CN114138023A - Automatic inspection system of unmanned aerial vehicle of transformer substation - Google Patents
Automatic inspection system of unmanned aerial vehicle of transformer substation Download PDFInfo
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- CN114138023A CN114138023A CN202111445577.XA CN202111445577A CN114138023A CN 114138023 A CN114138023 A CN 114138023A CN 202111445577 A CN202111445577 A CN 202111445577A CN 114138023 A CN114138023 A CN 114138023A
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- 238000007689 inspection Methods 0.000 title claims abstract description 34
- 238000007789 sealing Methods 0.000 claims description 3
- 238000006467 substitution reaction Methods 0.000 abstract description 3
- 238000001514 detection method Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
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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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Abstract
The invention relates to the technical field of unmanned aerial vehicle positioning navigation, and particularly discloses an automatic inspection system for an unmanned aerial vehicle of a transformer substation. The automatic unmanned aerial vehicle inspection system for the transformer substation comprises an unmanned aerial vehicle and the transformer substation. The transformer substation is internally provided with an equipment room and a reflecting piece, the equipment room is used for placing equipment to be detected, the reflecting piece is arranged in the equipment room, and the reflecting piece and the equipment to be detected are arranged at intervals; the reflector is used for reflecting the image of the equipment to be detected, so that the unmanned aerial vehicle can shoot the equipment to be detected through the reflector. According to the invention, the image of the equipment to be detected is reflected by the reflecting piece, so that the unmanned aerial vehicle can shoot the equipment to be detected through the reflecting piece, and further, the unmanned aerial vehicle does not need to fly to a region with a smaller space for close-range shooting, the adaptability of the unmanned aerial vehicle during automatic routing inspection operation is improved, the requirement on the safety of the unmanned aerial vehicle in flying and the operation safety of the equipment to be detected are met, and meanwhile, the substitution rate and the coverage rate of substation unmanned aerial vehicle routing inspection are effectively improved by arranging the reflecting piece.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle positioning and navigation, in particular to an automatic inspection system for an unmanned aerial vehicle of a transformer substation.
Background
Traditional transformer substation patrols and examines for the manual work, needs a plurality of fortune dimension personnel to patrol and examine, and fortune dimension personnel are all round one time, need spend a large amount of time. In the inspection process, even personnel need to climb the tower to inspect the lines and the electrical equipment, so that the inspection method is time-consuming, labor-consuming and high in cost and has danger.
The automatic inspection technology of unmanned aerial vehicle possesses the advantage that flying height is higher, the visual angle is wider, the scope of patrolling and examining is wide, can closely all-round supervision substation operation equipment's state, in time discovers the defect, effectively remedies the not enough of traditional mode of patrolling and examining, alleviates fortune dimension personnel work burden, improves the transformer substation and patrols and examines the quality.
However, in the prior art, the adaptability problem of automatic inspection operation of the unmanned aerial vehicle is not considered in the building process of most transformer substations, the distribution of partial equipment is dense, the distances between the equipment and the wall body are too small, the safety requirement of flying of the unmanned aerial vehicle is not met, and then the unmanned aerial vehicle cannot shoot the detection equipment.
Disclosure of Invention
The invention aims to provide an automatic inspection system for an unmanned aerial vehicle in a transformer substation, which aims to solve the problems that the adaptability of the unmanned aerial vehicle in the transformer substation is low during automatic inspection operation in the prior art and the safety requirement of unmanned aerial vehicle flight is not met.
In order to achieve the purpose, the invention adopts the following technical scheme:
the invention provides an unmanned aerial vehicle automatic inspection system for a transformer substation, which comprises an unmanned aerial vehicle, a transformer substation and a controller, wherein the controller is arranged in the transformer substation:
the equipment room is used for placing the equipment to be detected;
the reflecting piece is arranged in the equipment room, and the reflecting piece and the equipment to be detected are arranged at intervals; above-mentioned reflection part is used for the above-mentioned image of examining check out test set of reflection to make above-mentioned unmanned aerial vehicle can shoot above-mentioned examine test set of test set through above-mentioned reflection part.
