CN113555964B - Method and device for inspecting transmission line by helicopter - Google Patents
Method and device for inspecting transmission line by helicopter Download PDFInfo
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- CN113555964B CN113555964B CN202110862351.3A CN202110862351A CN113555964B CN 113555964 B CN113555964 B CN 113555964B CN 202110862351 A CN202110862351 A CN 202110862351A CN 113555964 B CN113555964 B CN 113555964B
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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
- H02J13/00001—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 the display of information or by user interaction, e.g. supervisory control and data acquisition systems [SCADA] or graphical user interfaces [GUI]
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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
Abstract
The invention discloses a method and a device for inspecting a power transmission line by utilizing a helicopter, wherein the method comprises the following steps: acquiring inspection environment information of an inspected power transmission line, wherein the inspected power transmission line comprises: a plurality of transmission lines densely distributed in space; determining a patrol mode of the helicopter for patrol of the power transmission line according to patrol environment information of the power transmission line to be patrol; determining the inspection flight condition of the helicopter according to the inspection mode of the helicopter for inspecting the transmission line and the equipment parameter information of the defect detection equipment carried on the helicopter; and controlling defect detection equipment on the helicopter to detect the defects on the power transmission line to be inspected according to the determined inspection flight conditions. The invention can realize standardization, refinement and standardization of helicopter inspection operation in complex environments such as dense channels, and solves the problems of high risk, long distance, poor quality and the like of the helicopter inspection operation carried out by the dense channels.
Description
Technical Field
The invention relates to the technical field of transmission line detection, in particular to a method and a device for inspecting a transmission line by utilizing a helicopter.
Background
This section is intended to provide a background or context to the embodiments of the invention that are recited in the claims. The description herein is not admitted to be prior art by inclusion in this section.
The helicopter inspection operation of the overhead transmission line has been developed for over ten years, and the traditional aviation inspection operation mode and the using equipment cannot meet the new changes brought by the rapid construction of the transmission line. In the traditional inspection operation mode, a 40-time anti-shake telescope is utilized to find out the visible light defect of the transmission line, and after the defect is found out, a professional camera with a 400mm lens is used for collecting the visible light image of the defect; and searching for the infrared defect of the transmission line by using an infrared thermometer in the airborne suspension cabin. Along with the increasingly common situation that new lines follow original line corridor, transmission line dense channels are greatly increased, helicopter inspection dense lines cannot be inspected in a short distance due to flight safety reasons, and pin level defects are difficult to find in the traditional inspection mode. In 2018, the navigation company has about 2 ten thousand kilometers of special sections of the transmission line to work in a high-flying slow-passing mode, and the working quality is difficult to guarantee.
In the traditional inspection operation mode, a 40-time anti-shake telescope is utilized to find out the visible light defect of the transmission line, and after the defect is found out, a professional camera with a 400mm lens is used for collecting the visible light image of the defect; and searching for the infrared defect of the transmission line by using an infrared thermometer in the airborne suspension cabin. The hovering height of the helicopter in the working mode is flush with or slightly higher than the ground wire, the horizontal distance from the ground wire is 15m-30m, and the hovering height is kept at 45 degrees with the side face of the tower. The disadvantages of this mode of operation are mainly: the hovering position of the helicopter cannot carry out inspection operation on two or more parallel transmission lines at the dense side which is less than 100 meters away, and the effective observation distance of the 40 times anti-shake telescope and the nacelle visible light sensor is not more than 100 meters. The helicopter uses the anti-shake telescope and the airborne nacelle to patrol the transmission line in a working mode, and after the defect is found, the defect is photographed by using a camera. During operation, the helicopter is positioned at a normal inspection hovering position and is vertically spaced by more than 70 meters, the power transmission line is inspected at the speed of 80km/h for ground navigation, and the tower does not hover. The disadvantages of this mode of operation are mainly: the position of the tower is not hovered, the tower is not carefully checked, and the defects of the tower body of the tower are difficult to find; the observation distance is far from the line distance and exceeds the effective observation distance of the carrying equipment, and the inspection quality of the helicopter can only ensure the defects in the channel.
