CN114184894A - Cooperative inspection method for power transmission line online monitoring device and mobile inspection equipment - Google Patents
Cooperative inspection method for power transmission line online monitoring device and mobile inspection equipment Download PDFInfo
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- 238000007689 inspection Methods 0.000 title claims abstract description 153
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- 230000002159 abnormal effect Effects 0.000 claims description 17
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- G—PHYSICS
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- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
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- 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 power transmission line monitoring, in particular to a cooperative inspection method of a power transmission line online monitoring device and mobile inspection equipment, which comprises the following steps: collecting monitoring data of the power transmission line through an online monitoring device; controlling the mobile inspection equipment to move to the position of the power transmission line, and establishing close range wireless communication connection with the corresponding online monitoring device; receiving monitoring data of the power transmission line acquired by the online monitoring device through the mobile inspection equipment; the inspection equipment is moved in an auxiliary mode through the online monitoring device to complete inspection work. According to the cooperative inspection method of the power transmission line online monitoring device and the mobile inspection equipment, the data transmission effect of the online monitoring device in the public network communication blind area and the inspection effect of the mobile inspection equipment can be improved, so that the monitoring effect of the power transmission line can be improved.
Description
Technical Field
The invention relates to the technical field of power transmission line monitoring, in particular to a cooperative inspection method of a power transmission line online monitoring device and mobile inspection equipment.
Background
The overhead transmission line consists of a line tower, a lead, an insulator, a line hardware fitting, a stay wire, a tower foundation, a grounding device and the like and is erected on the ground. Most areas covered by the power transmission line belong to remote mountain areas, mountain roads are rugged, weather natural conditions are complex, and safety risks are prominent. The conventional regular inspection mode has long operation period and high strength, cannot be implemented in severe weather, cannot acquire the real-time running state of the power transmission line, and lacks effective monitoring and early warning on hidden dangers of the power transmission line.
For the remote monitoring problem of the power transmission line and the surrounding environment and meteorological parameters thereof, chinese patent publication No. CN107959350A discloses a wireless monitoring system for power transmission line, which includes a sensing monitoring device, a power transmission line monitoring terminal and a user terminal, wherein the sensing monitoring device is used for collecting the sensing data of the power transmission line area environment and sending the collected sensing data of the power transmission line area environment to the power transmission line monitoring terminal, the power transmission line monitoring terminal is used for receiving, storing and displaying the sensing data of the power transmission line area environment, comparing the sensing data of the power transmission line area environment with the boundary value of the preset normal threshold range, and if the sensing data of the power transmission line area environment exceeds the normal threshold range, executing alarm.
In the power transmission line monitoring system in the existing scheme, the on-line monitoring device (sensing monitoring device) is used for acquiring monitoring data of the power transmission line and transmitting the monitoring data to the centralized control head station (power transmission line monitoring terminal) for calculating and analyzing the data, so that the monitoring of the power transmission line is realized. However, most of the power transmission lines are far away, and many power transmission lines have a public network communication blind area, so that it is difficult for the centralized control central station to effectively receive the detection data acquired by the online monitoring device, and further the data transmission effect of the online monitoring device is poor, and operation and maintenance personnel cannot diagnose and process the fault point in time. Meanwhile, the traditional power transmission line inspection work is mainly completed manually, the mobile inspection devices such as unmanned aerial vehicle equipment and helicopters play a role in auxiliary monitoring, and due to the fact that a public network communication blind area exists, the centralized control master station is difficult to effectively guide the mobile inspection equipment to complete the inspection work, and the inspection effect of the mobile inspection equipment is poor. Therefore, how to design a method capable of improving the data transmission effect of the online monitoring device and the inspection effect of the mobile inspection equipment is a technical problem which needs to be solved urgently.
