CN117330903A - Power transmission equipment detection method and system based on unmanned aerial vehicle multispectral detection - Google Patents
Power transmission equipment detection method and system based on unmanned aerial vehicle multispectral detection Download PDFInfo
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- 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
- G01R31/12—Testing dielectric strength or breakdown voltage ; Testing or monitoring effectiveness or level of insulation, e.g. of a cable or of an apparatus, for example using partial discharge measurements; Electrostatic testing
- G01R31/1218—Testing dielectric strength or breakdown voltage ; Testing or monitoring effectiveness or level of insulation, e.g. of a cable or of an apparatus, for example using partial discharge measurements; Electrostatic testing using optical methods; using charged particle, e.g. electron, beams or X-rays
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U20/00—Constructional aspects of UAVs
- B64U20/80—Arrangement of on-board electronics, e.g. avionics systems or wiring
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U20/00—Constructional aspects of UAVs
- B64U20/80—Arrangement of on-board electronics, e.g. avionics systems or wiring
- B64U20/87—Mounting of imaging devices, e.g. mounting of gimbals
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- G—PHYSICS
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- G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
- G01J5/00—Radiation pyrometry, e.g. infrared or optical thermometry
- G01J5/0096—Radiation pyrometry, e.g. infrared or optical thermometry for measuring wires, electrical contacts or electronic systems
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
- G01J5/00—Radiation pyrometry, e.g. infrared or optical thermometry
- G01J5/48—Thermography; Techniques using wholly visual means
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- G—PHYSICS
- G01—MEASURING; TESTING
- 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
- G01R31/12—Testing dielectric strength or breakdown voltage ; Testing or monitoring effectiveness or level of insulation, e.g. of a cable or of an apparatus, for example using partial discharge measurements; Electrostatic testing
- G01R31/1227—Testing dielectric strength or breakdown voltage ; Testing or monitoring effectiveness or level of insulation, e.g. of a cable or of an apparatus, for example using partial discharge measurements; Electrostatic testing of components, parts or materials
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- G—PHYSICS
- G01—MEASURING; TESTING
- 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
- G01R31/12—Testing dielectric strength or breakdown voltage ; Testing or monitoring effectiveness or level of insulation, e.g. of a cable or of an apparatus, for example using partial discharge measurements; Electrostatic testing
- G01R31/1227—Testing dielectric strength or breakdown voltage ; Testing or monitoring effectiveness or level of insulation, e.g. of a cable or of an apparatus, for example using partial discharge measurements; Electrostatic testing of components, parts or materials
- G01R31/1263—Testing dielectric strength or breakdown voltage ; Testing or monitoring effectiveness or level of insulation, e.g. of a cable or of an apparatus, for example using partial discharge measurements; Electrostatic testing of components, parts or materials of solid or fluid materials, e.g. insulation films, bulk material; of semiconductors or LV electronic components or parts; of cable, line or wire insulation
- G01R31/1272—Testing dielectric strength or breakdown voltage ; Testing or monitoring effectiveness or level of insulation, e.g. of a cable or of an apparatus, for example using partial discharge measurements; Electrostatic testing of components, parts or materials of solid or fluid materials, e.g. insulation films, bulk material; of semiconductors or LV electronic components or parts; of cable, line or wire insulation of cable, line or wire insulation, e.g. using partial discharge measurements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
- B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
- B64U2101/31—UAVs specially adapted for particular uses or applications for imaging, photography or videography for surveillance
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- G—PHYSICS
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- G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
- G01J5/00—Radiation pyrometry, e.g. infrared or optical thermometry
- G01J2005/0077—Imaging
Abstract
The invention discloses a power transmission equipment detection method and system based on unmanned aerial vehicle multispectral detection, and relates to the technical field of power transmission equipment detection. The method comprises the following steps: acquiring an ultraviolet image, an infrared image and a multispectral image of a power transmission line; measuring the photon number in the ultraviolet image by adopting a photon normalization principle, and preliminarily determining the discharge intensity of the power transmission line according to a measurement result; determining an abnormal discharge position according to the discharge intensity, and detecting the appearance of the circuit by utilizing a multispectral image of the discharge position; detecting the temperature by using the infrared image of the discharge position; and comprehensively judging by combining the appearance detection result and the temperature detection result to determine the final discharge state. The invention carries out common judgment from three aspects of photon number, circuit appearance image and temperature, reduces the phenomena of missed judgment and misjudgment in the partial discharge detection process of the power transmission line, and improves the accuracy of abnormality detection.
