CN113075938A - Remote intelligent inspection system and method for power transmission line - Google Patents
Remote intelligent inspection system and method for power transmission line 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
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J13/00—Circuit arrangements for providing remote indication of network conditions, e.g. an instantaneous record of the open or closed condition of each circuitbreaker in the network; Circuit arrangements for providing remote control of switching means in a power distribution network, e.g. switching in and out of current consumers by using a pulse code signal carried by the network
- H02J13/00002—Circuit arrangements for providing remote indication of network conditions, e.g. an instantaneous record of the open or closed condition of each circuitbreaker in the network; Circuit arrangements for providing remote control of switching means in a power distribution network, e.g. switching in and out of current consumers by using a pulse code signal carried by the network characterised by monitoring
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- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
- Y02B90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02B90/20—Smart grids as enabling technology in buildings sector
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- Y04—INFORMATION OR COMMUNICATION TECHNOLOGIES HAVING AN IMPACT ON OTHER TECHNOLOGY AREAS
- Y04S—SYSTEMS INTEGRATING TECHNOLOGIES RELATED TO POWER NETWORK OPERATION, COMMUNICATION OR INFORMATION TECHNOLOGIES FOR IMPROVING THE ELECTRICAL POWER GENERATION, TRANSMISSION, DISTRIBUTION, MANAGEMENT OR USAGE, i.e. SMART GRIDS
- Y04S40/00—Systems for electrical power generation, transmission, distribution or end-user application management characterised by the use of communication or information technologies, or communication or information technology specific aspects supporting them
- Y04S40/12—Systems for electrical power generation, transmission, distribution or end-user application management characterised by the use of communication or information technologies, or communication or information technology specific aspects supporting them characterised by data transport means between the monitoring, controlling or managing units and monitored, controlled or operated electrical equipment
- Y04S40/126—Systems for electrical power generation, transmission, distribution or end-user application management characterised by the use of communication or information technologies, or communication or information technology specific aspects supporting them characterised by data transport means between the monitoring, controlling or managing units and monitored, controlled or operated electrical equipment using wireless data transmission
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Abstract
The application discloses long-distance intelligent inspection system and method for power transmission lines, wherein the system comprises: the control computing terminal, the unmanned aerial vehicle and the plurality of relay units are used for transferring communication signals between the unmanned aerial vehicle and the control terminal; marking and fitting the tower pole by the unmanned aerial vehicle to obtain the power transmission line; then, setting an acquisition radius according to the power transmission line so as to determine an acquisition area; then, taking a plurality of tangent points of the boundary of the acquisition area as a flight line of the unmanned aerial vehicle, so that the unmanned aerial vehicle photographs the environment around the power transmission line according to the unmanned line, acquiring a clearer and more accurate environment real-time image, and generating a 3D environment model of the power transmission line; and finally, arranging the routing inspection route of the unmanned aerial vehicle according to the conditions of the power transmission line, the obstacles and the like in the 3D environment model, so that the unmanned aerial vehicle can perform routing inspection and photographing according to the routing inspection route. Therefore, the technical problems that in the prior art, the labor cost is high, the risk is high, and long-distance inspection cannot be carried out when the overhead transmission line is inspected are solved.
Description
Technical Field
The application relates to the technical field of power grid operation and maintenance, in particular to a remote intelligent inspection system and method for a power transmission line.
Background
Generally, the surrounding environment of the overhead transmission line of the distribution network is complex, for example, due to tree obstacles formed by the growth of trees, sundries blown by wind and the like, the safety and the stability of the distribution network are seriously affected if the trees are lost in time, and therefore the overhead transmission line and the surrounding environment need to be inspected. At present, the modes of polling the overhead transmission line mainly comprise: distribution network operation and maintenance personnel find the defects of the overhead lines through manual inspection and eliminate the defects, or the operation and maintenance personnel inspect the overhead transmission lines through operating the unmanned aerial vehicle. Although the mode of manually operating the unmanned aerial vehicle for polling is more efficient than the mode of manually polling, professional operators are still required to operate the unmanned aerial vehicle for polling, the labor cost is higher, and the unmanned aerial vehicle is operated at a higher risk due to the complexity of a power transmission line; meanwhile, because the communication distance and the electric quantity of the unmanned aerial vehicle are limited, the unmanned aerial vehicle cannot carry out remote inspection on the power transmission line, so that the popularization rate of the unmanned aerial vehicle for carrying out inspection on the overhead power transmission line is reduced to a great extent.
