CN201765056U - Photoelectric detection system of power transmission line - Google Patents

Photoelectric detection system of power transmission line Download PDF

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Publication number
CN201765056U
CN201765056U CN2010205053093U CN201020505309U CN201765056U CN 201765056 U CN201765056 U CN 201765056U CN 2010205053093 U CN2010205053093 U CN 2010205053093U CN 201020505309 U CN201020505309 U CN 201020505309U CN 201765056 U CN201765056 U CN 201765056U
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Prior art keywords
vehicle
photodetector
transmission line
electricity
detection
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Expired - Fee Related
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CN2010205053093U
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Chinese (zh)
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魏哲明
崔彦岭
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ZHONGDIAN GUOKE (BEIJING) S&T CO Ltd
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ZHONGDIAN GUOKE (BEIJING) S&T CO Ltd
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Abstract

The utility model discloses a photoelectric detection system of a power transmission line, which integrates the advantages of a vehicle-mounted mobile photoelectric detection system and a photoelectric detection system of an unmanned helicopter to form the benignant complementation, thereby improving the detection performance of the whole system, wherein the vehicle-mounted photoelectric detection system comprises a photoelectric detection and a display controlling part; the photoelectric detection part comprises a visible light camera, an infrared thermograph, an ultraviolet imaging instrument, a global position system (GPS) and a stable platform; and the display controlling part comprises display control equipment, signal processing equipment, power supply equipment and transmission equipment. The on-board load of the unmanned helicopter can be replaced and adopts one of the visible light camera, the infrared thermograph or the ultraviolet imaging instrument according to detection need; and the camera is arranged in the stable platform on the helicopter.