As an alternative scheme of the unmanned aerial vehicle automatic inspection system of the transformer substation, the equipment room comprises a wall body, and the equipment to be inspected and the wall body are arranged at intervals; the reflecting piece can be adjustably arranged on the wall body.
As an alternative scheme of the automatic unmanned aerial vehicle inspection system of the transformer substation, the wall body at least comprises two, at least two wall bodies are adjacently arranged to form a wall corner, and the reflecting piece is arranged on the wall body at the wall corner.
As an alternative scheme of the unmanned aerial vehicle automatic inspection system of the transformer substation, a plurality of devices to be inspected are arranged, and the devices to be inspected are arranged in the equipment room at intervals; the reflection piece is arranged on any one of the devices to be detected and used for reflecting the adjacent images of the devices to be detected.
As an alternative of the unmanned aerial vehicle automatic inspection system for the transformer substation, an auxiliary support is further arranged in the equipment room, and the reflecting piece is arranged on the auxiliary support; above-mentioned reflection part on the above-mentioned auxiliary stand sets up with the above-mentioned reflection part on the above-mentioned check out test set relatively, and above-mentioned unmanned aerial vehicle can loop through above-mentioned reflection part on the above-mentioned auxiliary stand and the above-mentioned reflection part on the above-mentioned check out test set to adjacent above-mentioned check out test set shoot.
As an alternative scheme of the automatic inspection system of the unmanned aerial vehicle of the transformer substation, the auxiliary support can be detachably connected in the equipment room.
As an alternative scheme of the automatic inspection system for the unmanned aerial vehicle of the transformer substation, the reflecting piece is a plane mirror.
As an alternative of the automatic inspection system for the unmanned aerial vehicle of the transformer substation, a connecting line formed by the unmanned aerial vehicle and the reflecting piece and an included angle range of the connecting line formed by the equipment to be inspected and the reflecting piece are 0-180 degrees.
As an alternative of the automatic inspection system for the unmanned aerial vehicle of the transformer substation, a box body is further arranged in the transformer substation, a transparent plate is arranged on the box body, and the unmanned aerial vehicle can shoot the inside of the box body through the transparent plate.
As an alternative scheme of the automatic inspection system for the unmanned aerial vehicle of the transformer substation, a sealing frame edge is arranged on the periphery of the transparent plate.
The invention has the beneficial effects that:
the automatic unmanned aerial vehicle inspection system for the transformer substation comprises an unmanned aerial vehicle and the transformer substation. Be equipped with equipment room and reflection part in the transformer substation, be used for placing between the equipment room and wait to examine equipment, the reflection part is located in the equipment room, and the reflection part with wait to examine equipment interval setting, and then the reflection part with wait to examine equipment has certain distance, make things convenient for the reflection part reflection to wait to examine equipment's image, so that unmanned aerial vehicle can wait to examine equipment through the reflection part shooting, need not that unmanned aerial vehicle flies to carry out closely shooting to the less region in space, the adaptability when unmanned aerial vehicle automatic patrols and examines the operation is improved, and satisfy the security requirement of unmanned aerial vehicle flight and wait to examine equipment's operation safety, the substitution rate and the coverage rate that unmanned aerial vehicle of transformer substation tours have effectively been improved simultaneously.
Drawings
Fig. 1 is a schematic structural diagram of an apparatus according to an embodiment of the present invention;
FIG. 2 is a top view of an apparatus room according to an embodiment of the present invention;
FIG. 3 is a front view of a housing provided by an embodiment of the present invention;
FIG. 4 is a front view of a plurality of devices to be tested arranged at intervals according to an embodiment of the present invention;
FIG. 5 is a top view of a plurality of devices under test arranged at intervals according to an embodiment of the present invention.