Disclosure of Invention
Aiming at the defects of the prior art, the technical problems to be solved by the invention are as follows: how to provide a cooperative inspection method of an on-line monitoring device of a power transmission line and mobile inspection equipment to improve the data transmission effect of the on-line monitoring device in a public network communication blind area and the inspection effect of the mobile inspection equipment, thereby improving the monitoring effect of the power transmission line.
In order to solve the technical problems, the invention adopts the following technical scheme:
the cooperative inspection method of the power transmission line online monitoring device and the mobile inspection equipment comprises the following steps:
s1: collecting monitoring data of the power transmission line through an online monitoring device;
s2: controlling the mobile inspection equipment to move to the position of the power transmission line, and establishing close range wireless communication connection with the corresponding online monitoring device;
s3: receiving monitoring data of the power transmission line acquired by the online monitoring device through the mobile inspection equipment;
s4: the inspection equipment is moved in an auxiliary mode through the online monitoring device to complete inspection work.
Preferably, in step S1, after the on-line monitoring device collects the monitoring data of the power transmission line, it identifies abnormal data in the monitoring data, and sends the abnormal data to the centralized control central station.
Preferably, in step S2, after the mobile inspection device moves to the position of the power transmission line, the identity authentication is performed with the online monitoring device through the WTLS handshake protocol, and after the identity authentication passes, the communication connection is established with the online monitoring device.
Preferably, the mobile inspection device comprises a ground wire inspection robot.
Preferably, in step S2, the ground wire inspection robot sends a connection request to the online monitoring device and performs authentication, and after the authentication passes, establishes a short-range wireless communication connection with the online monitoring device.
Preferably, in step S4, the online monitoring device calculates corresponding high-risk area coordinates according to abnormal data in the monitoring data, and further calculates and generates corresponding path planning information based on the position of the ground wire inspection robot and the high-risk area coordinates and sends the path planning information to the ground wire inspection robot, so that the ground wire inspection robot can complete inspection work based on the path planning information.
Preferably, the mobile inspection device comprises a drone device.
Preferably, in step S2, the drone operating end of the drone device sends a connection request to the corresponding online monitoring device through the communication module of the drone device, and performs authentication; after the identity authentication is passed, the unmanned aerial vehicle operation end establishes short-distance wireless communication connection with the online monitoring device.
Preferably, in step S4, the operation end of the unmanned aerial vehicle sends the unmanned aerial vehicle control instruction to the online monitoring device, and the online monitoring device forwards the unmanned aerial vehicle control instruction to the unmanned aerial vehicle device, so that the unmanned aerial vehicle device completes flight inspection; meanwhile, the online monitoring device collects working image information of the unmanned aerial vehicle equipment and sends the working image information to the unmanned aerial vehicle operation end.
Preferably, the online monitoring device comprises a distributed state monitoring module for collecting monitoring data, an AI identification module for identifying abnormal data, a near field communication module for being in communication connection with the mobile inspection equipment, a planning module for calculating and generating path planning information of the mobile inspection equipment, a camera module for collecting working image information of the mobile inspection equipment, a network communication module for being in communication connection with the centralized control master station, and a storage module for storing the monitoring data.
The cooperative inspection method of the power transmission line online monitoring device and the mobile inspection equipment has the following beneficial effects:
the invention can collect and temporarily store the monitoring data of the power transmission line through the online monitoring device, establish close-range wireless communication connection with the mobile inspection equipment when the mobile inspection equipment inspects the power transmission line, send the monitoring data to the mobile inspection equipment, and bring back the monitoring data for the centralized control master station by the mobile inspection equipment, so that the monitoring data of the online monitoring device can be uploaded in a communication blind area, and the data transmission effect of the online monitoring device can be improved.
The invention can assist (guide) the mobile inspection equipment to finish inspection work through the online monitoring device, so that the guidance of the inspection work of the mobile inspection equipment can be realized in a communication blind area (a centralized control master station cannot effectively guide the mobile inspection equipment), the inspection effect of the mobile inspection equipment can be improved, and the monitoring effect of a power transmission line is further improved.
