CN202494924U - Fixed-wing unmanned aerial vehicle (UAV) power patrol system on the basis of 3D laser scanning system - Google Patents
Fixed-wing unmanned aerial vehicle (UAV) power patrol system on the basis of 3D laser scanning system Download PDFInfo
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- CN202494924U CN202494924U CN2012200636155U CN201220063615U CN202494924U CN 202494924 U CN202494924 U CN 202494924U CN 2012200636155 U CN2012200636155 U CN 2012200636155U CN 201220063615 U CN201220063615 U CN 201220063615U CN 202494924 U CN202494924 U CN 202494924U
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Abstract
The utility model relates to a fixed-wing UAV power patrol system on the basis of a 3D laser scanning system. The system of the utility model comprises a fixed-wing UAV body, and a ground control center which is communicated with the fixed-wing UAV body and is used for controlling a flight status and processing detection information. The fixed-wing UAV is equipped with a flight control system and a gyro stability augmentation pod and the two are communicated with each other. The flight control system is communicated with the ground control center via a first airborne communication module. The gyro stability augmentation pod is provided with an imaging device and a 3D laser scanner, and the imaging device and the 3D laser scanner are communicated with the ground control center via a second airborne communication module. According to the utility model, use cost of the 3D laser scanner is reduced, and detection of long distance and large range is realized. Therefore, detection means of the fixed-wing UAV power patrol system are enriched and detection efficiency and detection accuracy of the conventional fixed-wing UAV power patrol system are improved.
Description
Technical field
The utility model relates to a kind of fixed-wing unmanned plane Power Line Inspection System based on three-dimensional laser scanning system, is applied to unmanned plane electric power line walking technical field.
Background technology
In recent years, the sustained and rapid development of Chinese national economy has proposed increasingly high requirement to China's power industry.China formed at present North China, northeast, East China, Central China, northwest and south electric network totally 6 distinguish electrical network transprovincially, by 2012 the whole nation more than 110 kilovolts transmission line of electricity above 700,000 kilometers.In the face of like this huge power transmission network, accomplish the patrol task of high efficiency transmission line of electricity, be badly in need of wanting big voyage, the unmanned aircraft of patrolling and examining carries out round-the-clock, the full landforms of network system and patrols and examines at a distance, patrol and examine efficient and patrol and examine precision with raising.
The domestic in recent years people's of having helicopter and depopulated helicopter Power Line Inspection System grow up gradually, and wherein manned helicopter carries out line walking and exists some problems: expensive like helicopter and maintenance cost thereof, safety problem is outstanding etc.Its safety problem particularly, this is serious problems that relate to the person and equipment (comprising aircraft and electrical network) safety.
It is flexible that depopulated helicopter has a landing, plurality of advantages such as can freely hover, but present stage domestic big load depopulated helicopter technology that is that all right is ripe, external matured product is in the state that prohibits selling to China again.Depopulated helicopter will be grown when navigating, also there is technical difficulty in the transmission line of electricity inspection of long voyage; And the fixed-wing unmanned plane empty characteristics that can stagnate for a long time can remedy the deficiency of this respect; No. 201120156363.6 patents of Puer Power Supply Bureau, Yunnan Power Grid Corporation; No. 200920127031.8 patents of Chongqing Power Company Extra High Voltage Bureau and Yang Feng; The paper that Wang Zizheng, Huang dare to being published in 2009 " Hongsuihe River " the 28th volume the 1st phase 77-80 page or leaf is described polling transmission line fixed-wing unmanned plane polling transmission line and helicopter lift-launch three-dimensional laser scanning system respectively.
Above-mentioned research has all obtained beneficial effect to a certain degree, but still has following problem:
1) existing fixed wing unmanned plane Power Line Inspection System only adopts visible images and video that the transmission line of electricity corridor is maked an inspection tour; Detection means is single, hands between distance between cross-line, lead and above ground structure (vegetation) apart from parameters such as, transmission line of electricity sag and transmission line of electricity windage yaw for transmission line of electricity and then can't measure.