Description

A kind of transmission line of electricity photodetector system
Technical field
The present invention relates to a kind of transmission line of electricity photodetector system, particularly a kind of compound transmission line of electricity photodetector system that combines vehicle-mounted detection and depopulated helicopter detection.
Background technology
Traditional power transmission lines overhauling is carried out is cycled recondition system based on the time.This system not only lacks science, and tool bears the character of much blindness.Incompatible with the demand for development of power supply enterprise, mainly show following two aspects.
The one, scheduled overhaul day and real work amount particularly thorny.Because circuit is long, distributed areas are wide, and task is heavy, and job placement is attended to one thing and lose sight of another, and the maintainer is too tired to deal with, and work quality is not high, the situation of safety shakiness.The execution of scheduled overhaul day so that power supply reliability are paced up and down under low-level for a long time.
The 2nd, this repaiies equipment can not on-call maintenance, and failure rate is high.Circuit was arranged an interruption maintenance in general 1 year, and the time that defective or abnormal operating condition occur is not about people's consciousness institute energy.This is repaiied equipment and can not in time overhaul, thereby causes defect property deterioration, hidden danger accident barrier, and the equipment general level of the health descends.
Walk out the vicious circle of the high expenditure of line upkeep, low usefulness, traditional maintenance mode that only changes based on modern high tech method, strengthens the scientific and technological content of operation maintenance, improves prediction, anticipation ability to the transmission line of electricity state.
At present, comparatively common transmission line of electricity detection mode mainly contains three types.
First kind is that helicopter detects, and helicopter is in the flight of transmission line of electricity oblique upper, finishes the detection to circuit with the visible light or infrared, the ultraviolet imagery equipment that are installed on the stable platform.
The major defect of helicopter detection system has the following aspects:
1, site requirements height is had relatively high expectations to the taking-off and landing point, and needs prospecting in advance;
2, formality complexity needs in advance to get in touch with local blank pipe department, treat blank pipe department assign let permission fly away after, can begin flight and make an inspection tour operation, also to report after the end of job to blank pipe department;
3, poor stability, too high with aircraft and aircrew's correlativity, in case have an accident, consequence is serious.
Second kind is the automatic running on transmisson line robot, inspection robot is the electro-mechanical system of a complexity, relate to a plurality of fields such as physical construction, control automatically, communication, sensor information fusion, power technology, it finishes the patrol task of circuit automatically along ultra-high-tension power transmission line.This system's major defect has the following aspects:
1, efficient is low, and it is oversize to finish the used time of one-time detection;
2, manual intervention difficulty all needs the people to climb up high voltage plane when work beginning and end, in case robot breaks down in the line, then robot will be taken off very difficulty, and security is low;
3, antijamming capability is relatively poor, and the strong-electromagnetic field that is subject to high-tension bus-bar disturbs.
The third is that depopulated helicopter detects, and depopulated helicopter detects and solved the defective that has people's helicopter to detect well, yet has but brought new problem:
1, single flight time weak point, it is limited to detect distance;
2, load-bearing capacity is limited, and the each lift-off under present technical conditions of portable depopulated helicopter can only be installed a kind of imaging device;
Summary of the invention
The objective of the invention is to solve above-mentioned deficiency, a kind of transmission line of electricity photodetector system is provided.
Purpose of the present invention can be achieved through the following technical solutions: a kind of transmission line of electricity photodetector system, and this transmission line of electricity photodetector system comprises vehicle-mounted moving photoconductor detection system and depopulated helicopter photodetector system; Vehicle-mounted moving photoconductor detection system comprises Photodetection system and two parts of display control program; Photodetection system comprises thermal infrared imager, ultraviolet imagery instrument, visible light camera, GPS and stable platform; Display control program comprises apparent control equipment, signal handling equipment, power-supply unit and transmission equipment; Load is replaceable mode on the depopulated helicopter machine, adopts visible light camera, thermal infrared imager or ultraviolet imagery instrument, and load is installed on the machine among the stable platform on the machine;
All be equipped with the orientation survey system on vehicle-mounted moving photoconductor detection system and the depopulated helicopter photodetector system, in testing process, vehicle-mounted moving photoconductor detection system sends to the depopulated helicopter photodetector system with self longitude and latitude and elevation information and detection angles information in real time, the latter points to according to flight path and the stable platform optical axis that the information that receives changes self, makes the visual field central point error of self visual field central point and vehicle-mounted moving photoconductor detection system be not more than 2 meters.
Wherein, vehicle-mounted moving photoconductor detection system has manual tracking and from two kinds of line walking modes of motion tracking.
Wherein, manually follow the tracks of and control operating rod by operating personnel, in the process of vehicle ', the control stabilization platform is finished the continuous sweep of transmission line of electricity in the motion of four direction up and down.
Wherein, follow the tracks of and the combination of image tracking dual mode, follow the tracks of the realization accurate tracking with the rough tracking of vehicle location realization, image from motion tracking employing vehicle location.
Wherein, stable platform is a gyrocontrol in the vehicle-mounted moving photoconductor detection system.