Description
Technical Field
The invention relates to the technical field of detection of power transmission equipment, in particular to a power transmission equipment detection method and system based on unmanned aerial vehicle multispectral detection.
Background
The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.
With the wide application of power equipment such as high-voltage cables and transformers, the problem of power equipment faults is increasingly displayed. Once the power failure accident occurs due to equipment failure, great inconvenience is brought to the life of people, and great loss is caused to society, so that the safe operation of the power equipment is particularly important.
In order to ensure safe operation of the power system, periodic maintenance of the power equipment is required in early days. However, accidents often occur when the power equipment is put into service after being overhauled and qualified. For the above problems, a conventional solution is to detect a contact type direct current withstand voltage and an alternating current voltage. The contact type direct current voltage withstand detection has larger destructiveness to power equipment such as cables, and the alternating current voltage detection mode equipment is large in size, complex in detection, low in efficiency and easy to influence the insulation performance of the power equipment. The break through of the online monitoring technology opens up a new way for the fault state detection of the power equipment, can realize the real-time monitoring of the insulation condition of the power equipment on the premise of no power failure, and predicts the hidden trouble of the fault through state analysis. A large number of researches show that the fault state of the power equipment has a certain relation with the partial discharge, and the potential safety hazard possibly existing in the power equipment can be reflected by the change condition of the partial discharge quantity, so that the partial discharge detection method is one of effective methods for quantitatively analyzing the fault state of the power equipment. In recent years, partial discharge detection methods have been widely used for detecting fault conditions of power equipment such as high-voltage cables and transformers.
Partial discharges are classified into two categories according to the location where they occur: surface partial discharge and internal partial discharge. When the insulation properties of the electrical equipment are reduced, an increase in the local field strength of the surface is often present, especially under the effect of high voltages, which easily leads to breakdown of the air gap. Partial discharge can be classified into corona discharge, glow discharge, spark discharge, arc discharge and creeping discharge according to different surface conditions of electric equipment, electrode shape, gas pressure and the like. Severe partial discharges eventually cause breakdown of the insulating medium, which in turn leads to failure of the electrical equipment. However, the occurrence of partial discharge of the power equipment is a slow process, and the partial discharge of the power equipment does not immediately cause the failure of the insulating medium, but has a pre-discharge stage before complete breakdown, so that the severity of the fault of the power equipment can be judged by detecting the early partial discharge phenomenon of the power equipment, thereby providing decision support for the inspection personnel to adjust the maintenance strategy. Therefore, it is necessary to enhance the detection of the partial discharge failure state of the power equipment.
The existing domestic and foreign ultraviolet imagers can only perform qualitative analysis on the discharge intensity based on photon number on the external insulation discharge of the electric equipment, can not evaluate and diagnose the defect property and severity of the high-voltage equipment in the power and railway industries, and lack a comprehensive degradation high-voltage equipment typical discharge ultraviolet imaging detection characteristic map and an effective high-voltage equipment defect diagnosis and discharge early warning method. And the existing ultraviolet/visible light superposition precision is not high enough, and the positioning error of the discharge position of the electrical equipment is larger. The actual test value of domestic and foreign instruments with the standard ultraviolet/visible light path alignment precision less than 1mrad can reach about 5mrad, and the difference between the ultraviolet corona discharge position marking value and the actual value is about 10cm under the observation distance of 20 meters, so that the fault positioning error is larger.
In addition, many reasons such as topography or climate cause, manpower can not be patrolled or handheld device can't detect, has brought certain difficulty for the patrolling and examining of transmission equipment.