Disclosure of Invention
The embodiment of the invention provides a method for inspecting a power transmission line by utilizing a helicopter, which is used for solving the technical problems of low operation quality and high safety risk existing in the prior art of controlling the helicopter to inspect by virtue of pilot experience in a dense channel scene, and comprises the following steps: acquiring inspection environment information of an inspected power transmission line, wherein the inspected power transmission line comprises: a plurality of transmission lines densely distributed in space; determining a patrol mode of a helicopter for patrol of the power transmission line according to patrol environment information of the power transmission line to be patrol, wherein the helicopter is provided with at least one defect detection device for detecting defects of the power transmission line to be patrol; determining the inspection flight condition of the helicopter according to the inspection mode of the helicopter for inspecting the transmission line and the equipment parameter information of the defect detection equipment carried on the helicopter; and controlling the defect detection equipment on the helicopter to detect the defects on the power transmission line to be inspected according to the determined inspection flight conditions.
The embodiment of the invention also provides a device for inspecting the transmission line by using the helicopter, which is used for solving the technical problems of low operation quality and high safety risk existing in the prior art of controlling the helicopter to inspect by relying on the experience of pilots in a dense channel scene, and comprises the following steps: the system comprises a patrol environment information acquisition module, a patrol environment information acquisition module and a control module, wherein the patrol environment information acquisition module is used for acquiring patrol environment information of a patrol power transmission line, and the patrol power transmission line comprises: a plurality of transmission lines densely distributed in space; the helicopter inspection mode determining module is used for determining an inspection mode of the helicopter for inspecting the power transmission line according to the inspection environment information of the inspected power transmission line, wherein the helicopter is provided with at least one defect detecting device for detecting defects of the inspected power transmission line; the helicopter inspection flight condition determining module is used for determining the inspection flight condition of the helicopter according to the inspection mode of the helicopter for inspecting the transmission line and the equipment parameter information of the defect detection equipment carried on the helicopter; and the power transmission line defect detection module is used for controlling the defect detection equipment on the helicopter to detect the defects on the power transmission line to be inspected according to the determined inspection flight conditions.
The embodiment of the invention also provides computer equipment which is used for solving the technical problems of low operation quality and high safety risk existing in the prior art that the helicopter is controlled to patrol by the experience of pilots under the dense channel scene.
The embodiment of the invention also provides a computer readable storage medium for solving the technical problems of low operation quality and high safety risk existing in the prior art of controlling helicopter inspection by virtue of pilot experience under a dense channel scene.
In the embodiment of the invention, the patrol environment information of the patrol electric transmission line is obtained, wherein the patrol electric transmission line comprises: a plurality of transmission lines densely distributed in space; determining a patrol mode of a helicopter for patrol of the power transmission line according to patrol environment information of the power transmission line to be patrol, wherein the helicopter is provided with at least one defect detection device for detecting defects of the power transmission line to be patrol; determining the inspection flight condition of the helicopter according to the inspection mode of the helicopter for inspecting the transmission line and the equipment parameter information of the defect detection equipment carried on the helicopter; and controlling the defect detection equipment on the helicopter to detect the defects on the power transmission line to be inspected according to the determined inspection flight conditions. Compared with the technical scheme in the prior art, the embodiment of the invention can realize standardization, refinement and standardization of helicopter inspection operation in complex environments such as dense channels and the like, and solves the problems of high risk, long distance, poor quality and the like of the helicopter inspection operation carried out by the dense channels.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art. In the drawings:
fig. 1 is a flowchart of a method for inspecting a power transmission line by using a helicopter according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a dense side line inspection according to an embodiment of the present invention;
fig. 3 is a schematic diagram of power transmission line parallel line dense side riding line inspection requiring double-side inspection in an embodiment of the present invention;
fig. 4 is a schematic diagram of power transmission line parallel line dense side riding line inspection requiring single side inspection in an embodiment of the present invention;
FIG. 5 is a schematic diagram of a line inspection on a dense side of a parallel-tower line in an embodiment of the present invention;
fig. 6 is an exemplary diagram of an apparatus for inspecting a power transmission line by using a helicopter according to an embodiment of the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the embodiments of the present invention will be described in further detail with reference to the accompanying drawings. The exemplary embodiments of the present invention and their descriptions herein are for the purpose of explaining the present invention, but are not to be construed as limiting the invention.
