vin pin of the linear power chip 78MC05, and the other end of the capacitor C40 is grounded; the capacitor 41 and the capacitor C42 are connected in parallel, one end of the capacitor 41 is connected with the Vout pin of the linear power chip 78MC05, and the other end of the capacitor 41 and the GND pin of the linear power chip 78MC05 are grounded;
the industrial personal computer module is the core of the whole main control board (2), receives instruction information sent by the tablet personal computer (9) through an RS232 interface, carries out corresponding parameter setting and control on the laser scanner (3), the POS (4) and the camera control board (5) according to the instruction information, collects and stores data and working state information of the laser scanner (3), the POS (4) and the camera control board (5) at the same time, and sends the working state information to the tablet personal computer (9) through the RS232 interface;
the PPS signal compatibility conversion circuit of the interface expansion circuit comprises a level conversion circuit and an impedance matching circuit; the PPS signal compatibility conversion circuit includes: capacitor C6, level conversion chip NLSX4373, capacitor C7, resistor R6, resistor R7 and resistor R8;
one end of the capacitor C6 is grounded, and the other end of the capacitor C6 is connected with a VL pin of the level conversion chip NLSX 4373; the other end of the capacitor C6 is also used as a power supply end of a 3.3V power supply; the VL-IO1 pin and the VL-IO2 pin of NLSX4373 are connected with PPI signals PPS-OUT-3.3V of 3.3V logic level output by POS; GND pin of NLSX4373 is grounded;
one end of the capacitor C7 is grounded, and the other end of the capacitor C7 is connected with a VCC pin of NLSX 4373; the VCC-IO1 pin and the VCC-IO2 pin of NLSX4373 respectively correspondingly pass through a resistor R7 and a resistor R8 and then output PPSc signals; the PPSc signal is compatible with 3.3V and 5N levels at the same time; the EN pin of NLSX4373 is used as an inverter interface of +5V after passing through a resistor R6;
the camera control board (5) is used for controlling the on-off of the visible light camera (6), controlling the photographing and calculating the time information of photographing time, and sending the information to the industrial personal computer module in the main control board (2) through the RS232 interface;
the laser scanner (3) is used for scanning the electric power line corridor to acquire three-dimensional point cloud data of the electric power line corridor for later modeling processing;
the visible light camera (6) acquires visible light image data of the electric power circuit corridor and is used for fusing with the three-dimensional point cloud to obtain a model with higher precision;
the POS (4) is used for acquiring real-time position and posture information of the laser scanner (3) and the visible light camera (6), providing accurate time reference information and providing references for three-dimensional point cloud generation and later modeling processing;
the full decoding battery box (7) is used for providing power for the visible light camera (6) for a long time, and the external solid state disk (8) is used for storing original data output by the laser scanner (3) and the POS (4), camera photographing time measurement data and system log data.
2. The laser radar system for helicopter power line inspection of claim 1, wherein: the direct current power supply (1) is a total power supply, the typical voltage is 24V, and a storage battery or an onboard power supply is adopted to support 15-30V wide-voltage power supply.
3. The laser radar system for helicopter power line inspection of claim 1, wherein: the data and working state information of the laser scanner (3), the POS (4) and the camera control board (5) are stored in a double-way mode, one path of the data and the working state information are stored in the internal solid state disk, and the other path of data is stored in the external solid state disk (8) through the pluggable SATA interface.
4. The laser radar system for helicopter power line inspection of claim 1, wherein: working states of the laser scanner (3), the POS (4), the visible light camera (6), the main control panel (2) and the camera control panel (5) are displayed with the tablet personal computer (9) in real time.
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