Disclosure of Invention
The application provides a remote intelligent inspection system and method for a power transmission line, which are used for solving the technical problems that the labor cost is high, the risk is high and the remote inspection cannot be carried out when the overhead power transmission line is inspected in the prior art.
In view of this, the first aspect of the present application provides a remote intelligent inspection system for power transmission lines, the system including: the system comprises a plurality of relay units, a control computing terminal and an unmanned aerial vehicle; the relay units are respectively arranged in the plurality of towers;
the relay unit is configured to: when the distance between the unmanned aerial vehicle and the control computing terminal exceeds a preset communication distance, transferring a communication signal between the unmanned aerial vehicle and the control computing terminal;
the control computing terminal is used for:
controlling the unmanned aerial vehicle to mark each tower in the power transmission line to be inspected, sequentially connecting the marked towers to obtain the power transmission line, and setting an area with the radius r on the same horizontal plane in the power transmission line as an acquisition area;
marking different numbers for each tangent point tangent to the boundary of the acquisition region, and setting a flight line according to the numbers, wherein each tangent point is as follows: tangent points of circles with the pole tower as the center of a circle and the radius r tangent to the boundary of the acquisition area;
controlling an unmanned aerial vehicle to photograph the surrounding environment of the power transmission line according to the flight line to obtain a plurality of environment images, and generating a 3D environment model of the power transmission line to be inspected according to the environment images;
and setting the routing inspection route of the unmanned aerial vehicle according to the 3D environment model, and controlling the unmanned aerial vehicle to photograph the overhead transmission line according to the routing inspection route.
Optionally, the method further comprises: a plurality of charging units;
the charging units are arranged in the acquisition area, and the distances between the first charging unit and the control calculation terminal and between any two adjacent charging units are smaller than the maximum flight distance of the unmanned aerial vehicle;
the charging unit is used for: and when the electric quantity of the unmanned aerial vehicle is smaller than a preset threshold value, charging the unmanned aerial vehicle.
Optionally, the control computing terminal is further configured to:
and after the unmanned aerial vehicle is controlled to photograph the overhead transmission line according to the routing inspection line, receiving the real-time image of the overhead transmission line sent by the unmanned aerial vehicle, and judging the running state of the overhead transmission line according to the real-time image.
Optionally, the routing inspection route of the unmanned aerial vehicle is set according to the 3D environment model, and specifically includes:
acquiring an overhead transmission line and an obstacle in the 3D environment model, and respectively setting a first safety distance and a second safety distance between the unmanned aerial vehicle and the overhead transmission line as well as between the unmanned aerial vehicle and the obstacle;
and generating the routing inspection line according to the first safety distance and the second safety distance.
Optionally, the relay units are respectively arranged in the plurality of towers, and specifically include:
the first relay unit is arranged in the ith tower, and the ith tower is as follows: the tower farthest away from the control terminal is located within the largest communication distance between the control terminal and the unmanned aerial vehicle;
and a plurality of relay units are arranged between the ith tower and the tower farthest from the control terminal, and the distance between every two relay units is not more than the communication distance of the relay units.
The second aspect of the application provides a method for remotely and intelligently inspecting a power transmission line, which is applied to the first aspect of the remotely and intelligently inspecting the power transmission line, and the method comprises the following steps:
s1, controlling the unmanned aerial vehicle to mark each tower in the power transmission line to be inspected, sequentially connecting the marked towers to obtain the power transmission line, and setting an area with the radius r on the same horizontal plane in the power transmission line as an acquisition area;
s2, respectively marking different numbers for each tangent point tangent to the boundary of the acquisition region, and setting a flight line according to the numbers, wherein each tangent point is as follows: tangent points of circles with the pole tower as the center of a circle and the radius r tangent to the boundary of the acquisition area;
s3, controlling the unmanned aerial vehicle to photograph the surrounding environment of the power transmission line according to the flight line to obtain a plurality of environment images, and generating a 3D environment model of the power transmission line to be inspected according to the environment images;
s4, setting the routing inspection route of the unmanned aerial vehicle according to the 3D environment model, and controlling the unmanned aerial vehicle to photograph the overhead transmission line according to the routing inspection route.
Optionally, the method further comprises: when the electric quantity of the unmanned aerial vehicle is smaller than a preset threshold value, the unmanned aerial vehicle is charged through a charging unit.