Fig. 1 is a flowchart of a method for inspecting a power transmission line by using a helicopter, which is provided in an embodiment of the present invention, and as shown in fig. 1, the method includes the following steps:
s101: acquiring inspection environment information of an inspected power transmission line, wherein the inspected power transmission line comprises: a plurality of transmission lines that are densely distributed in space.
It should be noted that, the power transmission line to be inspected in the embodiment of the present invention includes at least one of the following: one side of the line to be inspected on both sides is provided with an obstacle; one side of the double-circuit line on the same tower is provided with an obstacle; and two lines of the travelling line; and three or four lines of travelling wires; and five or more lines of the line are run.
S102: and determining a patrol mode of the helicopter for patrol of the power transmission line according to patrol environment information of the power transmission line to be patrol, wherein at least one defect detection device for detecting defects of the power transmission line to be patrol is mounted on the helicopter.
It should be noted that, the inspection mode of the helicopter in the embodiment of the invention for inspecting the transmission line includes at least one of the following: the helicopter is used for inspecting the inspected power transmission line in a line-separating inspection mode; the riding line inspection mode is that the helicopter is positioned above a parallel line tower (ground wire and obstacle) which is not higher than the inspected power transmission line on two sides of the inspected power transmission line, and keeps a safe distance to inspect the inspected power transmission line.
S103: and determining the inspection flight condition of the helicopter according to the inspection mode of the helicopter for inspecting the transmission line and the equipment parameter information of the defect detection equipment carried on the helicopter.
It should be noted that, the helicopter inspection flight condition in the embodiment of the invention includes at least one of the following: an obstacle exists on one side of the power transmission line to be inspected; the two sides of the power transmission line to be inspected have barriers, and the heights of the barriers at the two sides are not higher than the height of a tower of the power transmission line to be inspected; the two sides of the power transmission line to be inspected have barriers, and at least one side of the height of the barriers on the two sides is not higher than the height of a tower of the power transmission line to be inspected.
S104: and controlling the defect detection equipment on the helicopter to detect the defects on the power transmission line to be inspected according to the determined inspection flight conditions.
It should be noted that, the defect detection device carried on the helicopter in the embodiment of the invention includes at least one of the following: the high-definition visible light video recorder is used for detecting visible light defects; the thermal infrared imager is used for detecting infrared defects; and a camera for capturing a defect image.
In an embodiment, in the method for inspecting a power transmission line by using a helicopter provided in the embodiment of the present invention, according to inspection environment information of an inspected power transmission line, an inspection mode of inspecting the power transmission line by the helicopter is determined, including:
if the inspection environment information represents that the inspected power transmission line needs double-side inspection, but an obstacle exists on the inspected line side, determining that the inspection mode of the helicopter for inspecting the power transmission line is a line-separating inspection mode, wherein the line-separating inspection mode is used for controlling the helicopter to fly on the other side of the inspected power transmission line without the obstacle and in the direction parallel to the inspected power transmission line, and simultaneously carrying out visible light and infrared inspection on the inspected power transmission line side;
if the inspection environment information represents that barriers exist on two sides of the inspected power transmission line, the heights of the barriers on the two sides are not higher than the height of a tower of the inspected power transmission line, and the inspected power transmission line is required to be inspected on two sides, determining that an inspection mode of the helicopter for inspecting the power transmission line is a first riding line inspection mode, wherein the first riding line inspection mode is used for controlling the helicopter to fly above the barriers and in a direction parallel to the inspected power transmission line, carrying out infrared scanning on the whole line, and carrying out visible light inspection on two sides of the inspected power transmission line;
if the inspection environment information represents that barriers exist on two sides of the inspected power transmission line, at least one side of the height of the barriers on the two sides is not higher than the height of a tower of the standby power transmission line, and the inspected power transmission line is required to be inspected on one side, the inspection mode of the helicopter for inspecting the power transmission line is determined to be a second riding line inspection mode, wherein the second riding line inspection mode is used for controlling the helicopter to fly above the barriers and in a direction parallel to the inspected power transmission line, infrared scanning is carried out on the whole line, and visible light inspection is carried out on one side of the inspected power transmission line.