Drawings
For purposes of promoting a better understanding of the objects, aspects and advantages of the invention, reference will now be made in detail to the present invention as illustrated in the accompanying drawings, in which:
FIG. 1 is a network structure diagram of a cooperative inspection system;
fig. 2 is a logic block diagram of the cooperative routing inspection method.
Reference numerals in the drawings of the specification include: the online monitoring device 1, the ground wire inspection robot 2, the unmanned aerial vehicle equipment 3, the unmanned aerial vehicle operation end 4 and the centralized control master station 5.
Detailed Description
The following is further detailed by the specific embodiments:
example (b):
the embodiment discloses a cooperative inspection method of an online monitoring device of a power transmission line and mobile inspection equipment.
The cooperative inspection method is implemented based on the cooperative inspection system in fig. 1.
The cooperative inspection system comprises an online monitoring device 1, a mobile inspection device and a centralized control master station 5.
The online monitoring device 1 comprises a distributed state monitoring module for collecting monitoring data, an AI identification module for identifying abnormal data, a near field communication module for being in communication connection with the mobile inspection equipment, a planning module for calculating and generating path planning information of the mobile inspection equipment, a camera module for collecting working image information of the mobile inspection equipment, a network communication module for being in communication connection with the centralized control master station 5, and a storage module for storing the monitoring data. Each functional module is a module well-known in the prior art, and is not described herein.
The mobile inspection equipment is controlled by a centralized control master station 5, comprises a ground wire inspection robot 2, an unmanned aerial vehicle device 3 and an unmanned aerial vehicle operation end 4, and has functional modules such as handshake butt joint, data storage, image acquisition, coordinate feedback, wireless communication and the like, so that inspection tasks can be independently undertaken, and high-capacity data transmission communication transfer between the online monitoring device 1 and the centralized control master station 5 can also be carried out in a communication blind area.
Unmanned aerial vehicle operation end 4 has functional module such as wireless communication, decision support, operation interface, and unmanned aerial vehicle operation end 4 realizes patrolling the remote control operation of line to unmanned aerial vehicle equipment 3, receives the unmanned aerial vehicle equipment 3 work image information that on-line monitoring device 1 shot, sends corresponding adjustment control instruction to unmanned aerial vehicle equipment 3 and (or) on-line monitoring device 1 according to unmanned aerial vehicle equipment 3's behavior.
The centralized control master station 5 has functional modules of gathering statistics, fault diagnosis, fault processing and the like, receives monitoring data brought back in the mobile inspection equipment, can receive abnormal data identified by the online monitoring device 1, and performs statistics, diagnosis and processing on the abnormal data (line defects and fault data).
Based on the cooperative inspection system provided by the invention, the cooperative inspection method shown in FIG. 2 is disclosed, and comprises the following steps:
s1: collecting monitoring data of the power transmission line through an online monitoring device;
s2: controlling the mobile inspection equipment to move to the position of the power transmission line, and establishing close range wireless communication connection with the corresponding online monitoring device;
s3: receiving monitoring data of the power transmission line acquired by the online monitoring device through the mobile inspection equipment;
s4: the inspection equipment is moved in an auxiliary mode through the online monitoring device to complete inspection work.
The invention can collect and temporarily store the monitoring data of the power transmission line through the online monitoring device, establish close-range wireless communication connection with the mobile inspection equipment when the mobile inspection equipment inspects the power transmission line, send the monitoring data to the mobile inspection equipment, and bring back the monitoring data for the centralized control master station by the mobile inspection equipment, so that the monitoring data of the online monitoring device can be uploaded in the communication blind area of the public network, and the data transmission effect of the online monitoring device can be improved. Meanwhile, the invention can assist (guide) the mobile inspection equipment to finish inspection work through the online monitoring device, so that the guidance of the inspection work of the mobile inspection equipment can be realized in a public network communication blind area (a centralized control master station cannot effectively guide the mobile inspection equipment), the inspection effect of the mobile inspection equipment can be improved, and the monitoring effect of the power transmission line is further improved.