In summary, how to realize online quantitative detection of anomalies of high-precision omnidirectional power transmission equipment becomes a technical problem to be solved in the prior art.
Disclosure of Invention
Aiming at the defects of the prior art, the invention aims to provide a power transmission equipment detection method and a system based on unmanned aerial vehicle multispectral detection, which utilize unmanned aerial vehicle to carry out comprehensive detection and quantitative analysis on partial discharge conditions of a power transmission line by carrying a plurality of kinds of spectrum detection equipment, thereby realizing fault detection of the early power transmission line.
In order to achieve the above object, the present invention is realized by the following technical scheme:
the invention provides a power transmission equipment detection method based on unmanned aerial vehicle multispectral detection, which comprises the following steps:
acquiring an ultraviolet image, an infrared image and a multispectral image of a power transmission line;
measuring the photon number in the ultraviolet image by adopting a photon normalization principle, and preliminarily determining the discharge intensity of the power transmission line according to a measurement result;
determining an abnormal discharge position according to the discharge intensity, and detecting the appearance of the circuit by utilizing a multispectral image of the discharge position;
detecting the temperature by using the infrared image of the discharge position;
and comprehensively judging by combining the appearance detection result and the temperature detection result to determine the final discharge state.
Further, the specific steps for measuring the photon number are as follows:
and in the period of detecting a corona point, taking a plurality of photon number maximum values which are different from a set value from a plurality of photon numbers displayed, and taking the average photon number of all photon number maximum values as the photon number of a discharge point.
Further, the discharge intensity is classified into high-intensity discharge, medium-intensity discharge and low-intensity discharge, and is high-intensity discharge when the number of photons per minute is greater than 8000, medium-intensity discharge when the number of photons per minute is greater than 1000 and equal to or less than 8000, and low-intensity discharge when the number of photons per minute is equal to or less than 1000.
Further, the specific steps of determining the abnormal discharge position according to the discharge intensity are as follows:
determining a visual field angle of visible light and a visual field angle of ultraviolet;
the standard ultraviolet discharge source is used as a base point, and the ultraviolet discharge source is firstly adjusted to the center of visible light;
the ultraviolet image information is superimposed into the multispectral image by recoding,
if the discharge point of the ultraviolet image and the visible light are not overlapped, adjusting the superposition offset of the ultraviolet image, gradually moving the ultraviolet discharged image to the center of the visible light, calibrating other positions for multiple times, and ensuring that the output picture is overlapped with the discharge position;
the calibrated camera can obtain an accurate discharge position when the unmanned aerial vehicle shoots.
Further, the specific steps of comprehensively judging by combining the appearance detection result and the temperature detection result are as follows:
if the temperature is abnormal and the photon number reaches the medium discharge intensity, the discharge is judged to be abnormal, and the visible light recognizes that the pollution exists, and the pollution is judged to cause the insulation resistance of the insulator string to be reduced;
if the temperature abnormality is more than 20 ℃ and the photon number reaches the higher discharge intensity, judging that the discharge is abnormal, and if the visible light identifies that the pollution or the damage exists, judging that the damage and the electric leakage occur or the insulation resistance of the insulator string fails;
the rest is judged as normal.
The second aspect of the invention provides a power transmission equipment detection system based on unmanned aerial vehicle multispectral detection, which comprises:
the data acquisition module is configured to acquire an ultraviolet image, an infrared image and a multispectral image of the power transmission line;
the photon number judging module is configured to measure the photon number in the ultraviolet image by adopting a photon normalization principle, and preliminarily determine the discharge intensity of the power transmission line according to the measurement result;
the appearance detection module is configured to determine an abnormal discharge position according to the discharge intensity, and perform appearance detection on the circuit by utilizing a multispectral image of the discharge position;
a temperature detection module configured to detect a temperature using an infrared image of a discharge location;
and the abnormality judging module is configured to comprehensively judge the appearance detection result and the temperature detection result and determine the final discharge state.