Optionally, after step S4, the method further includes:
and receiving the real-time image of the overhead transmission line sent by the unmanned aerial vehicle, and judging the running state of the overhead transmission line according to the real-time image.
Optionally, the routing inspection route of the unmanned aerial vehicle is set according to the 3D environment model, and specifically includes:
acquiring an overhead transmission line and an obstacle in the 3D environment model, and respectively setting a first safety distance and a second safety distance between the unmanned aerial vehicle and the overhead transmission line as well as between the unmanned aerial vehicle and the obstacle;
and generating the routing inspection line according to the first safety distance and the second safety distance.
Optionally, the step of marking different numbers for each tangent point tangent to the boundary of the collection area, and setting a flight line according to the numbers specifically includes:
marking the tangent point on one side of the acquisition region as 2n and the other side as 2n-1, wherein n is 1,2, 3.;
and sequentially setting the flying lines according to the sequence of the tangent points marked as 2n, 2n +2, 2n-1 and 2n + 1.
According to the technical scheme, the method has the following advantages:
the application provides a long distance system of patrolling and examining of unmanned aerial vehicle of transmission line includes: the system comprises a plurality of relay units, a control computing terminal and an unmanned aerial vehicle; the relay units are respectively arranged in the plurality of towers and are used for transferring communication signals between the unmanned aerial vehicle and the control terminal; marking and fitting the tower pole by the unmanned aerial vehicle to obtain the power transmission line; then, setting an acquisition radius according to the power transmission line so as to determine an acquisition area; then, taking a plurality of tangent points of the boundary of the acquisition area as a flight line of the unmanned aerial vehicle, so that the unmanned aerial vehicle photographs the environment around the power transmission line according to the unmanned line, acquiring a clearer and more accurate environment real-time image, and generating a 3D environment model of the power transmission line; and finally, arranging the routing inspection route of the unmanned aerial vehicle according to the conditions of the power transmission line, the obstacles and the like in the 3D environment model, so that the unmanned aerial vehicle can perform routing inspection and photographing according to the routing inspection route. Compared with the mode of manually controlling the unmanned aerial vehicle to patrol and examine the power transmission line, the unmanned aerial vehicle has the advantages that the labor cost and the operation risk are reduced, the power transmission line can be remotely patrolled and examined, and the technical problems that the labor cost is high, the risk is high, and the remote patrol and examination cannot be carried out in the process of patrolling and examining the overhead power transmission line in the prior art are solved.
Drawings
Fig. 1 is a schematic structural diagram of a remote intelligent inspection system for a power transmission line provided in an embodiment of the present application;
FIG. 2 is a schematic diagram of an image capture area provided in an embodiment of the present application;
fig. 3 is a schematic view of a flight path of an unmanned aerial vehicle provided in an embodiment of the present application;
fig. 4 is a schematic flow chart of a first embodiment of a method for remotely and intelligently inspecting a power transmission line provided in the embodiment of the present application;
fig. 5 is a schematic flow chart of a second embodiment of the unmanned aerial vehicle remote inspection method for the power transmission line provided in the embodiment of the present application.
Detailed Description
In order to make the technical solutions of the present application better understood, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Please refer to fig. 1,2, and 3, an embodiment of the present application provides an unmanned aerial vehicle remote inspection system for power transmission lines, including: the system comprises a plurality of relay units, a control computing terminal and an unmanned aerial vehicle; relay units are respectively arranged in the plurality of towers;
the relay unit is used for: when the distance between the unmanned aerial vehicle and the control calculation terminal exceeds a preset communication distance, transferring the communication signal between the unmanned aerial vehicle and the control terminal.
It should be noted that, because the communication distance between the unmanned aerial vehicle and the control computing terminal is limited in a wireless communication manner, such as WIFI transmission and analog signal transmission, in order to enable the unmanned aerial vehicle to perform remote inspection, in this embodiment, a relay unit is disposed in a tower at a distance between two phases, and is configured to implement functions such as relay amplification of a communication signal when the distance between the unmanned aerial vehicle and the control computing terminal exceeds the maximum communication distance between the unmanned aerial vehicle and the control computing terminal.
As shown in fig. 1, L1 is the maximum communication distance between the control computing terminal and the drone, D1 is the distance between the first relay unit and the control computing terminal, D1 should be set to be less than or equal to L1, D2 should be set to be the distance between two relay units disposed in a tower, and L2 is the maximum communication distance between two relay units, and D2 should be set to be less than or equal to L2.