In the figure:
1. a device room; 11. a wall body; 12. an auxiliary support; 2. detecting equipment to be detected; 3. a reflector; 4. a box body; 41. a transparent plate; 42. and sealing the frame edge.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. 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 invention.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. Where the terms "first position" and "second position" are two different positions, and where a first feature is "over", "above" and "on" a second feature, it is intended that the first feature is directly over and obliquely above the second feature, or simply means that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
Example one
As shown in FIGS. 1-2, this embodiment provides an automatic system of patrolling and examining of unmanned aerial vehicle of transformer substation, and this automatic system of patrolling and examining of unmanned aerial vehicle of transformer substation is used for making unmanned aerial vehicle carry out the automation in the transformer substation and patrols and examines the shooting.
The automatic unmanned aerial vehicle inspection system for the transformer substation comprises an unmanned aerial vehicle and the transformer substation. Be equipped with equipment room 1 and reflection part 3 in the transformer substation, equipment room 1 is used for placing and waits to examine equipment 2, reflection part 3 is located in equipment room 1, and reflection part 3 sets up with waiting to examine equipment 2 interval, and then reflection part 3 has certain distance with waiting to examine equipment 2, make things convenient for the reflection of reflection part 3 to wait to examine equipment 2's image, so that unmanned aerial vehicle can shoot through reflection part 3 and wait to examine equipment 2, it closely shoots to need not that unmanned aerial vehicle flies to the less region in space, adaptability when having improved unmanned aerial vehicle automatic patrols and examines the operation safety of operation, and satisfy the security requirement of unmanned aerial vehicle flight and wait to examine equipment 2's operation safety, the substitution rate and the coverage rate that unmanned aerial vehicle of transformer substation patrolled have been improved effectively through setting up reflection part 3 simultaneously. Optionally, reflector 3 is the level crossing, and then unmanned aerial vehicle can shoot equipment 2 to be detected through the specular reflection of level crossing. Of course, the reflection member 3 may be other devices capable of reflecting the image of the apparatus 2 to be detected, and the embodiment is not particularly limited. Further optionally, the line that unmanned aerial vehicle and reflection part 3 formed, and the contained angle scope of waiting to examine the line that equipment 2 and reflection part 3 formed is 0 ~ 180, and then unmanned aerial vehicle can shoot enough big scope of waiting to examine equipment 2 through reflection part 3 to satisfy the demand of treating the visual scope of equipment 2 when unmanned aerial vehicle tours the detection. Specifically, through adjusting the position of reflection piece 3 in equipment room 1 and the installation angle of reflection piece 3 itself for equipment 2 to be detected in equipment room 1, and then make unmanned aerial vehicle can treat detection equipment 2 through reflection piece 3 and shoot.
Further, equipment room 1 includes wall body 11, and equipment 2 to be detected sets up with 11 intervals of wall body, and 3 adjustable locating wall bodies 11 on of reflection piece, and then through adjusting the position of reflection piece 3 on wall body 11, the position of the image of equipment 2 to be detected that adjustment unmanned aerial vehicle can shoot, and then unmanned aerial vehicle can shoot the one side that equipment 2 to be detected faces wall body 11. Optionally, wall body 11 includes two at least, and at least two wall bodies 11 are adjacent to be set up in order to form the corner, and reflection piece 3 is located on the wall body 11 of corner department to unmanned aerial vehicle can shoot the reflection piece 3 of corner department via the gap between wall body 11 and the equipment 2 to be detected, and then shoots one side that detection equipment faces wall body 11 through reflection piece 3. Further optionally, the wall body 11 of the equipment room 1 is a U-shaped wall formed by surrounding the three wall bodies 11, the equipment to be detected 2 is a main transformer, the main transformer is arranged in a space formed by the U-shaped wall, and the unmanned aerial vehicle can aim at the reflection part 3 on the periphery of the main transformer to complete shooting of the on-load tap changer oil level gauge on the main transformer. Of course, the device to be detected 2 may be other devices, and this embodiment is not particularly limited.