2) utilization has people's helicopter lift-launch three-dimensional laser scanner that transmission line of electricity is maked an inspection tour, and use cost is high, is unfavorable for producing in the reality and promotes the use of.
The utility model content
The purpose of the utility model is the deficiency that overcomes prior art; And a kind of fixed-wing unmanned plane Power Line Inspection System based on three-dimensional laser scanning system is provided; This system both can reduce the use cost of three-dimensional laser scanner; Can realize long distance again, detect on a large scale, thereby enrich fixed-wing unmanned plane Power Line Inspection System detection means, improve the detection efficiency and the accuracy of detection of conventional fixed-wing unmanned plane Power Line Inspection System.
For realizing above purpose, the utility model adopts following technical scheme:
A kind of fixed-wing unmanned plane Power Line Inspection System based on three-dimensional laser scanning system; It comprises fixed-wing unmanned plane body and communicates by letter with it and control the ground observing and controlling center of state of flight, processing and detecting information; Be equipped with flight control system on the said fixed-wing unmanned plane body and gyro increases steady gondola, both intercommunications; Wherein flight control system is communicated by letter with the ground observing and controlling center through airborne first communication module; Increase at gyro and to be provided with imaging device and three-dimensional laser scanner on the steady gondola, imaging device is communicated by letter with the ground observing and controlling center through airborne second communication module with three-dimensional laser scanner.
Said ground observing and controlling center is provided with ground control computer and ground detection computing machine, communicates by letter with airborne second communication module with airborne first communication module respectively.
Said flight control system also comprises GPS measuring instrument, barometric altimeter, measurement of engine rotate speed module, steering wheel control module, and they are communicated by letter with the ground observing and controlling center through airborne first communication module.
Said imaging device comprises visible light camera, visible light camera.
Said gyro increases steady gondola and also is provided with the high capacity information memory cell.
Said ground control computer is communicated by letter with airborne first communication module through ground first communication module.
Said ground detection computing machine is then communicated by letter with airborne second communication module through ground second communication module.
Said ground detection computing machine is also communicated by letter with the data computation center.
Said flight control system increases steady gondola through RS422 interface and gyro and communicates by letter.
Said airborne first, second communication module and first, second communication module of ground are COFDM COFDM radio communication device.
The fixed-wing unmanned plane Power Line Inspection System based on three-dimensional laser scanning system of the utility model comprises fixed-wing unmanned plane body, wireless transmitting system and ground observing and controlling center.Said fixed-wing unmanned plane body is provided with flight subsystem and detection subsystem; Both all communicate through wireless transmitting system with the ground observing and controlling center; Information is patrolled and examined in the instruction completion flight and the transmission that receive the ground controller, and wireless transmitting system divides airborne first communication module and airborne second communication module.
Flight control system and GPS measuring instrument, barometric altimeter, measurement of engine rotate speed module, steering wheel control module and first communication module (airborne); Flight control system is passed through each module is realized flight control and information acquisition to unmanned plane, and is fed back to the ground observing and controlling center through first communication module (airborne).
Increase at gyro and to be provided with three-dimensional laser scanner, high capacity information memory cell, visible light camera and visible light camera on the steady gondola; Gondola is communicated by letter with the ground observing and controlling center through airborne second communication module; Pass airborne video and gondola duty back ground control centre in real time; The visible light video makes the operating personnel of land station understand flight status and aircraft forward state in real time, plays the effect of guiding aircraft flight.Visible light camera is carried out regularly camera function, and three-dimensional laser scanner is carried out continuous scanning work, and scan-data is stored in the high capacity information memory cell.
Said ground observing and controlling center comprises: ground first communication module, ground second communication module, ground control computer, ground detection computing machine and data computation center.Ground control computer realizes the collection of airborne flight control system telemetry intelligence (TELINT) and the transmission of telecommand through first communication module; The ground detection computing machine is realized the following biography of airborne video is received through second communication module, and video is carried out this locality storage and management.The data computation center is responsible for the three-dimensional data that airborne three-dimensional laser scanner obtains is focused on calculating; Obtain transmission line of electricity corridor digital elevation model; And extract three-dimensional datas such as transmission line of electricity, shaft tower, buildings, number wood, road; And the orthography that combines visible light camera in the airborne detection subsystem to obtain; Transmission line of electricity corridor model is carried out reconstruct, and obtain transmission line of electricity and hand between distance between cross-line, lead and above ground structure (vegetation) apart from, transmission line of electricity sag and the equidistant parameter of transmission line of electricity windage yaw.