The control computing terminal is used for:
and controlling the unmanned aerial vehicle to mark each tower in the power transmission line to be inspected, sequentially connecting the marked towers to obtain the power transmission line, and setting the area with the radius of r and the same horizontal plane in the power transmission line as an acquisition area.
This embodiment marks and fits every shaft tower, it needs to explain, can mark the number to the shaft tower through modes such as manual control unmanned aerial vehicle, control calculation terminal is automatic to be connected according to the number after the mark, thereby obtain the line of the fitting as shown in fig. 2, transmission line promptly, and use each point of transmission line as the centre of a circle, will be in same horizontal plane and the region that the radius is r sets up to the collection region, it needs to explain that, radius r's size can be according to actual patrolling and examining needs and set up.
Different numbers are respectively marked on all tangent points tangent to the boundary of the acquisition region, the flight line is set according to the numbers, and each tangent point is: and tangent points of circles with the pole tower as the center of a circle and the radius r tangent to the boundary of the acquisition area.
As shown in fig. 3, the tangent points 1 and 2 are two tangent points of a circle with a radius r and a boundary of the acquisition area, the first tower being a circle center, the tangent points 3 and 4, and the tangent points 5 and 6 being similar to the tangent points 1 and 2; in order to take a picture of the surrounding environment of the power transmission line more clearly and comprehensively as much as possible, the flight path is set as 1 → 2 → 4 → 1 → 3 → 4 → 6 → 3 → 5 shown in fig. 3 in the present embodiment.
And controlling the unmanned aerial vehicle to photograph the surrounding environment of the power transmission line according to the flight line to obtain a plurality of environment images, and generating a 3D environment model of the power transmission line to be patrolled and examined according to the environment images.
It should be noted that, in this embodiment, a positioning system such as a GPS or BDS combined with an RTK or real-time differential positioning is used to control the unmanned aerial vehicle to automatically fly along the flight line to the flight starting point, and meanwhile, a downward-looking photograph is taken at a sampling point every certain distance until the unmanned aerial vehicle flies to the tail end of the flight line. The photographing is combined with an accurate positioning system and a surveying and mapping control system, and the digital image keeps longitude and latitude and altitude information. And the control computing terminal processes the acquired environment images by using the 3D modeling system to obtain high-precision topographic features of the three-dimensional line corridor, spatial information of line facilities and corridor features and the like, and generates a line 3D geographic information model, namely a 3D environment model.
Set up unmanned aerial vehicle's the route of patrolling and examining according to 3D environmental model, control unmanned aerial vehicle and shoot overhead transmission line according to the route of patrolling and examining.
It should be noted that, this implementation plans unmanned aerial vehicle automatic cruise scheme of shooing on the model after obtaining circuit 3D environmental model. Through keeping away the barrier system, set up aerial line safe distance A, forbid unmanned aerial vehicle to be close to in aerial line radius A, set up barrier safe distance B, forbid unmanned aerial vehicle to be close to in barrier radius B such as tree barrier, set up unmanned aerial vehicle position of shooing simultaneously. Thereby control unmanned aerial vehicle and shoot and patrol and examine overhead transmission line according to patrolling and examining the route.
This embodiment provides a long distance system of patrolling and examining of unmanned aerial vehicle of transmission line, includes: the system comprises a plurality of relay units, a control computing terminal and an unmanned aerial vehicle; the relay units are respectively arranged in the plurality of towers and are used for transferring communication signals between the unmanned aerial vehicle and the control terminal; marking and fitting the tower pole by the unmanned aerial vehicle to obtain the power transmission line; then, setting an acquisition radius according to the power transmission line so as to determine an acquisition area; then, taking a plurality of tangent points of the boundary of the acquisition area as a flight line of the unmanned aerial vehicle, so that the unmanned aerial vehicle photographs the environment around the power transmission line according to the unmanned line, acquiring a clearer and more accurate environment real-time image, and generating a 3D environment model of the power transmission line; and finally, arranging the routing inspection route of the unmanned aerial vehicle according to the conditions of the power transmission line, the obstacles and the like in the 3D environment model, so that the unmanned aerial vehicle can perform routing inspection and photographing according to the routing inspection route. Compared with the mode of manually controlling the unmanned aerial vehicle to patrol and examine the power transmission line, the unmanned aerial vehicle has the advantages that the labor cost and the operation risk are reduced, the power transmission line can be remotely patrolled and examined, and the technical problems that the labor cost is high, the risk is high, and the remote patrol and examination cannot be carried out in the process of patrolling and examining the overhead power transmission line in the prior art are solved.