It should be noted that, in the embodiment of the invention, the first riding line inspection mode is used for inspecting the inspected transmission line three times, the first time is used for performing infrared scanning on the whole line by using a conventional nacelle, the second time is used for performing visible light inspection on one side by using a high-magnification visible light nacelle, and the third time is used for performing visible light inspection on the other side by using the high-magnification visible light nacelle; the second riding line inspection method in the embodiment of the invention is used for inspecting the inspected power transmission line twice, the conventional nacelle is used for infrared scanning of the whole line for the first time, and the high-magnification visible light nacelle is used for inspecting one side for the second time; according to the embodiment of the invention, the inspection mode of the helicopter for inspecting the transmission line is determined according to the inspection environment information of the inspected transmission line, so that the inspection mode of the proper helicopter for inspecting the transmission line can be determined, the preparation time is effectively shortened, and the method is safer and more reliable.
In an embodiment, in the method for inspecting a power transmission line by using a helicopter provided in the embodiment of the present invention, determining an inspection flight condition of the helicopter according to an inspection mode of inspecting the power transmission line by the helicopter and device parameter information of a defect detection device carried on the helicopter, includes:
if the inspection mode of the helicopter for inspecting the transmission line is a line-isolating inspection mode, determining the transverse safety distance between the helicopter and the inspected transmission line according to the equipment parameter information of the defect detection equipment carried on the helicopter;
if the inspection mode of the helicopter for inspecting the transmission line is a first line inspection mode or a second line inspection mode, determining the vertical safety distance between the helicopter and the ridden obstacle according to the equipment parameter information of the defect detection equipment carried on the helicopter.
It should be noted that, the lateral safety distance in the embodiment of the present invention is obtained by integrating the effective observation distance of the defect detection device carried on the helicopter and the inspection environment information of the inspected transmission line; the vertical safety distance is comprehensively obtained according to the voltage level of the power transmission line to be inspected, the response time of a pilot in the event of an accident, the suspension time of the unpowered helicopter calculated by the self weight of the helicopter and the effective observation distance of the carried equipment.
In an embodiment, in the method for inspecting a power transmission line by using a helicopter provided in the embodiment of the present invention, according to a determined inspection flight condition, a defect detection device on the helicopter is controlled to detect a defect on the inspected power transmission line, including:
controlling a high-definition visible light video recorder on the helicopter according to the determined inspection flight conditions, and detecting visible light defects of the inspected transmission line;
and controlling an infrared thermal imager on the helicopter according to the determined inspection flight conditions, and detecting infrared defects of the inspected power transmission line.
In the embodiment of the invention, the defect detection equipment on the helicopter is controlled to detect the defects on the power transmission line to be inspected, wherein the visible light observation distance is suitable for ensuring that the acquired data in the file can observe the small handshake of the spacer and the tower data can observe the pins.
Fig. 2 is a schematic view of dense side line inspection provided in an embodiment of the present invention, as shown in fig. 2, the method includes:
aiming at the transmission line which needs double-side inspection in the dense section, the line is inspected on one side of the line by separating the line from the far-side ground lead, and the dense side is inspected by separating the line by adopting a conventional aviation inspection operation mode by using a conventional nacelle.
Wherein, the flight position: the hovering height of the helicopter is flush with or slightly higher than the ground wire, the horizontal distance from the ground wire is 15m-30m, and the hovering height of the helicopter is kept at 45 degrees with the side surface of the tower;
speed in gear: 65km/h-75km/h for ground navigation.
Fig. 3 is a schematic diagram of power transmission line parallel line dense side riding line inspection requiring double-side inspection in the embodiment of the present invention, and as shown in fig. 3, the method includes:
first pass: using a conventional pod riding line to perform infrared scanning on the whole line;
second pass: carrying out visible light inspection on one side by using a high-magnification visible light pod riding line;
third pass: and (5) carrying out visible light inspection on the other side by using the high-magnification visible light nacelle and the camera riding line.
Wherein, the flight position: the vertical distance between the helicopter and the obstacle to be ridden is preferably not less than 70m, the visible light observation distance is preferably used for ensuring that the acquired data in the shelves can observe the small handshake of the spacer and the tower data can observe the pin;
the visible light observation distance is less than 100m, and the data are collected by using a visible light pod device with a focal length of 30 times or less;
when the visible light observation distance is more than 100m and less than 130m, the visible light pod equipment with the focal length of 50 times or more is preferably used for collecting data;
the visible light observation distance is more than 130m, so that inspection can be abandoned and records can be made;
speed in gear: 65km/h-75km/h for ground navigation.