The beneficial effect of the utility model is:
1, man-machine than having, adopt unmanned plane to carry out line data-logging, can effectively reduce system risk, reduce operating cost, help application at production field.
When 2, utilizing the long boat of fixed-wing unmanned plane, the characteristics of the high speed of a ship or plane, reach the large tracts of land to the transmission line of electricity corridor, long distance detection, improve and patrol and examine efficient.
3, adopting the fixed-wing unmanned plane to carry three-dimensional laser scanner detects the transmission line of electricity corridor; Can give full play to flying platform and checkout equipment advantage separately; Enrich unmanned plane polling transmission line technological means; Improve unmanned plane polling transmission line function, reduce the three-dimensional laser scanner use cost.But Rapid Realization is generally investigated the integral body in transmission line of electricity corridor, and can realize the accurate measurement to various distance parameters, realizes the complete detection that point, face combine.
Description of drawings
Fig. 1 is the structural drawing of the utility model;
1. fixed-wing unmanned plane body, 2. ground observing and controlling center, 3. wireless transmitting system, 4. flight control system; 5. gyro increases steady gondola, 6.GPS measuring instrument, 7. barometric altimeter, 8. measurement of engine rotate speed module; 9. steering wheel control module, 10. airborne first communication module, 11. visible light camera, 12. visible light cameras; 13. three-dimensional laser scanner, 14. high capacity information memory cells, 15. airborne second communication modules, 16. ground, first communication module; 17. ground control computer, 18. ground, second communication module, 19. ground detection computing machines, 20. data computation centers.
Embodiment
Below in conjunction with accompanying drawing the utility model is further specified.
Fig. 1 is the structural drawing of the utility model, based on the fixed-wing unmanned plane Power Line Inspection System of three-dimensional laser scanning system, comprises fixed-wing unmanned plane body 1 and ground observing and controlling center 2, between the two through wireless transmitting system 3 communications.Fixed-wing unmanned plane body 1 is provided with flight control system 4 and increases steady gondola 5 with gyro, and wherein flight control system 4 is connected with GPS measuring instrument 6, barometric altimeter 7, measurement of engine rotate speed module 8, steering wheel control module 9 and airborne first communication module 10.Gyro increases steady gondola 5 and is provided with three-dimensional laser scanner 13, high capacity information memory cell 14, visible light camera 11 and visible light camera 12; Gyro increases steady gondola 5 and communicates by letter with ground observing and controlling center 2 through second communication module 15; Pass airborne video and gondola duty back ground control centre 2 in real time; The visible light video makes the operating personnel of land station understand flight status and aircraft forward state in real time, plays the effect of guiding aircraft flight.Visible light camera 11 is carried out regularly camera function, and three-dimensional laser scanner 13 is carried out continuous scanning work, and scan-data is stored in the high capacity information memory cell 14, and can send ground observing and controlling center 2 back to through airborne second communication module 15.
Ground observing and controlling center 2 comprises: ground first communication module 16, ground second communication module 18, ground control computer 17, ground detection computing machine 19 and data computation center 20.Ground control computer 17 realizes the collection of flight control system 4 telemetry intelligence (TELINT)s and the transmission of telecommand through ground first communication module 16; Ground detection computing machine 19 is realized the following biography of airborne video is received through ground second communication module 18, and video is carried out this locality storage and management.Data computation center 20 is responsible for the three-dimensional data that airborne three-dimensional laser scanner 13 obtains is focused on calculating.
As stated, embodiment has been carried out explanation at length, but as long as do not break away from the utility model point and the effect of the utility model in fact a lot of distortion can have been arranged, this will be readily apparent to persons skilled in the art.Therefore, such variation also all is included within the protection domain of the utility model.