Wherein, showing control equipment in the vehicle-mounted moving photoconductor detection system is made up of truck-mounted computer, operating rod, button and speech talkback.
Wherein, power-supply unit can realize that 220VAC, accumulator and vehicle electric power system power respectively in the vehicle-mounted moving photoconductor detection system.
Wherein, the signal transmission between signal transmission between transmission line of electricity photodetector system and the remote control center and depopulated helicopter and the vehicle-mounted apparent control system is wireless transmission.
Wherein, be installed in the software in the truck-mounted computer, can be simultaneously the image of the image of vehicle-mounted moving photoconductor detection system and depopulated helicopter photodetector system shown, stores and/or captures operation.
One of feature of the present invention and advantage are, in onboard system, in order to adapt to the difference of vehicle and transmission line of electricity distance to be detected, thermal infrared imager, ultraviolet imagery instrument and visible light camera all adopt continuous magnification lens, and vehicle-mounted photodetector system can detect transmission line of electricity between apart from 20 meters~200 meters.
Two of feature of the present invention and advantage is, near transmission line of electricity, if road conditions reach three grades of kilometer standards, can use vehicle-mounted photodetector system that transmission line of electricity is detected, when being in mountain area etc., transmission line of electricity do not have in the environment of road, use the depopulated helicopter detection system that transmission line of electricity is detected, thereby satisfy the detection demand under the various environment.
Three of the features and advantages of the present invention are to combine the advantage that vehicle-mounted detection and depopulated helicopter detect dual mode, under the condition that road conditions allow, can adopt synchronous or asynchronous mode to realize Photoelectric Detection to transmission line of electricity.
Four of the features and advantages of the present invention are that the tracker of onboard system has adopted with the implementation that image is followed the tracks of and the vehicle location tracking combines, and follow the tracks of with vehicle location and realize thick the tracking, and the image tracking realizes accurate tracking.
Five of the features and advantages of the present invention are in the vehicle-mounted photodetector system that power-supply unit is made up of battery pack and comprehensive power-supply controller of electric, can power to system by these three kinds of modes of 220VAC, accumulator and vehicle electric power system.
Description of drawings
Fig. 1 shows transmission line of electricity photodetector system schematic diagram.
Fig. 2 shows vehicle-mounted photodetector system workflow diagram in the transmission line of electricity photodetector system.
Fig. 3 shows depopulated helicopter photodetector system workflow diagram in the transmission line of electricity photodetector system.
Fig. 4 shows vehicle-mounted photodetector system and depopulated helicopter photodetector system in the transmission line of electricity photodetector system carry out compound detection with the method for synchronization workflow diagram.
Embodiment
The present invention utilize vehicle-mounted transmission line of electricity detect comprehensive strong, target signature significantly, be convenient to operate, longer duration and depopulated helicopter transmission line of electricity detect the characteristics that rapidly, are not subjected to the influence of topography, through global design, forms the transmission line of electricity photodetector system.Total system is formed as shown in Figure 1.
Transmission line of electricity photodetector system 1 comprises vehicle-mounted moving photoconductor detection system 2 and depopulated helicopter photodetector system 3 two parts.Specifically, vehicle-mounted moving photoconductor detection system 2 comprises display control program 4 and 5 two parts of Photodetection system.Display control program 4 comprises apparent control equipment 8, signal handling equipment 9, power-supply unit 10 and transmission equipment 11; Photodetection system 5 comprises GPS12, thermal infrared imager 13, visible light camera 14, ultraviolet imagery instrument 15 and stable platform 16.
Photoelectric Detection instrument on the Photodetection system 5 is the camera in the different-waveband imaging: by the visible light camera circuit body, auxiliary equipment and passage corridor are maked an inspection tour, use infrared thermography parts such as conductor compression jointing pipe, wire clamp, insulator are detected, use the ultraviolet imagery instrument parts such as lead, drainage, conductor compression jointing pipe, wire clamp, insulator are detected.Owing to used three kinds of cameras, therefore in testing process, when the background of transmission line of electricity when a certain image is identical with the transmission line of electricity imaging features, be that a certain wave band image of camera detects and can not obtain quite good detecting as a result the time, can be correctly judged by the image that other two kinds of cameras obtain.
Power-supply unit 10 is made up of battery pack and comprehensive power-supply controller of electric, can realize that 220VAC, accumulator and vehicle electric power system power to system respectively.The mode that display control program 4 adopts truck-mounted computer to add operating rod and button realizes, is used for showing the image of onboard system or unmanned helicopter system, and finishes respective control function.
Depopulated helicopter photodetector system 3 of the present invention, load is mainly imaging device 6 and transmission equipment 7 on the machine, wherein imaging device 6 is identical with Photoelectric Detection instrument in the vehicle-mounted moving photoconductor detection system, can be visible light camera, thermal infrared imager and ultraviolet imagery instrument respectively.Because the depopulated helicopter power that adopts in the native system is less, so the imaging device in the load 6 has adopted replaceable mode on the machine, can only carry visible light camera, thermal infrared imager or ultraviolet imagery instrument as required respectively and detect.
In the transmission line of electricity photodetector system of the present invention, the visible light camera adopts CCD camera or CMOS camera, and thermal imaging system adopts non-refrigeration or refrigerated thermal imager.