Fig. 4 is a schematic diagram of power transmission line parallel line dense side riding line inspection requiring single side inspection in the embodiment of the present invention, as shown in fig. 4, the method includes:
first pass: using a conventional pod riding line to perform infrared scanning on the whole line;
second pass: and (5) carrying out visible light inspection on one side by using a high-magnification visible light pod riding line.
Wherein, the flight position: the vertical distance between the helicopter and the obstacle to be ridden is preferably not less than 70m, the visible light observation distance is preferably used for ensuring that the acquired data in the shelves can observe the small handshake of the spacer and the tower data can observe the pin;
the visible light observation distance is less than 100m, and the data are collected by using a visible light pod device with a focal length of 30 times or less;
when the visible light observation distance is more than 100m and less than 130m, the visible light pod equipment with the focal length of 50 times or more is preferably used for collecting data;
the visible light observation distance is more than 130m, so that inspection can be abandoned and records can be made;
speed in gear: 65km/h-75km/h for ground navigation.
Fig. 5 is a schematic diagram of inspection of a dense side riding line of a parallel-tower line, as shown in fig. 5, in the embodiment of the present invention, the method includes:
first pass: the conventional nacelle full-line infrared scanning, the ground wire and the upper phase lead carry out fixed-point photographing and visible light narrow-view-field video recording;
second pass: the high-definition visible light video of the middle phase and the lower phase lead is recorded by using a high-magnification visible light nacelle riding line.
Wherein, the flight position: the vertical distance between the helicopter and the obstacle to be ridden is preferably not less than 70m, the visible light observation distance is preferably used for ensuring that the acquired data in the shelves can observe the small handshake of the spacer and the tower data can observe the pin;
the visible light observation distance is less than 100m, and the data are collected by using a visible light pod device with a focal length of 30 times or less;
when the visible light observation distance is more than 100m and less than 130m, the visible light pod equipment with the focal length of 50 times or more is preferably used for collecting data;
the visible light observation distance is more than 130m, so that inspection can be abandoned and records can be made;
speed in gear: 65km/h-75km/h for ground navigation.
The embodiment of the invention also provides a device for inspecting the transmission line by using the helicopter, as described in the following embodiment. Since the principle of the device for solving the problem is similar to that of the method, the implementation of the device can be referred to the implementation of the method, and the repetition is omitted.
Fig. 6 is an exemplary diagram of an apparatus for inspecting a power transmission line by using a helicopter according to an embodiment of the present invention, where, as shown in fig. 6, the apparatus includes the following modules:
the inspection environment information obtaining module 61 is configured to obtain inspection environment information of an inspected power transmission line, where the inspected power transmission line includes: a plurality of transmission lines densely distributed in space;
the helicopter inspection mode determining module 62 is configured to determine an inspection mode of inspecting the power transmission line by using the helicopter according to the inspection environment information of the inspected power transmission line, where the inspected power transmission line includes: a plurality of transmission lines densely distributed in space;
the helicopter inspection flight condition determining module 63 is configured to determine an inspection flight condition of the helicopter according to an inspection mode of the helicopter for inspecting the transmission line and equipment parameter information of defect detection equipment carried on the helicopter;
and the transmission line defect detection module 64 is used for controlling the defect detection equipment on the helicopter to detect the defects on the transmission line to be inspected according to the determined inspection flight conditions.