Further, the data acquisition module comprises an unmanned aerial vehicle, data acquisition equipment and data carrying equipment, wherein the data acquisition equipment is fixed to the unmanned aerial vehicle through the data carrying equipment, and ultraviolet images, infrared images and multispectral images of a power transmission line are acquired through controlling the unmanned aerial vehicle.
Still further, the data acquisition equipment comprises a visible light camera, an infrared camera, an ultraviolet camera and a laser range finder, wherein the visible light camera is used for acquiring multispectral images, the infrared camera is used for acquiring infrared images, the ultraviolet camera is used for acquiring ultraviolet images, and the laser range finder is used for measuring range work in the photon number measuring process.
Still further, transmission of electricity equipment detecting system still includes camera control panel and artificial intelligence power card, the camera control panel is used for controlling visible light camera, infrared camera and ultraviolet camera, the artificial intelligence power card is used for discernment measured object, marks the measured object.
Further, the data carrying device comprises a cradle head bracket, a cradle head connecting shaft, a front end cover, a main shell and a rear end cover; the cradle head support is used for connecting the unmanned aerial vehicle and the cradle head connecting shaft, the cradle head support is arranged at the bottom of the unmanned aerial vehicle, the cradle head connecting shaft is U-shaped, and two ends of the cradle head connecting shaft are connected with the main shell through bolts; the visible light camera, the infrared camera, the ultraviolet camera and the laser range finder are integrated inside the main shell, the front end cover is arranged in front of the main shell, the rear end cover is arranged behind the main shell, and the front end cover and the rear end cover are connected with the main shell through connecting screws.
The one or more of the above technical solutions have the following beneficial effects:
the invention discloses a power transmission equipment detection method based on unmanned aerial vehicle multispectral detection, which is characterized in that three aspects of photon number, circuit appearance image and temperature are judged together through an ultraviolet camera, a visible light camera and an infrared camera, so that the phenomena of missed judgment and misjudgment in the partial discharge detection process of a power transmission line are reduced, and the accuracy rate of anomaly detection is improved.
The invention discloses a power transmission equipment detection system based on unmanned aerial vehicle multispectral detection, which utilizes an unmanned aerial vehicle to carry a plurality of data acquisition equipment and comprehensively analyze and process a plurality of data in real time to obtain a local abnormal discharge result, thereby guaranteeing the real-time performance and accuracy of the local discharge detection.
Additional aspects of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention.
Fig. 1 is a flowchart of a method for detecting power transmission equipment based on multi-spectrum detection of an unmanned aerial vehicle in a first embodiment of the invention;
fig. 2 is a schematic diagram of the overall structure of a data acquisition module according to a second embodiment of the present invention;
fig. 3 is a schematic diagram of the overall structure of a data acquisition module in the second embodiment of the present invention;
fig. 4 is a top view of a data acquisition module according to a second embodiment of the invention;
fig. 5 is a front view of a data acquisition module according to a second embodiment of the present invention;
FIG. 6 is a side view of a data acquisition module according to a second embodiment of the present invention;
the device comprises a cradle head support, a cradle head motor connector, a circuit board mounting support, a visible light camera, an infrared camera, an ultraviolet camera, a sealing ring, a laser range finder, a camera control board, an artificial intelligence power card, a cradle head connecting shaft, a front end cover, a main shell, a rear end cover, a connecting screw and a heat dissipation fan.
Detailed Description
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the invention. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the present invention. As used herein, the singular is also intended to include the plural unless the context clearly indicates otherwise, and furthermore, it is to be understood that the terms "comprises" and/or "comprising" when used in this specification are taken to specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof;
embodiment one:
the first embodiment of the invention provides a method for detecting power transmission equipment based on unmanned aerial vehicle multispectral detection, as shown in fig. 1, comprising the following steps:
s1: acquiring an ultraviolet image, an infrared image and a multispectral image of a power transmission line;
s2: measuring the photon number in the ultraviolet image by adopting a photon normalization principle, and preliminarily determining the discharge intensity of the power transmission line according to a measurement result;
s3: determining an abnormal discharge position according to the discharge intensity, and detecting the appearance of the circuit by utilizing a multispectral image of the discharge position;
s4: detecting the temperature by using the infrared image of the discharge position;
s5: and comprehensively judging by combining the appearance detection result and the temperature detection result to determine the final discharge state.