In the vehicle-mounted moving photoconductor detection system of the present invention, stable platform adopts gyro-stabilized mode.
Vehicle-mounted moving photoconductor detection system of the present invention also has tracker (not shown), and tracker adopts vehicle location to follow the tracks of and is that the image of core is followed the tracks of the implementation that combines with DSP.Wherein, follow the tracks of the rough tracking of realization with vehicle location, image is followed the tracks of and is realized accurate tracking.
Rough tracking in the tracker with respect to the distance of transmission line of electricity, the information such as attitude of vehicle, calculates the sensing of vehicle-mounted stable platform 16 by vehicle, realizes the tracking to circuit.Wherein, vehicle obtains by the orientation survey unit with respect to information such as the distance of transmission line of electricity, vehicle attitudes, the orientation survey unit has been integrated position, the attitude measurement equipment of information such as GPS, MEMS gyro.
Accurate tracking in the track device is by the dividing processing to the visible light of the onboard sensor that obtained, infrared or ultraviolet image, extract the characteristic information of transmission line of electricity, change in location according to the transmission line of electricity that produces in the vehicle moving process, direct of travel in conjunction with vehicle, calculate the angular displacement amount that needs correction, adjust the sensing of vehicle-mounted stable platform, thereby realize following the tracks of.Wherein, be with traditional tracker difference, the transmission line of electricity target is not a finite size with respect to image, exceed the image boundary state and always be in, extract the position of transmission line of electricity, need locate change in location in the image border in conjunction with transmission line of electricity, and information such as vehicle attitude variation, adopt the centre of form and frame accumulated process technology, realize location compute.
In the photoelectricity complex detection system of the present invention, adopt the video transmission of wireless image transmission equipment realization from the depopulated helicopter to the onboard system, radio transmission apparatus among the present invention adopts the advanced core technology COFDM (multi-carrier modulation technology) of mobile communication, be highly integrated portable non line of sight Digital Image Transmission equipment, can in high-speed mobile, block the Voice ﹠ Video of transmission real-time stabilization under the situation with City Building, working frequency range can customize between 300~400MHz/400~800MHz/1.0~1.5GHz/2.3G~2.5GHz, transmission bandwidth can reach more than the 4MHz, can adapt to the highest relative moving speed and reach 100km/h, transmission delay is less than 500ms, and transmission range is more than 30 kilometers under the sighting condition.
Fig. 2, Fig. 3 and Fig. 4 show among the present invention the workflow diagram of synchronous detection in the vehicle-mounted photodetector system and depopulated helicopter photodetector system and compound detection respectively.
Flow process 1: for vehicle-mounted photodetector system, behind the system initialization, ER equipment ready such as infrared, visible light, stable platform and tracker.Operating personnel aim at transmission line of electricity to be detected by operating rod control imaging device, along with vehicle is advanced forward, circuit are detected, and can adopt manual control or automatic tracking Control to make imaging device aim at detected circuit all the time in this process.In case the discovery trouble spot, operating personnel start writing function by button, and the positional information of current point is recorded in the system, adopt on-the-spot timely maintenance as required or detect the disposal options of back maintenance.
Flow process 2: for the depopulated helicopter photodetector system, behind the system initialization, ER equipment ready such as apparent control equipment, transmission equipment and the depopulated helicopter of onboard system.Operating personnel control depopulated helicopter lift-off, arrive transmission line of electricity oblique upper to be detected position after, fly forward along transmission line of electricity, the detected image signal arrives through radio transmission apparatus and shows the control system on the car on the machine, realizes the demonstration of image.In case the discovery trouble spot, operating personnel start writing function by button, during the positional information of current point is recorded in, adopt on-the-spot timely maintenance as required or detect the disposal options of back maintenance.
Flow process 3: for the synchronous detection in the compound detection, behind the system initialization, equipment such as infrared, the visible light of onboard system, stable platform and tracker and unmanned helicopter system are ready.Operating personnel aim at transmission line of electricity to be detected by operating rod control imaging device, and the control depopulated helicopter goes up to the air, and reaches the oblique upper of circuit to be detected.Onboard system is along with vehicle is advanced forward, circuit is detected, in this process, can adopt manual control or automatic tracking Control to make imaging device aim at detected circuit all the time, simultaneously the detection position is sent to unmanned helicopter system, unmanned helicopter system is according to the positional information that receives, move forward synchronous detection in company with onboard system.In case onboard system or unmanned helicopter system are found the trouble spot, operating personnel start writing function by button, during the positional information of current point is recorded in, adopt on-the-spot timely maintenance as required or detect the disposal options of back maintenance.
Flow process 4: for the asynchronous detection in the compound detection, carry out earlier flow process 2, carry out flow process 1 then, in the process of carrying out flow process 1 with reference to the testing result of flow process 2.
The above only preferably is not limited to the present invention for of the present invention, and obviously, those skilled in the art can carry out various changes and modification and not break away from the spirit and scope of the present invention the present invention.Like this, if of the present invention these are revised and modification belongs within the scope of claim of the present invention and equivalent technologies thereof, then the present invention also is intended to comprise these changes and modification interior.