Claims (10)
1. fixed-wing unmanned plane Power Line Inspection System based on three-dimensional laser scanning system; It comprises fixed-wing unmanned plane body and communicates by letter with it and control the ground observing and controlling center of state of flight, processing and detecting information; It is characterized in that; Be equipped with flight control system on the said fixed-wing unmanned plane body and gyro increases steady gondola, both intercommunications; Wherein flight control system is communicated by letter with the ground observing and controlling center through airborne first communication module; Increase at gyro and to be provided with imaging device and three-dimensional laser scanner on the steady gondola, imaging device is communicated by letter with the ground observing and controlling center through airborne second communication module with three-dimensional laser scanner.
2. the fixed-wing unmanned plane Power Line Inspection System based on three-dimensional laser scanning system as claimed in claim 1; It is characterized in that; Said ground observing and controlling center is provided with ground control computer and ground detection computing machine, communicates by letter with airborne second communication module with airborne first communication module respectively.
3. the fixed-wing unmanned plane Power Line Inspection System based on three-dimensional laser scanning system as claimed in claim 1; It is characterized in that; Said flight control system also comprises GPS measuring instrument, barometric altimeter, measurement of engine rotate speed module, steering wheel control module, and they are communicated by letter with the ground observing and controlling center through airborne first communication module.
4. the fixed-wing unmanned plane Power Line Inspection System based on three-dimensional laser scanning system as claimed in claim 1 is characterized in that said imaging device comprises visible light camera, visible light camera.
5. the fixed-wing unmanned plane Power Line Inspection System based on three-dimensional laser scanning system as claimed in claim 1 is characterized in that said gyro increases steady gondola and also is provided with the high capacity information memory cell.
6. the fixed-wing unmanned plane Power Line Inspection System based on three-dimensional laser scanning system as claimed in claim 2 is characterized in that said ground control computer is communicated by letter with airborne first communication module through ground first communication module.
7. the fixed-wing unmanned plane Power Line Inspection System based on three-dimensional laser scanning system as claimed in claim 2 is characterized in that said ground detection computing machine is then communicated by letter with airborne second communication module through ground second communication module.
8. the fixed-wing unmanned plane Power Line Inspection System based on three-dimensional laser scanning system as claimed in claim 7 is characterized in that said ground detection computing machine is also communicated by letter with the data computation center.
9. the fixed-wing unmanned plane Power Line Inspection System based on three-dimensional laser scanning system as claimed in claim 1 is characterized in that said flight control system increases steady gondola through RS422 interface and gyro and communicates by letter.
10. like claim 1 or 2 or 3 or 6 or 7 described fixed-wing unmanned plane Power Line Inspection System based on three-dimensional laser scanning system; It is characterized in that said airborne first, second communication module and first, second communication module of ground are COFDM COFDM radio communication device.
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| Application Number | Priority Date | Filing Date | Title |
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| CN2012200636155U CN202494924U (en) | 2012-02-24 | 2012-02-24 | Fixed-wing unmanned aerial vehicle (UAV) power patrol system on the basis of 3D laser scanning system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN2012200636155U CN202494924U (en) | 2012-02-24 | 2012-02-24 | Fixed-wing unmanned aerial vehicle (UAV) power patrol system on the basis of 3D laser scanning system |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104076820A (en) * | 2014-07-19 | 2014-10-01 | 国家电网公司 | Unmanned aerial vehicle electric power line polling control system and method based on three-dimensional GIS |
| CN105511486A (en) * | 2015-11-27 | 2016-04-20 | 航天远景空间地理信息（深圳）有限公司 | Different-strip-aerial-image-based power sag detection method and system |