In one embodiment, the device for inspecting a power transmission line by using a helicopter provided in the embodiment of the present invention, the helicopter inspection mode determining module 62 specifically includes:
the first execution unit 621 is configured to determine that the inspection mode of the helicopter for inspecting the power transmission line is a line-isolating inspection mode if the inspection environment information indicates that the inspected power transmission line needs to be inspected on two sides, but an obstacle exists on the inspected power transmission line side, where the line-isolating inspection mode is used to control the helicopter to fly on the other side of the inspected power transmission line without the obstacle and fly in a direction parallel to the inspected power transmission line, and perform visible light and infrared inspection on the inspected power transmission line side at the same time;
the second execution unit 622 is configured to determine that the inspection mode of the helicopter for inspecting the power transmission line is a first riding line inspection mode if the inspection environment information indicates that the two sides of the inspected power transmission line have obstacles, the heights of the obstacles on the two sides are not higher than the height of a tower of the inspected power transmission line, and the inspected power transmission line needs to be inspected on both sides, wherein the first riding line inspection mode is used for controlling the helicopter to fly above the obstacles in a direction parallel to the inspected power transmission line, performing infrared scanning on the whole line, and performing visible light inspection on the two sides of the inspected power transmission line;
and the third execution unit 623 is configured to determine that the inspection mode of the helicopter for inspecting the power transmission line is a second riding line inspection mode if the inspection environment information characterizes that the two sides of the inspected power transmission line have obstacles, at least one side of the height of the obstacles on the two sides is not higher than the height of a tower of the power transmission line to be inspected, and the inspected power transmission line needs to be inspected on one side, wherein the second riding line inspection mode is used for controlling the helicopter to fly above the obstacles and in a direction parallel to the inspected power transmission line, performing infrared scanning on the whole line, and performing visible light inspection on one side of the inspected power transmission line.
In one embodiment, the device for inspecting a power transmission line by using a helicopter provided in the embodiment of the present invention, the helicopter inspection flight condition determining module 63 specifically includes:
the first safe distance determining unit 631 is configured to determine a lateral safe distance between the helicopter and the power transmission line to be inspected according to the device parameter information of the defect detection device carried on the helicopter if the inspection mode of the power transmission line inspection by the helicopter is a line-isolating inspection mode;
the second safety distance determining unit 632 is configured to determine, if the inspection mode of the helicopter for inspecting the power transmission line is the first line inspection mode or the second line inspection mode, a vertical safety distance between the helicopter and the obstacle to be ridden according to the device parameter information of the defect detecting device mounted on the helicopter.
In one embodiment, the device for inspecting a power transmission line by using a helicopter provided in the embodiment of the present invention, the power transmission line defect detection module 64 includes:
the visible light defect detection unit 641 is configured to control a high-definition visible light video recorder on the helicopter according to the determined inspection flight condition, and perform visible light defect detection on the inspected power transmission line;
the infrared defect detection unit 642 is used for controlling the thermal infrared imager on the helicopter according to the determined inspection flight condition to perform infrared defect detection on the inspected transmission line.
The embodiment of the invention also provides a computer device, which comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor realizes the following steps when executing the computer program: acquiring inspection environment information of an inspected power transmission line, wherein the inspected power transmission line comprises: a plurality of transmission lines densely distributed in space; determining a patrol mode of a helicopter for patrol of the power transmission line according to patrol environment information of the power transmission line to be patrol, wherein the helicopter is provided with at least one defect detection device for detecting defects of the power transmission line to be patrol; determining the inspection flight condition of the helicopter according to the inspection mode of the helicopter for inspecting the transmission line and the equipment parameter information of the defect detection equipment carried on the helicopter; and controlling the defect detection equipment on the helicopter to detect the defects on the power transmission line to be inspected according to the determined inspection flight conditions.
The embodiment of the invention also provides a computer readable storage medium, wherein the computer readable storage medium stores a computer program for executing the method, and the computer program is realized when being executed by a processor: acquiring inspection environment information of an inspected power transmission line, wherein the inspected power transmission line comprises: a plurality of transmission lines densely distributed in space; determining a patrol mode of a helicopter for patrol of the power transmission line according to patrol environment information of the power transmission line to be patrol, wherein the helicopter is provided with at least one defect detection device for detecting defects of the power transmission line to be patrol; determining the inspection flight condition of the helicopter according to the inspection mode of the helicopter for inspecting the transmission line and the equipment parameter information of the defect detection equipment carried on the helicopter; and controlling the defect detection equipment on the helicopter to detect the defects on the power transmission line to be inspected according to the determined inspection flight conditions.
In summary, the method, the device, the computer equipment and the computer readable storage medium for inspecting the power transmission line by using the helicopter provided by the embodiment of the invention determine the inspection mode of inspecting the power transmission line by using the helicopter according to the inspection environment information of the inspected power transmission line; determining the inspection flight condition of the helicopter according to the inspection mode of the helicopter for inspecting the transmission line and the equipment parameter information of the defect detection equipment carried on the helicopter; and controlling the defect detection equipment on the helicopter to detect the defects on the power transmission line to be inspected according to the determined inspection flight conditions. Compared with the technical scheme in the prior art, the embodiment of the invention can realize standardization, refinement and standardization of helicopter inspection operation in complex environments such as dense channels and the like, and solves the problems of high risk, long distance, poor quality and the like of the helicopter inspection operation carried out by the dense channels.