In the specific implementation process, after the on-line monitoring device collects the monitoring data of the power transmission line, abnormal data in the monitoring data are identified, and the abnormal data are sent to the centralized control master station. And identifying abnormal data through threshold comparison and a pre-trained deep learning model. The deep learning model can adopt an association analysis model and an image recognition model, and the training and parameter optimization of the deep learning model adopt the existing mature means, which are not described herein.
The invention can identify abnormal data in the monitoring data, so that the abnormal data only needs to be transmitted to the centralized control master station, thereby greatly reducing the data transmission amount, avoiding the problem of data transmission channel congestion caused by the scattered transmission of a large amount of data, and further improving the data transmission efficiency of the online monitoring device.
In the specific implementation process, after the mobile inspection equipment is moved to the position of the power transmission line, the identity authentication is firstly carried out with the online monitoring device through a WTLS (Wireless Transport Layer Security) handshake protocol, and after the identity authentication is passed, the communication connection is established with the online monitoring device.
The invention carries out the identity verification of the mobile inspection equipment through a handshake protocol, and can ensure the safety when the mobile inspection equipment establishes the short-distance wireless communication connection with the online monitoring device.
In the specific implementation process, the mobile inspection equipment comprises a ground wire inspection robot.
The ground wire inspection robot sends a connection request to the online monitoring device and carries out identity verification, and after the identity verification is passed, the ground wire inspection robot establishes close range wireless communication connection with the online monitoring device.
The on-line monitoring device calculates corresponding high-risk area coordinates according to abnormal data in the monitoring data, and then calculates and generates corresponding path planning information based on the position of the ground wire inspection robot and the high-risk area coordinates and sends the path planning information to the ground wire inspection robot, so that the ground wire inspection robot can complete inspection work based on the path planning information.
The ground wire inspection robot path planning method and system can generate path planning information for the ground wire inspection robot, and can effectively guide the ground wire inspection robot to finish inspection, so that the inspection effect of the ground wire inspection robot can be improved.
In the specific implementation process, the mobile inspection equipment comprises unmanned aerial vehicle equipment.
An unmanned aerial vehicle operation end of the unmanned aerial vehicle equipment sends a connection request to a corresponding online monitoring device through a communication module of the unmanned aerial vehicle equipment, and performs identity authentication; after the identity authentication is passed, the unmanned aerial vehicle operation end establishes short-distance wireless communication connection with the online monitoring device.
The unmanned aerial vehicle operation end sends the unmanned aerial vehicle control command to the online monitoring device, and the online monitoring device forwards the unmanned aerial vehicle control command to the unmanned aerial vehicle equipment so that the unmanned aerial vehicle equipment can complete flight inspection; meanwhile, the online monitoring device collects working image information of the unmanned aerial vehicle equipment and sends the working image information to the unmanned aerial vehicle operation end.
The signal transmission relay of the unmanned aerial vehicle equipment and the unmanned aerial vehicle operation end can be realized, and the unmanned aerial vehicle control instruction of the unmanned aerial vehicle operation end can be forwarded so that the unmanned aerial vehicle equipment can complete inspection; and can send the work image information of unmanned aerial vehicle equipment for unmanned aerial vehicle operation end to supply the effectual control of unmanned aerial vehicle operation end and adjust the position of unmanned aerial vehicle equipment, thereby can promote the effect of patrolling and examining of unmanned aerial vehicle equipment.
It should be noted that the above-mentioned embodiments illustrate rather than limit the invention, and that, while the invention has been described with reference to preferred embodiments thereof, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims. Meanwhile, the detailed structures, characteristics and the like of the common general knowledge in the embodiments are not described too much. Finally, the scope of the claims should be determined by the content of the claims, and the description of the embodiments and the like in the specification should be used for interpreting the content of the claims.
