CN112797881A - Overhead line sag detection and early warning method based on unmanned aerial vehicle magnetic field measurement - Google Patents
Overhead line sag detection and early warning method based on unmanned aerial vehicle magnetic field measurement Download PDFInfo
- Publication number
- CN112797881A CN112797881A CN202011406584.4A CN202011406584A CN112797881A CN 112797881 A CN112797881 A CN 112797881A CN 202011406584 A CN202011406584 A CN 202011406584A CN 112797881 A CN112797881 A CN 112797881A
- Authority
- CN
- China
- Prior art keywords
- sag
- overhead line
- aerial vehicle
- unmanned aerial
- detection
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
- G01B7/02—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring length, width or thickness
-
- 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
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/14—Receivers specially adapted for specific applications
-
- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
Abstract
The invention provides an overhead line sag detection and early warning method based on unmanned aerial vehicle magnetic field measurement, which comprises the following steps: (1): wirelessly transmitting the lowest position of the overhead line sag to the unmanned aerial vehicle; (2): controlling the unmanned aerial vehicle to the lowest position of the overhead line sag, and collecting the ground electric field intensity; (3): extracting voltage signals and current signals of the overhead line; (4): filtering high-frequency harmonic interference signals; (5): calculating the sag size of the overhead line; (6): judging whether the sag is larger than a sag alarm value or not, if so, giving an alarm of large sag, and entering (7); if not, entering (7); (7): calculating the sag change rate; (8): judging whether the sag change rate is greater than the sag change rate alarm value or not, and if so, sending out an alarm of sag change abnormity; if not, entering (9); (9): and (4) judging whether to continue detection, if so, returning to the step (1), and if not, ending and controlling the unmanned aerial vehicle to return.
Description
Technical Field
The invention belongs to the technical field of electric power detection, and particularly relates to an overhead line sag detection early warning method based on unmanned aerial vehicle magnetic field measurement.
Background
As one of the important components of the power transmission system, the overhead line needs to be monitored effectively in real time in order to ensure the safety and reliability of the power system. Sag detection is one of important contents for monitoring a power transmission line, and if the sag is too small, the load of a tower can be increased, and further accidents such as disconnection, tower collapse, string falling and the like can occur; if the arc sag is too large, the wire can contact trees, buildings and the like on the ground and discharge electricity, so that the line is tripped and powered off. Because the transmission line is influenced by the natural environment for a long time, the sag changes to a certain extent, and the sag needs to be detected so as to ensure the safe operation of the transmission line.
At present, sag monitoring mainly adopts a manual inspection method, an image monitoring method, a radar sensor measurement method and the like, but the methods are easily influenced by the outside world and weather, and the accuracy is not high.
Disclosure of Invention
The invention provides an overhead line sag detection and early warning method based on unmanned aerial vehicle magnetic field measurement, and lays a foundation for comprehensive composition of power transmission and transformation equipment in the future.
The invention particularly relates to an overhead line sag detection and early warning method based on unmanned aerial vehicle magnetic field measurement, which comprises the following steps:
step (1): wirelessly transmitting the lowest position of the overhead line sag to the unmanned aerial vehicle;
step (2): controlling the unmanned aerial vehicle to the lowest position of the overhead line sag, and collecting the ground electric field intensity;
and (3): extracting voltage signals and current signals of the overhead line;
and (4): filtering high-frequency harmonic interference signals;
and (5): calculating the sag size of the overhead line
h is the height of the overhead line, U is the voltage signal, and E is the electric field strength;
and (6): judging whether the sag is larger than the sag alarm value or not, if so, sending out a sag large alarm, and entering the step (7); if the sag alarm value is not greater than the sag alarm value, entering the step (7);
and (7): calculating the sag change rate;
and (8): judging whether the sag change rate is greater than a sag change rate alarm value or not, and if so, sending out an alarm of sag change abnormity; if the sag change rate is not greater than the sag change rate alarm value, entering the step (9);
and (9): and (4) judging whether to continue detection, if so, returning to the step (1), and if not, ending to control the unmanned aerial vehicle to return.