In S1, an ultraviolet image of a power transmission line is obtained by shooting a video through an ultraviolet camera, and an effective frame in the ultraviolet video is selected and preprocessed to obtain a preprocessed ultraviolet image.
Before capturing the photographed image and video, the respective image sizes are preset according to task requirements.
In S2, the specific steps for measuring the photon number are as follows:
and in the period of detecting a corona point, taking a plurality of photon number maximum values which are different from a set value from a plurality of photon numbers displayed, and taking the average photon number of all photon number maximum values as the photon number of a discharge point. In this embodiment, n numbers of non-greater phase difference are takenWherein N is i Is the ith maximum photon number. In the process of calculating photon number, the instrument is adjusted to achieve defocusing lightThe sub-number technical mode ensures that the photon number is accurate, and simultaneously adjusts the size of the counting frame of the instrument, so that the counting frame only contains the concerned discharge part, and the photon number is not interfered by other discharge points.
In a specific embodiment, the photon normalization principle is a 10m photon normalization principle, namely, the ultraviolet photon number detected under different distances is corrected to 10m reference distance, engineering detection requirements are met, and the ultraviolet photon number and detection distance formula is as follows:
wherein x is 1 To detect distance, y 1 Is at x 1 Ultraviolet photon number, y, of ultraviolet light detection at distance 2 Is y 1 Uv photons number when converted to 10m standard distance.
The discharge intensity is divided into high-intensity discharge, medium-intensity discharge and low-intensity discharge according to the number of photons, and the high-intensity discharge is performed when the number of photons per minute is more than 8000, the medium-intensity discharge is performed when the number of photons per minute is more than 1000 and less than or equal to 8000, and the low-intensity discharge is performed when the number of photons per minute is less than or equal to 1000.
In a specific embodiment, the process of overlapping the ultraviolet image on the multispectral image is to calibrate the alignment of the ultraviolet picture center and the visible light picture center for the image pre-fabricated point, and specifically, the specific steps of determining the abnormal discharge position according to the discharge intensity are as follows:
determining a visual field angle of visible light and a visual field angle of ultraviolet;
the standard ultraviolet discharge source is used as a base point, and the ultraviolet discharge source is firstly adjusted to the center of visible light;
the ultraviolet image information is superimposed into the multispectral image by recoding,
if the discharge point of the ultraviolet image and the visible light are not overlapped, adjusting the superposition offset of the ultraviolet image, gradually moving the ultraviolet discharged image to the center of the visible light, calibrating other positions for multiple times, and ensuring that the output picture is overlapped with the discharge position;
the calibrated camera can obtain an accurate discharge position when the unmanned aerial vehicle shoots.
In a specific embodiment, the specific steps of comprehensively judging by combining the appearance detection result and the temperature detection result are as follows:
carrying out integral scanning on power transmission equipment such as a high-voltage power transmission tower or a line by utilizing visible light and superimposed ultraviolet, and recording suspicious positions with photon number discharge; the detection of visible light on the appearance is only to judge the damage and the damage, and ultraviolet light is used for further observing the damage and serious damage, and the insulation strength, and whether electric leakage discharge is formed or not.
The infrared is utilized to scan the transmission equipment such as the transmission line, the tower and the like for the second time to record the position of the abnormal temperature;
and carrying out deep scanning on the position with abnormal photon number and abnormal temperature to obtain a final discharge state.
Wherein the step of depth scanning comprises:
(1) Performing detail observation on the suspicious position by using variable-magnification visible light to obtain a specific damage or contamination result; the visible light is utilized to carry out the pollution or damage identification, the manual identification can be adopted, and the existing database pollution or damage image can also be adopted to carry out the comparison identification;
(2) Repeatedly measuring the temperature abnormality and the photon number abnormality at multiple angles by using an ultraviolet camera to obtain an average photon number;
(3) And recording the discharge point with abnormal temperature by using an infrared camera.