It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The foregoing description of the embodiments has been provided for the purpose of illustrating the general principles of the invention, and is not meant to limit the scope of the invention, but to limit the invention to the particular embodiments, and any modifications, equivalents, improvements, etc. that fall within the spirit and principles of the invention are intended to be included within the scope of the invention.
Claims (8)
1. A method for inspecting a transmission line using a helicopter, comprising:
acquiring inspection environment information of an inspected power transmission line, wherein the inspected power transmission line comprises: a plurality of transmission lines densely distributed in space;
determining a patrol mode of a helicopter for patrol of the power transmission line according to patrol environment information of the power transmission line to be patrol, wherein the helicopter is provided with at least one defect detection device for detecting defects of the power transmission line to be patrol;
determining the inspection flight condition of the helicopter according to the inspection mode of the helicopter for inspecting the transmission line and the equipment parameter information of the defect detection equipment carried on the helicopter;
according to the determined inspection flight conditions, controlling defect detection equipment on a helicopter to detect defects on the inspected electric transmission line;
the method for determining the inspection mode of the helicopter for inspecting the power transmission line according to the inspection environment information of the inspected power transmission line comprises the following steps:
if the inspection environment information represents that the inspected power transmission line needs double-side inspection, but an obstacle exists on one side of the inspected power transmission line, determining that the inspection mode of the helicopter for inspecting the power transmission line is a line-isolating inspection mode, wherein the line-isolating inspection mode is used for controlling the helicopter to fly on one side of the inspected power transmission line without the obstacle and in a direction parallel to the inspected power transmission line, and simultaneously carrying out visible light and infrared inspection on one side of the inspected power transmission line;
if the inspection environment information represents that barriers exist on two sides of the inspected power transmission line, the heights of the barriers on the two sides are not higher than the height of a tower of the inspected power transmission line, and the inspected power transmission line is required to be inspected on two sides, determining that an inspection mode of the helicopter for inspecting the power transmission line is a first riding line inspection mode, wherein the first riding line inspection mode is used for controlling the helicopter to fly above the barriers and in a direction parallel to the inspected power transmission line, carrying out infrared scanning on the whole line, and carrying out visible light inspection on two sides of the inspected power transmission line respectively;
and if the inspection environment information represents that barriers exist on two sides of the inspected power transmission line, at least one side of the height of the barriers on the two sides is not higher than the height of a tower of the inspected power transmission line, and the inspected power transmission line is required to be inspected on one side, determining that the inspection mode of the helicopter for inspecting the power transmission line is a second riding line inspection mode, wherein the second riding line inspection mode is used for controlling the helicopter to fly above the barriers and in a direction parallel to the inspected power transmission line, carrying out infrared scanning on the whole line, and carrying out visible light inspection on one side of the inspected power transmission line.
2. The method of claim 1, wherein determining the inspection flight condition of the helicopter based on the inspection mode of the helicopter for inspecting the transmission line and the equipment parameter information of the defect detection equipment carried on the helicopter comprises:
if the inspection mode of the helicopter for inspecting the transmission line is a line-isolating inspection mode, determining the transverse safety distance between the helicopter and the inspected transmission line according to the equipment parameter information of the defect detection equipment carried on the helicopter;
if the inspection mode of the helicopter for inspecting the transmission line is a first line inspection mode or a second line inspection mode, determining the vertical safety distance between the helicopter and the ridden obstacle according to the equipment parameter information of the defect detection equipment carried on the helicopter.
3. The method of claim 1 or 2, wherein controlling a defect detection device on a helicopter to detect defects on the inspected electrical line according to determined inspection flight conditions comprises:
controlling a high-definition visible light video recorder on a helicopter according to the determined inspection flight conditions, and detecting visible light defects of the inspected power transmission line;
and controlling an infrared thermal imager on the helicopter according to the determined inspection flight condition, and detecting infrared defects of the inspected power transmission line.