Claims (9)

1. transmission line of electricity photodetector system is characterized in that:
This transmission line of electricity photodetector system comprises vehicle-mounted moving photoconductor detection system and depopulated helicopter photodetector system;
Vehicle-mounted moving photoconductor detection system comprises Photodetection system and two parts of display control program;
Photodetection system comprises thermal infrared imager, ultraviolet imagery instrument, visible light camera, GPS and stable platform;
Display control program comprises apparent control equipment, signal handling equipment, power-supply unit and transmission equipment;
Load is replaceable mode on the depopulated helicopter machine, adopts visible light camera, thermal infrared imager or ultraviolet imagery instrument, and load is installed on the machine among the stable platform on the machine;
All be equipped with the orientation survey system on vehicle-mounted moving photoconductor detection system and the depopulated helicopter photodetector system, in testing process, vehicle-mounted moving photoconductor detection system sends to the depopulated helicopter photodetector system with self longitude and latitude and elevation information and detection angles information in real time, the latter points to according to flight path and the stable platform optical axis that the information that receives changes self, makes the visual field central point error of self visual field central point and vehicle-mounted moving photoconductor detection system be not more than 2 meters.
2. transmission line of electricity photodetector system as claimed in claim 2 is characterized in that, vehicle-mounted moving photoconductor detection system has manual tracking and from two kinds of line walking modes of motion tracking.
3. transmission line of electricity photodetector system as claimed in claim 2, it is characterized in that, manually follow the tracks of and control operating rod, in the process of vehicle ' by operating personnel, the control stabilization platform is finished the continuous sweep of transmission line of electricity in the motion of four direction up and down.
4. transmission line of electricity photodetector system as claimed in claim 2 is characterized in that, follows the tracks of and the combination of image tracking dual mode from motion tracking employing vehicle location, follows the tracks of the realization accurate tracking with the rough tracking of vehicle location realization, image.
5. transmission line of electricity photodetector system as claimed in claim 1 is characterized in that, stable platform is a gyrocontrol in the vehicle-mounted moving photoconductor detection system.
6. transmission line of electricity photodetector system as claimed in claim 1 is characterized in that, shows control equipment in the vehicle-mounted moving photoconductor detection system and is made up of truck-mounted computer, operating rod, button and speech talkback.
7. transmission line of electricity photodetector system as claimed in claim 1 is characterized in that, power-supply unit can realize that 220VAC, accumulator and vehicle electric power system power respectively in the vehicle-mounted moving photoconductor detection system.
8. transmission line of electricity photodetector system as claimed in claim 1 is characterized in that, the signal transmission between signal transmission between transmission line of electricity photodetector system and the remote control center and depopulated helicopter and the vehicle-mounted apparent control system is wireless transmission.
9. transmission line of electricity photodetector system as claimed in claim 1, it is characterized in that, be installed in the software in the truck-mounted computer, can be simultaneously the image of the image of vehicle-mounted moving photoconductor detection system and depopulated helicopter photodetector system shown, stores and/or captures operation.
CN2010205053093U 2010-08-26 2010-08-26 Photoelectric detection system of power transmission line Expired - Fee Related CN201765056U (en)

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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101986114A (en) * 2010-08-26 2011-03-16 中电国科(北京)科技有限公司 Photoelectric detection system and method for transmission lines
CN102856827A (en) * 2012-08-28 2013-01-02 华北电力大学 Omnibearing ground-space isomeric substation polling system
CN103454556A (en) * 2013-08-09 2013-12-18 国家电网公司 Tour inspection device with 3D scanning function and detection method thereof
CN104299474A (en) * 2012-10-25 2015-01-21 长春理工大学 High-voltage transmission line inspection simulating device
CN110134148A (en) * 2019-05-24 2019-08-16 中国南方电网有限责任公司超高压输电公司检修试验中心 A kind of transmission line of electricity helicopter make an inspection tour in tracking along transmission line of electricity

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101986114A (en) * 2010-08-26 2011-03-16 中电国科(北京)科技有限公司 Photoelectric detection system and method for transmission lines
CN101986114B (en) * 2010-08-26 2013-06-12 内蒙古国领科技有限公司 Photoelectric detection system and method for transmission lines
CN102856827A (en) * 2012-08-28 2013-01-02 华北电力大学 Omnibearing ground-space isomeric substation polling system
CN102856827B (en) * 2012-08-28 2015-06-10 华北电力大学 Omnibearing ground-space isomeric substation polling system
CN104299474A (en) * 2012-10-25 2015-01-21 长春理工大学 High-voltage transmission line inspection simulating device
CN104299474B (en) * 2012-10-25 2016-08-24 长春理工大学 High voltage transmission line line walking analog
CN103454556A (en) * 2013-08-09 2013-12-18 国家电网公司 Tour inspection device with 3D scanning function and detection method thereof
CN103454556B (en) * 2013-08-09 2016-01-20 国家电网公司 A kind of inspection device and detection method thereof with 3D scan function
CN110134148A (en) * 2019-05-24 2019-08-16 中国南方电网有限责任公司超高压输电公司检修试验中心 A kind of transmission line of electricity helicopter make an inspection tour in tracking along transmission line of electricity

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