And the lowest position of the overhead line sag is stored in a remote monitoring equipment database and forms data combination with the height of the overhead line for storage.
Unmanned aerial vehicle contains GPS positioner, electric field strength sensor, GPRS wireless communication device, GPS positioner confirms according to the remote control instruction unmanned aerial vehicle's target position, GPRS wireless communication device will the data transmission that electric field strength sensor gathered extremely remote monitering equipment.
The sag alarm value and the sag change rate alarm value are respectively set according to different weather conditions and different working states of the power line.
Unmanned aerial vehicle cooperation remote monitering equipment can accomplish right the directional detection that each section arc of overhead line hangs down also can accomplish right the order of each section arc of overhead line hangs down detects.
Compared with the prior art, the beneficial effects are: the overhead line sag detection early warning method adopts the unmanned aerial vehicle provided with the electric field intensity sensor to collect the electric field intensity at the lowest position of the overhead line sag, calculates the actual sag size by combining other signals, is flexible and convenient to detect, and is suitable for periodic integral detection and selective detection.
Drawings
Fig. 1 is a working flow chart of an overhead line sag detection early warning method based on unmanned aerial vehicle magnetic field measurement.
Detailed Description
The following describes in detail a specific embodiment of the overhead line sag detection and early warning method based on unmanned aerial vehicle magnetic field measurement according to the present invention with reference to the accompanying drawings.
As shown in fig. 1, the overhead line sag detection early warning method of the present invention includes the following steps:
step (1): wirelessly transmitting the lowest position of the overhead line sag to the unmanned aerial vehicle;
step (2): controlling the unmanned aerial vehicle to the lowest position of the overhead line sag, and collecting the ground electric field intensity;
and (3): extracting voltage signals and current signals of the overhead line;
and (4): filtering high-frequency harmonic interference signals;
and (5): calculating the sag size of the overhead line
h is the height of the overhead line, U is the voltage signal, and E is the electric field strength;
and (6): judging whether the sag is larger than the sag alarm value or not, if so, sending out a sag large alarm, and entering the step (7); if the sag alarm value is not greater than the sag alarm value, entering the step (7);
and (7): calculating the sag change rate;
and (8): judging whether the sag change rate is greater than a sag change rate alarm value or not, and if so, sending out an alarm of sag change abnormity; if the sag change rate is not greater than the sag change rate alarm value, entering the step (9);
and (9): and (4) judging whether to continue detection, if so, returning to the step (1), and if not, ending to control the unmanned aerial vehicle to return.
And the lowest position of the overhead line sag is stored in a remote monitoring equipment database and forms data combination with the height of the overhead line for storage.
Unmanned aerial vehicle contains GPS positioner, electric field strength sensor, GPRS wireless communication device, GPS positioner confirms according to the remote control instruction unmanned aerial vehicle's target position, GPRS wireless communication device will the data transmission that electric field strength sensor gathered extremely remote monitering equipment.
The sag alarm value and the sag change rate alarm value are respectively set according to different weather conditions and different working states of the power line.
The unmanned aerial vehicle can complete the directional detection of each section of sag of the overhead line by matching with the remote monitoring equipment, and can also complete the sequential detection of each section of sag of the overhead line; when the orientation detection of each section of sag of the overhead line is required, the lowest position of the sag of the overhead line is only required to be sent to the unmanned aerial vehicle, and corresponding data is called; when the sequence of the sag of each section of the overhead line needs to be detected, a control command is input, and then the sequence can be executed.