As shown in fig. 3, still be provided with box 4 in the transformer substation, be provided with transparent plate 41 on the box 4, unmanned aerial vehicle can shoot the inside of box 4 through transparent plate 41, and wherein, transparent plate 41 is box 4's chamber door, and then unmanned aerial vehicle can shoot the equipment in box 4 under the condition of not opening the chamber door, and then replace the manual work of fortune dimension personnel to box 4 and patrol and examine. Specifically, the periphery of transparent plate 41 is provided with sealed frame limit 42, and then can strengthen the leakproofness of box 4 through sealed frame limit 42, and sealed frame limit 42 can not cause the interference to unmanned aerial vehicle's shooting. Optionally, an oil temperature meter and a winding temperature meter are arranged in the box body 4. Of course, other devices may be provided in the case 4, and this embodiment is not particularly limited.
Example two
This embodiment still provides another kind of automatic system of patrolling and examining of unmanned aerial vehicle of transformer substation, and this automatic system of patrolling and examining of unmanned aerial vehicle of transformer substation is used for making unmanned aerial vehicle carry out the automation in the transformer substation and patrol and examine the shooting.
The automatic system of patrolling and examining of transformer substation unmanned aerial vehicle that this embodiment provided is the same basically with the automatic system of patrolling and examining of transformer substation unmanned aerial vehicle in the embodiment one, the difference lies in, as shown in fig. 4 ~ 5, equipment 2 that detects in this embodiment is provided with a plurality ofly, a plurality of 2 intervals that detect equipment set up in the equipment room 1, and reflector 3 locates on arbitrary equipment 2 that waits to detect, an image for the adjacent equipment 2 that detects of reflection, and then unmanned aerial vehicle is outside the comparatively intensive area of the quantity of equipment 2 that detects, can shoot arbitrary equipment 2 that detects wherein through reflector 3, the security requirement of unmanned aerial vehicle flight and the operation safety of equipment 2 that detects have been satisfied. Optionally, the device to be detected 2 is a current transformer, and the unmanned aerial vehicle can aim at the reflector 3 at the periphery of the dense current transformer to complete shooting of a barometer on the current transformer. Of course, the device to be detected 2 may be other devices, and this embodiment is not particularly limited.
Furthermore, an auxiliary support 12 is arranged in the equipment room 1, and a reflecting part 3 is arranged on the auxiliary support 12; reflection piece 3 on the auxiliary stand 12 sets up with the reflection piece 3 on waiting to examine equipment 2 relatively, and unmanned aerial vehicle can loop through reflection piece 3 on the auxiliary stand 12 and the reflection piece 3 on waiting to examine equipment 2 shoots adjacent waiting to examine equipment 2 to unmanned aerial vehicle can shoot any equipment 2 that awaits measuring via a plurality of gaps that wait between the equipment 2. Optionally, auxiliary stand 12 can be dismantled and connect in equipment room 1 to the staff can adjust auxiliary stand 12's position wantonly, and then adjusts the position of reflector 3 on auxiliary stand 12, treats the shooting demand of check out test set 2 with satisfying unmanned aerial vehicle.
It should be understood that the above-described embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.
Claims (10)
1. The utility model provides an automatic system of patrolling and examining of unmanned aerial vehicle of transformer substation, its characterized in that includes unmanned aerial vehicle, transformer substation and locates in the transformer substation:
the device room (1), the device room (1) is used for placing a device to be detected (2);
the reflecting piece (3) is arranged in the equipment room (1), and the reflecting piece (3) and the equipment to be detected (2) are arranged at intervals; the reflection part (3) is used for reflecting the image of the equipment to be detected (2), so that the unmanned aerial vehicle can shoot the equipment to be detected (2) through the reflection part (3).
2. The substation unmanned aerial vehicle automatic inspection system according to claim 1, wherein the equipment room (1) comprises a wall body (11), and the equipment to be inspected (2) is arranged at a distance from the wall body (11); the reflecting piece (3) is arranged on the wall body (11) in an adjustable mode.
3. The substation unmanned aerial vehicle automatic inspection system according to claim 2, wherein the number of the wall bodies (11) is at least two, at least two of the wall bodies (11) are adjacently arranged to form a corner, and the reflector (3) is arranged on the wall body (11) at the corner.