Further, still include: a plurality of charging units; the charging units are arranged in the acquisition area, and the distances between the first charging unit and the control calculation terminal and between any two adjacent charging units are smaller than the maximum flight distance of the unmanned aerial vehicle; the charging unit is used for: when the electric quantity of the unmanned aerial vehicle is smaller than a preset threshold value, the unmanned aerial vehicle is charged.
It should be noted that, consider that unmanned aerial vehicle's electric quantity itself is limited, in order to further improve unmanned aerial vehicle's the flight distance of patrolling and examining, this embodiment has set up a plurality of charging unit in the acquisition area, and two arbitrary adjacent charging unit's distance all is less than unmanned aerial vehicle's the biggest flight distance (unmanned aerial vehicle's flight distance when full electric quantity), makes unmanned aerial vehicle charge to unmanned aerial vehicle when the electric quantity is less than preset threshold value.
Further, the control computing terminal is further configured to:
after the unmanned aerial vehicle is controlled to photograph the overhead transmission line according to the routing inspection line, the real-time image of the overhead transmission line sent by the unmanned aerial vehicle is received, and the running state of the overhead transmission line is judged according to the real-time image.
It should be noted that, this embodiment also provides a function of determining a problem in the real-time image of the overhead transmission line, and specifically, the real-time image of the overhead transmission line may be processed in an image recognition manner or the like to determine the operating state of the overhead transmission line.
Further, in a specific embodiment, set up the route of patrolling and examining of unmanned aerial vehicle according to 3D environmental model specifically includes: acquiring an overhead transmission line and an obstacle in a 3D environment model, and respectively setting a first safety distance and a second safety distance between an unmanned aerial vehicle and the overhead transmission line and between the unmanned aerial vehicle and the obstacle; and generating a routing inspection line according to the first safety distance and the second safety distance.
It should be noted that, the route of patrolling and examining that this embodiment set up mainly considers barrier and overhead transmission line in the transmission line, it is concrete, set up unmanned aerial vehicle and overhead transmission line's first safe distance based on 3D environmental model, and unmanned aerial vehicle and overhead transmission line's second safe distance, the regional arbitrary route of patrolling and examining that sets up outside barrier and overhead transmission line promptly, ensure unmanned aerial vehicle's flight safety, thereby make unmanned aerial vehicle can carry out safe remote patrol and examine the photo to overhead transmission line according to patrolling and examining the line is automatic, the long-distance intelligent system intelligent degree of patrolling and examining of transmission line of this embodiment is high, environmental suitability is.
The foregoing is an embodiment of the remote intelligent inspection system for the power transmission line provided in the embodiment of the present application, and the following is an embodiment one of the remote intelligent inspection method for the power transmission line provided in the embodiment of the present application.
Referring to fig. 4, an embodiment of a remote intelligent inspection method for a power transmission line according to the embodiment of the present application includes:
102, marking different numbers for all tangent points tangent to the boundary of the acquisition region, and setting a flight line according to the numbers, wherein each tangent point is as follows: and tangent points of circles with the pole tower as the center of a circle and the radius r tangent to the boundary of the acquisition area.
103, controlling the unmanned aerial vehicle to photograph the surrounding environment of the power transmission line according to the flight line to obtain a plurality of environment images, and generating a 3D environment model of the power transmission line to be patrolled according to the environment images.
And step 104, setting a routing inspection route of the unmanned aerial vehicle according to the 3D environment model, and controlling the unmanned aerial vehicle to photograph the overhead transmission line according to the routing inspection route.
For the description of the remote intelligent inspection method for the power transmission line in this embodiment, reference is made to the description of the above inspection system embodiment, which is not repeated herein.
The first embodiment of the method for remotely and intelligently inspecting the power transmission line provided by the embodiment of the application is described above, and the second embodiment of the method for remotely and intelligently inspecting the power transmission line provided by the embodiment of the application is described below.