If the temperature is abnormal and the photon number reaches the medium discharge intensity, the discharge is abnormal, and the visible light recognizes that the pollution exists, the pollution is judged to cause the insulation resistance of the insulator string to be reduced (the possibility that the pollution causes the insulation resistance of the insulator string to be reduced is not excluded, and the further determination is needed by the staff on site).
If the temperature abnormality is more than 20 ℃ and the photon number reaches the higher discharge intensity, judging that the discharge is abnormal, and if the visible light identifies that the pollution or the damage exists, judging that the damage and the electric leakage occur or the insulation resistance of the insulator string fails;
the rest is judged as normal.
Embodiment two:
the second embodiment of the invention provides a power transmission equipment detection system based on unmanned aerial vehicle multispectral detection, which comprises:
and the data acquisition module is configured to acquire an ultraviolet image, an infrared image and a multispectral image of the power transmission line.
In a specific embodiment, the data acquisition module comprises an unmanned aerial vehicle, a data acquisition device and a data carrying device, wherein the data acquisition device is fixed on the unmanned aerial vehicle through the data carrying device, and the unmanned aerial vehicle is controlled to acquire an ultraviolet image, an infrared image and a multispectral image of the power transmission line.
As shown in fig. 2, 3, 4, 5 and 6, the data acquisition device includes a visible light camera for acquiring multispectral images, an infrared camera for acquiring infrared images, an ultraviolet camera for acquiring ultraviolet images, and a laser range finder for measuring range work of a photon number measurement process.
The data carrying device comprises a cradle head bracket 1, a cradle head connecting shaft 11, a front end cover 12, a main shell 13 and a rear end cover 14; in a specific embodiment, the cradle head support 1 is used for connecting an unmanned aerial vehicle and a cradle head connecting shaft 11, the cradle head support 1 is installed at the bottom of the unmanned aerial vehicle, and the cradle head support 1 is a triaxial motor cradle head, so that photographing stability of a camera can be guaranteed in real time. The pan-tilt connecting shaft 11 has a "U" shape, and both ends thereof are connected to the main housing 13 by bolts. The visible light camera 4, the infrared camera 5, the ultraviolet camera 6 and the laser range finder 8 are integrated inside the main shell 13, the front end cover 12 is arranged in front of the main shell 13, the rear end cover 14 is arranged behind the main shell 13, the front end cover 12 and the rear end cover 14 are connected with the main shell 13 through the connecting screw 15, the effect of protecting the camera is achieved, the visible light camera 4, the infrared camera 5, the camera of the ultraviolet camera 6 and the laser range finder 8 are arranged on the front end cover and used for shooting and ranging, the sealing ring 7 is arranged at the connecting position of the camera and the front end cover, and the camera is guaranteed to be stable and play a role of preventing water and dust. In addition, the camera control board 9, the cradle head motor, the circuit board connecting bracket 3 and the artificial intelligent computing card 10 are integrated in the main shell 13, the artificial intelligent computing card 10 is used for identifying the measured object and marking the measured object, and the camera control board 9 is used for adjusting and controlling the shooting, the angle and the like of the camera. The cradle head motor is used for providing power for devices integrated in the cradle head, the cradle head motor is fixed on the main shell through the cradle head motor connecting piece 2, the cradle head motor connecting piece only plays a role in fixing, and the shape and the structure of the cradle head motor connecting piece are not limited. The circuit board connecting bracket 3 is used for fixing a circuit board, and the circuit board is used for carrying out data processing on data acquired by the data acquisition equipment and driving each camera. Wherein, the circuit board connecting bracket 3 is fixedly installed on the inner installation hole of the main shell 13 through bolts so as to ensure the installation stability of the circuit board connecting bracket 3. In this embodiment, in order to ensure that the operating temperature thereof is not too high, a heat dissipation fan 16 is further disposed on the main housing for dissipating heat, and the heat dissipation fan 16 is connected with the main housing through bolts.