Claims (10)
1. The cooperative inspection method of the power transmission line on-line monitoring device and the mobile inspection equipment is characterized by comprising the following steps of:
s1: collecting monitoring data of the power transmission line through an online monitoring device;
s2: controlling the mobile inspection equipment to move to the position of the power transmission line, and establishing close range wireless communication connection with the corresponding online monitoring device;
s3: receiving monitoring data of the power transmission line acquired by the online monitoring device through the mobile inspection equipment;
s4: the inspection equipment is moved in an auxiliary mode through the online monitoring device to complete inspection work.
2. The cooperative inspection method of the online monitoring device of the power transmission line and the mobile inspection equipment according to claim 1, characterized in that: in step S1, after the on-line monitoring device collects the monitoring data of the power transmission line, it identifies abnormal data in the monitoring data, and sends the abnormal data to the centralized control central station.
3. The cooperative inspection method of the online monitoring device of the power transmission line and the mobile inspection equipment according to claim 1, characterized in that: in step S2, after the mobile inspection device moves to the position of the power transmission line, the identity of the mobile inspection device is authenticated with the online monitoring device through the WTLS handshake protocol, and after the identity is authenticated, the mobile inspection device establishes a communication connection with the online monitoring device.
4. The cooperative inspection method of the online monitoring device of the power transmission line and the mobile inspection equipment according to claim 3, characterized in that: the mobile inspection equipment comprises a ground wire inspection robot.
5. The cooperative inspection method of the online monitoring device of the power transmission line and the mobile inspection equipment according to claim 4, characterized in that: in step S2, the ground wire inspection robot sends a connection request to the online monitoring device and performs authentication, and after the authentication passes, establishes a short-range wireless communication connection with the online monitoring device.
6. The cooperative inspection method of the online monitoring device of the power transmission line and the mobile inspection equipment according to claim 4, characterized in that: in step S4, the online monitoring device calculates the corresponding high-risk area coordinates according to the abnormal data in the monitoring data, and further calculates and generates corresponding path planning information based on the position of the ground wire inspection robot and the high-risk area coordinates and sends the path planning information to the ground wire inspection robot, so that the ground wire inspection robot can complete the inspection work based on the path planning information.
7. The cooperative inspection method of the online monitoring device of the power transmission line and the mobile inspection equipment according to claim 3, characterized in that: the mobile inspection equipment comprises unmanned aerial vehicle equipment.
8. The cooperative inspection method of the online monitoring device of the power transmission line and the mobile inspection equipment according to claim 7, characterized in that: in step S2, the drone operating end of the drone device sends a connection request to the corresponding online monitoring device through the communication module of the drone device, and performs authentication; after the identity authentication is passed, the unmanned aerial vehicle operation end establishes short-distance wireless communication connection with the online monitoring device.
9. The cooperative inspection method of the online monitoring device of the power transmission line and the mobile inspection equipment according to claim 7, characterized in that: in step S4, the operation end of the unmanned aerial vehicle sends the unmanned aerial vehicle control instruction to the online monitoring device, and the online monitoring device forwards the unmanned aerial vehicle control instruction to the unmanned aerial vehicle device so that the unmanned aerial vehicle device can complete flight inspection; meanwhile, the online monitoring device collects working image information of the unmanned aerial vehicle equipment and sends the working image information to the unmanned aerial vehicle operation end.
10. The cooperative inspection method of the online monitoring device of the power transmission line and the mobile inspection equipment according to claim 1, characterized in that: the online monitoring device comprises a distributed state monitoring module for collecting monitoring data, an AI identification module for identifying abnormal data, a near field communication module for being in communication connection with the mobile inspection equipment, a planning module for calculating and generating path planning information of the mobile inspection equipment, a camera module for collecting working image information of the mobile inspection equipment, a network communication module for being in communication connection with the centralized control master station, and a storage module for storing the monitoring data.
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