Referring to fig. 5, the method for remotely and intelligently inspecting a power transmission line provided in this embodiment includes:
It should be noted that, as shown in fig. 3, in this embodiment, the tangent point on one side of the acquisition region is labeled as 2n, i.e., 2, 4, 6, and the other side is labeled as 2n-1, i.e., 1, 3, 5; and are sequentially arranged into flight lines according to the sequence of the tangent points marked as 2n, 2n +2, 2n-1, 2n +1, namely 1 → 2 → 4 → 1 → 3 → 4 → 6 → 3 → 5.
And 204, setting a routing inspection route of the unmanned aerial vehicle according to the 3D environment model, and controlling the unmanned aerial vehicle to photograph the overhead transmission line according to the routing inspection route.
And 205, receiving the real-time image of the overhead transmission line sent by the unmanned aerial vehicle, and judging the running state of the overhead transmission line according to the real-time image.
The embodiment provides a remote intelligent inspection method for a power transmission line, which is applied to an unmanned aerial vehicle remote inspection system for the power transmission line; the inspection system is provided with relay units in a plurality of towers respectively, and is used for transferring communication signals between the unmanned aerial vehicle and the control terminal, and charging units are arranged in the acquisition area to charge the unmanned aerial vehicle, so that the unmanned aerial vehicle can be ensured to carry out long-distance inspection; the method comprises the following steps: firstly, marking a pole tower by an unmanned aerial vehicle and fitting to obtain a power transmission line; then, setting an acquisition radius according to the power transmission line so as to determine an acquisition area; then, taking a plurality of tangent points of the boundary of the acquisition area as a flight line of the unmanned aerial vehicle, so that the unmanned aerial vehicle photographs the environment around the power transmission line according to the unmanned line, acquiring a clearer and more accurate environment real-time image, and generating a 3D environment model of the power transmission line; setting a routing inspection route of the unmanned aerial vehicle according to conditions of a power transmission line, an obstacle and the like in the 3D environment model, so that the unmanned aerial vehicle performs routing inspection photographing according to the routing inspection route; and finally, judging the running state of the overhead transmission line according to the real-time image of the transmission line by utilizing the image recognition function of the control computing terminal. Compared with the mode of manually controlling the unmanned aerial vehicle to patrol and examine the power transmission line, the unmanned aerial vehicle has the advantages that the labor cost and the operation risk are reduced, the power transmission line can be remotely patrolled and examined, and the technical problems that the labor cost is high, the risk is high, and the remote patrol and examination cannot be carried out in the process of patrolling and examining the overhead power transmission line in the prior art are solved.
It can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working process of the method described above may refer to the corresponding process in the foregoing system embodiment, and is not described herein again.
The terms "first," "second," "third," "fourth," and the like in the description of the application and the above-described figures, if any, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are, for example, capable of operation in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
It should be understood that in the present application, "at least one" means one or more, "a plurality" means two or more. "and/or" for describing an association relationship of associated objects, indicating that there may be three relationships, e.g., "a and/or B" may indicate: only A, only B and both A and B are present, wherein A and B may be singular or plural. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship. "at least one of the following" or similar expressions refer to any combination of these items, including any combination of single item(s) or plural items. For example, at least one (one) of a, b, or c, may represent: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", wherein a, b, c may be single or plural.
In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other manners. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be substantially implemented or contributed to by the prior art, or all or part of the technical solution may be embodied in a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The above embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions in the embodiments of the present application.
Claims (10)
1. The utility model provides a long-distance intelligent system of patrolling and examining of transmission line which characterized in that includes: the system comprises a plurality of relay units, a control computing terminal and an unmanned aerial vehicle; the relay units are respectively arranged in the plurality of towers;
the relay unit is configured to: when the distance between the unmanned aerial vehicle and the control computing terminal exceeds a preset communication distance, transferring a communication signal between the unmanned aerial vehicle and the control computing terminal;
the control computing terminal is used for:
controlling the unmanned aerial vehicle to mark each tower in the power transmission line to be inspected, sequentially connecting the marked towers to obtain the power transmission line, and setting an area with the radius r on the same horizontal plane in the power transmission line as an acquisition area;
marking different numbers for each tangent point tangent to the boundary of the acquisition region, and setting a flight line according to the numbers, wherein each tangent point is as follows: tangent points of circles with the pole tower as the center of a circle and the radius r tangent to the boundary of the acquisition area;
controlling an unmanned aerial vehicle to photograph the surrounding environment of the power transmission line according to the flight line to obtain a plurality of environment images, and generating a 3D environment model of the power transmission line to be inspected according to the environment images;
and setting the routing inspection route of the unmanned aerial vehicle according to the 3D environment model, and controlling the unmanned aerial vehicle to photograph the overhead transmission line according to the routing inspection route.