The photon number judging module is configured to measure the photon number in the ultraviolet image by adopting a photon normalization principle, and preliminarily determine the discharge intensity of the power transmission line according to the measurement result.
And the appearance detection module is configured to determine an abnormal discharge position according to the discharge intensity and perform appearance detection on the circuit by utilizing a multispectral image of the discharge position.
And a temperature detection module configured to detect a temperature using the infrared image of the discharge location.
And the abnormality judging module is configured to comprehensively judge the appearance detection result and the temperature detection result and determine the final discharge state.
The power transmission equipment detection system also comprises a camera control board and an artificial intelligence power calculation card. In this embodiment, the camera control board is used to control the visible light camera, the infrared camera, and the ultraviolet camera. The artificial intelligent board card is used for identifying the detected object, marking the detected object, particularly displaying the temperature of a marked area by infrared, facilitating photographing, checking and storing picture information, enabling an observer to trigger a control instruction through an APP interface of a remote controller of the unmanned aerial vehicle, enabling the instruction to be forwarded to a camera control board of a camera through a wireless receiving module of the unmanned aerial vehicle, enabling the camera control board to be connected with the camera through a USB port and a network port, and controlling photographing and video recording of the camera.
The steps involved in the second embodiment correspond to those of the first embodiment of the method, and the detailed description of the second embodiment can be found in the related description section of the first embodiment.
It will be appreciated by those skilled in the art that the modules or steps of the invention described above may be implemented by general-purpose computer means, alternatively they may be implemented by program code executable by computing means, whereby they may be stored in storage means for execution by computing means, or they may be made into individual integrated circuit modules separately, or a plurality of modules or steps in them may be made into a single integrated circuit module. The present invention is not limited to any specific combination of hardware and software.
While the foregoing description of the embodiments of the present invention has been presented in conjunction with the drawings, it should be understood that it is not intended to limit the scope of the invention, but rather, it is intended to cover all modifications or variations within the scope of the invention as defined by the claims of the present invention.
Claims (10)
1. The power transmission equipment detection method based on the unmanned aerial vehicle multispectral detection is characterized by comprising the following steps of:
acquiring an ultraviolet image, an infrared image and a multispectral image of a power transmission line;
measuring the photon number in the ultraviolet image by adopting a photon normalization principle, and preliminarily determining the discharge intensity of the power transmission line according to a measurement result;
determining an abnormal discharge position according to the discharge intensity, and detecting the appearance of the circuit by utilizing a multispectral image of the discharge position;
detecting the temperature by using the infrared image of the discharge position;
and comprehensively judging by combining the appearance detection result and the temperature detection result to determine the final discharge state.
2. The method for detecting the power transmission equipment based on the multispectral detection of the unmanned aerial vehicle according to claim 1, wherein the specific steps of measuring the photon number are as follows:
and in the period of detecting a corona point, taking a plurality of photon number maximum values which are different from a set value from a plurality of photon numbers displayed, and taking the average photon number of all photon number maximum values as the photon number of a discharge point.
3. The method for detecting power transmission equipment based on multi-spectral detection of unmanned aerial vehicle according to claim 1, wherein the discharge intensity is divided into high intensity discharge, medium intensity discharge and low intensity discharge, wherein the high intensity discharge is performed when the photon number per minute is more than 8000, the medium intensity discharge is performed when the photon number per minute is more than 1000 and less than or equal to 8000, and the low intensity discharge is performed when the photon number per minute is less than or equal to 1000.