Finally, it should be noted that the above embodiments are only used for illustrating the technical solutions of the present invention and not for limiting the same. It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (5)
1. An overhead line sag detection and early warning method based on unmanned aerial vehicle magnetic field measurement is characterized by comprising the following steps:
step (1): wirelessly transmitting the lowest position of the overhead line sag to the unmanned aerial vehicle;
step (2): controlling the unmanned aerial vehicle to the lowest position of the overhead line sag, and collecting the ground electric field intensity;
and (3): extracting voltage signals and current signals of the overhead line;
and (4): filtering high-frequency harmonic interference signals;
and (5): calculating the sag size of the overhead line
h is the height of the overhead line, U is the voltage signal, and E is the electric field strength;
and (6): judging whether the sag is larger than a sag alarm value or not, if so, sending out a sag large alarm, and entering the step (7); if the sag alarm value is not greater than the sag alarm value, entering the step (7);
and (7): calculating the sag change rate;
and (8): judging whether the sag change rate is greater than a sag change rate alarm value or not, and if so, sending out an alarm of sag change abnormity; if the sag change rate is not greater than the sag change rate alarm value, entering the step (9);
and (9): and (4) judging whether to continue detection, if so, returning to the step (1), and if not, ending to control the unmanned aerial vehicle to return.
2. The overhead line sag detection and early warning method based on unmanned aerial vehicle magnetic field measurement according to claim 1, wherein the lowest position of the overhead line sag is stored in a remote monitoring device database and is combined with the height of the overhead line to form data for storage.
3. The overhead line sag detection and early warning method based on unmanned aerial vehicle magnetic field measurement of claim 2, wherein the unmanned aerial vehicle comprises a GPS positioning device, an electric field intensity sensor and a GPRS wireless communication device, the GPS positioning device determines the target position of the unmanned aerial vehicle according to a remote control instruction, and the GPRS wireless communication device transmits data collected by the electric field intensity sensor to the remote monitoring device.
4. The overhead line sag detection and early warning method based on unmanned aerial vehicle magnetic field measurement according to claim 3, wherein the sag alarm value and the sag change rate alarm value are respectively set according to different weather conditions and different working states of the power line.
5. The overhead line sag detection and early warning method based on unmanned aerial vehicle magnetic field measurement according to claim 4, wherein the unmanned aerial vehicle can complete directional detection of each section of sag of the overhead line by matching with the remote monitoring equipment, and can also complete sequential detection of each section of sag of the overhead line.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011406584.4A CN112797881A (en) | 2020-12-04 | 2020-12-04 | Overhead line sag detection and early warning method based on unmanned aerial vehicle magnetic field measurement |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011406584.4A CN112797881A (en) | 2020-12-04 | 2020-12-04 | Overhead line sag detection and early warning method based on unmanned aerial vehicle magnetic field measurement |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112797881A true CN112797881A (en) | 2021-05-14 |
Family
ID=75806413
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011406584.4A Pending CN112797881A (en) | 2020-12-04 | 2020-12-04 | Overhead line sag detection and early warning method based on unmanned aerial vehicle magnetic field measurement |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112797881A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE4032158A1 (en) * | 1990-10-10 | 1992-04-16 | Windmoeller & Hoelscher | DEVICE FOR DETERMINING THE CONTENT OF A CONTINUOUS MATERIAL RAIL CROSS TO ITS LONGITUDINAL DIRECTION |
| KR20060097334A (en) * | 2005-03-07 | 2006-09-14 | 엘에스전선 주식회사 | Real time sag monitoring system for over head transmission line |