2. The long-distance intelligent inspection system for power transmission lines according to claim 1, further comprising: a plurality of charging units;
the charging units are arranged in the acquisition area, and the distances between the first charging unit and the control calculation terminal and between any two adjacent charging units are smaller than the maximum flight distance of the unmanned aerial vehicle;
the charging unit is used for: and when the electric quantity of the unmanned aerial vehicle is smaller than a preset threshold value, charging the unmanned aerial vehicle.
3. The long-distance intelligent inspection system for electric transmission lines according to claim 1, wherein the control computing terminal is further configured to:
and after the unmanned aerial vehicle is controlled to photograph the overhead transmission line according to the routing inspection line, receiving the real-time image of the overhead transmission line sent by the unmanned aerial vehicle, and judging the running state of the overhead transmission line according to the real-time image.
4. The long-distance intelligent inspection system for power transmission lines according to claim 1, wherein the inspection route of the unmanned aerial vehicle is set according to the 3D environment model, and the system specifically comprises:
acquiring an overhead transmission line and an obstacle in the 3D environment model, and respectively setting a first safety distance and a second safety distance between the unmanned aerial vehicle and the overhead transmission line as well as between the unmanned aerial vehicle and the obstacle;
and generating the routing inspection line according to the first safety distance and the second safety distance.
5. The long-distance intelligent inspection system according to claim 1, wherein the relay units are respectively arranged in the towers, and specifically comprise:
the first relay unit is arranged in the ith tower, and the ith tower is as follows: the tower farthest away from the control terminal is located within the largest communication distance between the control terminal and the unmanned aerial vehicle;
and a plurality of relay units are arranged between the ith tower and the tower farthest from the control terminal, and the distance between every two relay units is not more than the communication distance of the relay units.
6. A remote intelligent inspection method for a power transmission line is applied to the remote intelligent inspection system for the power transmission line according to any one of claims 1 to 5, and is characterized by comprising the following steps:
s1, controlling the unmanned aerial vehicle to mark each tower in the power transmission line to be inspected, sequentially connecting the marked towers to obtain the power transmission line, and setting an area with the radius r on the same horizontal plane in the power transmission line as an acquisition area;
s2, respectively marking different numbers for each tangent point tangent to the boundary of the acquisition region, and setting a flight line according to the numbers, wherein each tangent point is as follows: tangent points of circles with the pole tower as the center of a circle and the radius r tangent to the boundary of the acquisition area;
s3, controlling the unmanned aerial vehicle to photograph the surrounding environment of the power transmission line according to the flight line to obtain a plurality of environment images, and generating a 3D environment model of the power transmission line to be inspected according to the environment images;
s4, setting the routing inspection route of the unmanned aerial vehicle according to the 3D environment model, and controlling the unmanned aerial vehicle to photograph the overhead transmission line according to the routing inspection route.
7. The long-distance intelligent inspection method for the power transmission line according to claim 6, further comprising: when the electric quantity of the unmanned aerial vehicle is smaller than a preset threshold value, the unmanned aerial vehicle is charged through a charging unit.
8. The long-distance intelligent inspection method for the power transmission line according to claim 6, wherein after the step S4, the method further comprises the following steps:
and receiving the real-time image of the overhead transmission line sent by the unmanned aerial vehicle, and judging the running state of the overhead transmission line according to the real-time image.
9. The remote intelligent inspection method for the power transmission line according to claim 6, wherein the setting of the inspection route of the unmanned aerial vehicle according to the 3D environment model specifically comprises:
acquiring an overhead transmission line and an obstacle in the 3D environment model, and respectively setting a first safety distance and a second safety distance between the unmanned aerial vehicle and the overhead transmission line as well as between the unmanned aerial vehicle and the obstacle;
and generating the routing inspection line according to the first safety distance and the second safety distance.
10. The remote intelligent inspection method for the power transmission line according to claim 6, wherein different numbers are respectively marked on all tangent points tangent to the boundary of the acquisition area, and a flight line is set according to the numbers, specifically comprising:
marking the tangent point on one side of the acquisition region as 2n and the other side as 2n-1, wherein n is 1,2, 3.;
and sequentially setting the flying lines according to the sequence of the tangent points marked as 2n, 2n +2, 2n-1 and 2n + 1.
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