4. The utility model provides a device that utilizes helicopter to patrol and examine transmission line which characterized in that includes:
the system comprises a patrol environment information acquisition module, a patrol environment information acquisition module and a control module, wherein the patrol environment information acquisition module is used for acquiring patrol environment information of a patrol power transmission line, and the patrol power transmission line comprises: a plurality of transmission lines densely distributed in space;
the helicopter inspection mode determining module is used for determining an inspection mode of the helicopter for inspecting the power transmission line according to the inspection environment information of the inspected power transmission line, wherein the inspected power transmission line comprises: a plurality of transmission lines densely distributed in space;
the helicopter inspection flight condition determining module is used for determining the inspection flight condition of the helicopter according to the inspection mode of the helicopter for inspecting the transmission line and the equipment parameter information of the defect detection equipment carried on the helicopter;
the power transmission line defect detection module is used for controlling defect detection equipment on the helicopter to detect defects on the power transmission line to be inspected according to the determined inspection flight conditions;
wherein, helicopter inspection mode determines module specifically includes:
the first execution unit is used for determining that the inspection mode of the helicopter for inspecting the transmission line is a line-isolating inspection mode if the inspection environment information represents that the inspected transmission line needs double-side inspection and an obstacle exists at one side of the inspected transmission line, wherein the line-isolating inspection mode is used for controlling the helicopter to fly on one side of the inspected transmission line without the obstacle and in a direction parallel to the inspected transmission line, and simultaneously carrying out visible light and infrared inspection on one side of the inspected transmission line;
the second execution unit is used for determining that the inspection mode of the helicopter for inspecting the power transmission line is a first riding line inspection mode if the inspection environment information characterizes that the two sides of the inspected power transmission line are provided with barriers and the heights of the barriers at the two sides are not higher than the height of a tower of the inspected power transmission line and the inspected power transmission line needs to be inspected at two sides, wherein the first riding line inspection mode is used for controlling the helicopter to fly above the barriers and in a direction parallel to the inspected power transmission line, carrying out infrared scanning on the whole line and carrying out visible light inspection on the two sides of the inspected power transmission line respectively;
and the third execution unit is used for determining that the inspection mode of the helicopter for inspecting the power transmission line is a second riding line inspection mode if the inspection environment information characterizes that the two sides of the inspected power transmission line are provided with barriers, at least one side of the height of the barriers on the two sides is not higher than the height of a tower of the power transmission line to be inspected, and the inspected power transmission line is required to be inspected on one side, wherein the second riding line inspection mode is used for controlling the helicopter to fly above the barriers and in the parallel direction with the inspected power transmission line, carrying out infrared scanning on the whole line and carrying out visible light inspection on one side of the inspected power transmission line.
5. The device according to claim 4, wherein the helicopter patrol flight condition determining module specifically comprises:
the first safety distance determining unit is used for determining the transverse safety distance between the helicopter and the power transmission line to be inspected according to the equipment parameter information of the defect detection equipment carried on the helicopter if the inspection mode of the helicopter for inspecting the power transmission line is a line-isolating inspection mode;
and the second safety distance determining unit is used for determining the vertical safety distance between the helicopter and the ridden obstacle according to the equipment parameter information of the defect detection equipment carried on the helicopter if the inspection mode of the helicopter for inspecting the transmission line is the first riding line inspection mode or the second riding line inspection mode.
6. The apparatus of claim 4 or 5, wherein the transmission line defect detection module comprises:
the visible light defect detection unit is used for controlling a high-definition visible light video recorder on the helicopter according to the determined inspection flight condition and detecting the visible light defect of the inspected power transmission line;
and the infrared defect detection unit is used for controlling the thermal infrared imager on the helicopter according to the determined inspection flight condition and carrying out infrared defect detection on the inspected power transmission line.
7. A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor, when executing the computer program, implements a method for inspecting a transmission line with a helicopter according to any of claims 1 to 3.
8. A computer-readable storage medium, characterized in that the computer-readable storage medium stores a computer program for executing the method of inspecting a power transmission line using a helicopter according to any one of claims 1 to 3.
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| CN115196031B (en) * | 2022-09-15 | 2022-12-20 | 国网电力空间技术有限公司 | Power grid equipment shooting device for helicopter |
| CN115953486B (en) * | 2022-12-30 | 2024-04-12 | 国网电力空间技术有限公司 | Automatic encoding method for inspection image of direct-current T-shaped tangent tower part |
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