4. The substation unmanned aerial vehicle automatic inspection system according to claim 1, wherein a plurality of devices to be inspected (2) are arranged, and the plurality of devices to be inspected (2) are arranged in the equipment room (1) at intervals; the reflection piece (3) is arranged on any one of the devices to be detected (2) and used for reflecting the adjacent image of the devices to be detected (2).
5. The substation unmanned aerial vehicle automatic inspection system according to claim 4, wherein an auxiliary support (12) is further arranged in the equipment room (1), and the reflecting member (3) is arranged on the auxiliary support (12); on auxiliary bracket (12) reflection part (3) with on examining equipment of examining (2) reflection part (3) set up relatively, unmanned aerial vehicle can loop through on auxiliary bracket (12) reflection part (3) with on examining equipment of examining (2) reflection part (3) are to adjacent examine equipment of examining (2) and shoot.
6. The substation unmanned aerial vehicle automatic inspection system according to claim 5, wherein the auxiliary support (12) is detachably connected in the equipment room (1).
7. The substation unmanned aerial vehicle automatic inspection system according to claim 1, wherein the reflector (3) is a plane mirror.
8. The automatic substation unmanned aerial vehicle inspection system according to claim 1, wherein an included angle between a connecting line formed by the unmanned aerial vehicle and the reflector (3) and a connecting line formed by the equipment to be inspected (2) and the reflector (3) is 0-180 °.
9. The automatic substation unmanned aerial vehicle inspection system according to claim 1, wherein a box body (4) is further arranged in the substation, a transparent plate (41) is arranged on the box body (4), and the unmanned aerial vehicle can shoot the inside of the box body (4) through the transparent plate (41).
10. The substation unmanned aerial vehicle automatic inspection system according to claim 9, wherein a sealing frame (42) is provided at the periphery of the transparent plate (41).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111445577.XA CN114138023A (en) | 2021-11-30 | 2021-11-30 | Automatic inspection system of unmanned aerial vehicle of transformer substation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111445577.XA CN114138023A (en) | 2021-11-30 | 2021-11-30 | Automatic inspection system of unmanned aerial vehicle of transformer substation |
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| CN114138023A true CN114138023A (en) | 2022-03-04 |
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| CN202111445577.XA Pending CN114138023A (en) | 2021-11-30 | 2021-11-30 | Automatic inspection system of unmanned aerial vehicle of transformer substation |
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| CN101131727A (en) * | 2006-08-23 | 2008-02-27 | 华为技术有限公司 | Image collecting method and its application |
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| WO2019119398A1 (en) * | 2017-12-22 | 2019-06-27 | Powervision Tech Inc. | Underwater drone with capacity of multi-shooting view |
| CN109956013A (en) * | 2017-12-22 | 2019-07-02 | 北京臻迪科技股份有限公司 | A kind of underwater unmanned plane |
| CN111435115A (en) * | 2019-01-11 | 2020-07-21 | 贵州中烟工业有限责任公司 | Cigarette bead blasting appearance detection system |
| CN112884931A (en) * | 2019-11-29 | 2021-06-01 | 众芯汉创（北京）科技有限公司 | Unmanned aerial vehicle inspection method and system for transformer substation |
-
2021
- 2021-11-30 CN CN202111445577.XA patent/CN114138023A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101131727A (en) * | 2006-08-23 | 2008-02-27 | 华为技术有限公司 | Image collecting method and its application |
| CN107820568A (en) * | 2016-12-30 | 2018-03-20 | 深圳配天智能技术研究院有限公司 | A kind of visible detection method and system |
| WO2019119398A1 (en) * | 2017-12-22 | 2019-06-27 | Powervision Tech Inc. | Underwater drone with capacity of multi-shooting view |
| CN109956013A (en) * | 2017-12-22 | 2019-07-02 | 北京臻迪科技股份有限公司 | A kind of underwater unmanned plane |
| CN111435115A (en) * | 2019-01-11 | 2020-07-21 | 贵州中烟工业有限责任公司 | Cigarette bead blasting appearance detection system |
| CN112884931A (en) * | 2019-11-29 | 2021-06-01 | 众芯汉创（北京）科技有限公司 | Unmanned aerial vehicle inspection method and system for transformer substation |
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