4. The method for detecting power transmission equipment based on multi-spectrum detection of unmanned aerial vehicle according to claim 1, wherein the specific step of determining the abnormal discharge position according to the discharge intensity is:
determining a visual field angle of visible light and a visual field angle of ultraviolet;
the standard ultraviolet discharge source is used as a base point, and the ultraviolet discharge source is firstly adjusted to the center of visible light;
the ultraviolet image information is superimposed into the multispectral image by recoding,
if the discharge point of the ultraviolet image and the visible light are not overlapped, adjusting the superposition offset of the ultraviolet image, gradually moving the ultraviolet discharged image to the center of the visible light, calibrating other positions for multiple times, and ensuring that the output picture is overlapped with the discharge position;
the calibrated camera can obtain an accurate discharge position when the unmanned aerial vehicle shoots.
5. The method for detecting the power transmission equipment based on the multispectral detection of the unmanned aerial vehicle according to claim 1, wherein the specific steps of comprehensively judging by combining the appearance detection result and the temperature detection result are as follows: if the temperature is abnormal and the photon number reaches the medium discharge intensity, the discharge is judged to be abnormal, and the visible light recognizes that the pollution exists, and the pollution is judged to cause the insulation resistance of the insulator string to be reduced;
if the temperature abnormality is more than 20 ℃ and the photon number reaches the higher discharge intensity, judging that the discharge is abnormal, and if the visible light identifies that the pollution or the damage exists, judging that the damage and the electric leakage occur or the insulation resistance of the insulator string fails;
the rest is judged as normal.
6. Power transmission equipment detecting system based on unmanned aerial vehicle multispectral detection, characterized by comprising:
the data acquisition module is configured to acquire an ultraviolet image, an infrared image and a multispectral image of the power transmission line;
the photon number judging module is configured to measure the photon number in the ultraviolet image by adopting a photon normalization principle, and preliminarily determine the discharge intensity of the power transmission line according to the measurement result;
the appearance detection module is configured to determine an abnormal discharge position according to the discharge intensity, and perform appearance detection on the circuit by utilizing a multispectral image of the discharge position;
a temperature detection module configured to detect a temperature using an infrared image of a discharge location;
and the abnormality judging module is configured to comprehensively judge the appearance detection result and the temperature detection result and determine the final discharge state.
7. The power transmission equipment detection system based on unmanned aerial vehicle multispectral detection as claimed in claim 6, wherein the data acquisition module comprises an unmanned aerial vehicle, a data acquisition device and a data carrying device, the data acquisition device is fixed to the unmanned aerial vehicle through the data carrying device, and the ultraviolet image, the infrared image and the multispectral image of the power transmission line are acquired through controlling the unmanned aerial vehicle.
8. The unmanned aerial vehicle multispectral detection-based power transmission device detection system of claim 7, wherein the data acquisition device comprises a visible light camera for acquiring multispectral images, an infrared camera for acquiring infrared images, an ultraviolet camera for acquiring ultraviolet images, and a laser rangefinder for ranging operations of a photon number measurement process.
9. The power transmission equipment detection system based on the unmanned aerial vehicle multispectral detection, as claimed in claim 8, further comprising a camera control board and an artificial intelligent computing card, wherein the camera control board is used for controlling a visible light camera, an infrared camera and an ultraviolet camera, and the artificial intelligent computing card is used for identifying a detected object and labeling the detected object.
10. The power transmission equipment detection system based on unmanned aerial vehicle multispectral detection as claimed in claim 8, wherein the data carrying equipment comprises a tripod head bracket, a tripod head connecting shaft, a front end cover, a main shell and a rear end cover; the cradle head support is used for connecting the unmanned aerial vehicle and the cradle head connecting shaft, the cradle head support is arranged at the bottom of the unmanned aerial vehicle, the cradle head connecting shaft is U-shaped, and two ends of the cradle head connecting shaft are connected with the main shell through bolts; the visible light camera, the infrared camera, the ultraviolet camera and the laser range finder are integrated inside the main shell, the front end cover is arranged in front of the main shell, the rear end cover is arranged behind the main shell, and the front end cover and the rear end cover are connected with the main shell through connecting screws.
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| CN202311020678.1A CN117330903A (en) | 2023-08-14 | 2023-08-14 | Power transmission equipment detection method and system based on unmanned aerial vehicle multispectral detection |
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