| CN202632111U (en) * | 2012-06-29 | 2012-12-26 | 山东电力集团公司电力科学研究院 | Electric field measurement obstacle avoidance system for polling live wire by unmanned aerial vehicle |
| CN109084673A (en) * | 2018-08-22 | 2018-12-25 | 国网江苏省电力有限公司盐城供电分公司 | A kind of power transmission line sag monitoring system and its monitoring method based on arc sag extreme lower position electric field intensity measuremenrt |
| CN109782803A (en) * | 2019-01-30 | 2019-05-21 | 云南电网有限责任公司电力科学研究院 | A kind of unmanned plane transmission pressure inspection system and method |
| CN110595340A (en) * | 2019-07-09 | 2019-12-20 | 国网江苏省电力有限公司徐州供电分公司 | High-voltage overhead transmission line sag detection system based on field intensity change and detection method thereof |
-
2020
- 2020-12-04 CN CN202011406584.4A patent/CN112797881A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE4032158A1 (en) * | 1990-10-10 | 1992-04-16 | Windmoeller & Hoelscher | DEVICE FOR DETERMINING THE CONTENT OF A CONTINUOUS MATERIAL RAIL CROSS TO ITS LONGITUDINAL DIRECTION |
| KR20060097334A (en) * | 2005-03-07 | 2006-09-14 | 엘에스전선 주식회사 | Real time sag monitoring system for over head transmission line |
| CN202632111U (en) * | 2012-06-29 | 2012-12-26 | 山东电力集团公司电力科学研究院 | Electric field measurement obstacle avoidance system for polling live wire by unmanned aerial vehicle |
| CN109084673A (en) * | 2018-08-22 | 2018-12-25 | 国网江苏省电力有限公司盐城供电分公司 | A kind of power transmission line sag monitoring system and its monitoring method based on arc sag extreme lower position electric field intensity measuremenrt |
| CN109782803A (en) * | 2019-01-30 | 2019-05-21 | 云南电网有限责任公司电力科学研究院 | A kind of unmanned plane transmission pressure inspection system and method |
| CN110595340A (en) * | 2019-07-09 | 2019-12-20 | 国网江苏省电力有限公司徐州供电分公司 | High-voltage overhead transmission line sag detection system based on field intensity change and detection method thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106646481B (en) | Unmanned aerial vehicle ranging device for power transmission line and ranging method thereof | |
| CN105738775A (en) | Power distribution network fault analyzing and positioning system and power distribution network fault analyzing and positioning method | |
| CN111243120A (en) | Environment inspection system based on big data | |
| CN204423158U (en) | Transmission line of electricity device evaded by a kind of airflight platform based on electromagnetic induction | |
| CN108762304A (en) | A kind of unmanned plane line walking obstacle avoidance system and method | |
| CN111624394A (en) | Intelligent short circuit grounding monitoring device and use method thereof | |
| CN105242626A (en) | Line safety intelligent auxiliary monitoring system | |
| CN111862505A (en) | Holographic perception external damage monitoring system | |
| CN111913076A (en) | Power transmission line fault detection system and detection method thereof | |
| CN110763987A (en) | Intelligent combined type power switch online detection system based on multiple information acquisition and detection method thereof | |
| CN107784801A (en) | Navigation mark remote measuring and controlling alarm system and its realizing method | |
| CN110595340A (en) | High-voltage overhead transmission line sag detection system based on field intensity change and detection method thereof | |
| CN110695997A (en) | 5G/NB communication traffic police robot remote monitoring system and application method | |
| CN112797881A (en) | Overhead line sag detection and early warning method based on unmanned aerial vehicle magnetic field measurement | |
| CN210835050U (en) | Cable duct bank on-line monitoring system | |
| CN115967183A (en) | Power transmission line's system of patrolling and examining | |
| CN116343438A (en) | Leakage alarm device for environment-friendly gas insulation equipment | |
| CN204731641U (en) | High mountain high hill Intelligent patrol robot control system | |
| CN214473699U (en) | High tension transmission line running state diagnostic device based on electric field signal | |
| CN212845840U (en) | Intelligent leakage control device for intelligent residential district street lamp | |
| CN212513008U (en) | Posture measuring terminal | |
| CN213023314U (en) | Intelligent short circuit grounding monitoring device | |
| CN115240382A (en) | Early warning system and method for charging pile | |
| CN107390008A (en) | Intelligent lightning on-line monitoring system | |
| CN211086486U (en) | Cable overhead line hybrid line fault current sampling device and online monitoring system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20210514 |