| CN106197378A (en) * | 2016-08-25 | 2016-12-07 | 中国十七冶集团有限公司 | A kind of roadbed using unmanned plane to measure |
| CN107464046A (en) * | 2017-07-21 | 2017-12-12 | 广东容祺智能科技有限公司 | A kind of Geological Hazards Monitoring assessment system based on unmanned plane |
| CN107479059A (en) * | 2017-08-07 | 2017-12-15 | 广州市极臻智能科技有限公司 | A kind of overhead line based on unmanned plane and vegetation distance-measuring device and method |
| CN109186557A (en) * | 2018-08-31 | 2019-01-11 | 苏州竹原信息科技有限公司 | A kind of unmanned plane 3D scanning imaging system |
-
2012
- 2012-02-24 CN CN2012200636155U patent/CN202494924U/en not_active Expired - Lifetime
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104076820A (en) * | 2014-07-19 | 2014-10-01 | 国家电网公司 | Unmanned aerial vehicle electric power line polling control system and method based on three-dimensional GIS |
| CN105511486A (en) * | 2015-11-27 | 2016-04-20 | 航天远景空间地理信息（深圳）有限公司 | Different-strip-aerial-image-based power sag detection method and system |
| CN105511486B (en) * | 2015-11-27 | 2018-02-09 | 航天远景空间地理信息（深圳）有限公司 | It is a kind of based on different electric power sag detection method and system with aerial images |
| CN106197378A (en) * | 2016-08-25 | 2016-12-07 | 中国十七冶集团有限公司 | A kind of roadbed using unmanned plane to measure |
| CN107464046A (en) * | 2017-07-21 | 2017-12-12 | 广东容祺智能科技有限公司 | A kind of Geological Hazards Monitoring assessment system based on unmanned plane |
| CN107479059A (en) * | 2017-08-07 | 2017-12-15 | 广州市极臻智能科技有限公司 | A kind of overhead line based on unmanned plane and vegetation distance-measuring device and method |
| CN107479059B (en) * | 2017-08-07 | 2019-08-09 | 广州市极臻智能科技有限公司 | A kind of overhead line based on unmanned plane and vegetation distance-measuring device and method |
| CN109186557A (en) * | 2018-08-31 | 2019-01-11 | 苏州竹原信息科技有限公司 | A kind of unmanned plane 3D scanning imaging system |
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Owner name: STATE GRID CORPORATION OF CHINA Effective date: 20121127 |
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| C41 | Transfer of patent application or patent right or utility model | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20121127 Address after: 250002 Ji'nan City Central District, Shandong, No. 2 South Road, No. 500 Patentee after: Shandong Research Inst. of Electric Power Patentee after: State Grid Corporation of China Address before: 250002 Ji'nan City Central District, Shandong, No. 2 South Road, No. 500 Patentee before: Shandong Research Inst. of Electric Power |
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| CP01 | Change in the name or title of a patent holder |
Address after: 250002 Ji'nan City Central District, Shandong, No. 2 South Road, No. 500 Co-patentee after: State Grid Corporation of China Patentee after: Shandong Research Inst. of Electric Power Address before: 250002 Ji'nan City Central District, Shandong, No. 2 South Road, No. 500 Co-patentee before: State Grid Corporation of China Patentee before: Shandong Research Inst. of Electric Power |
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| CP01 | Change in the name or title of a patent holder | ||
| EE01 | Entry into force of recordation of patent licensing contract | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Assignee: National Network Intelligent Technology Co., Ltd. Assignor: Shandong Research Inst. of Electric Power Contract record no.: X2019370000007 Denomination of utility model: Fixed-wing unmanned aerial vehicle (UAV) power patrol system on the basis of 3D laser scanning system Granted publication date: 20121017 License type: Exclusive License Record date: 20191014 |
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| TR01 | Transfer of patent right |
Effective date of registration: 20201027 Address after: 250101 Electric Power Intelligent Robot Production Project 101 in Jinan City, Shandong Province, South of Feiyue Avenue and East of No. 26 Road (ICT Industrial Park) Patentee after: National Network Intelligent Technology Co.,Ltd. Address before: 250002 Ji'nan City Central District, Shandong, No. 2 South Road, No. 500 Patentee before: Shandong Electric Power Research Institute Patentee before: STATE GRID CORPORATION OF CHINA |
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| TR01 | Transfer of patent right | ||
| EC01 | Cancellation of recordation of patent licensing contract |
Assignee: National Network Intelligent Technology Co.,Ltd. Assignor: Shandong Electric Power Research Institute Contract record no.: X2019370000007 Date of cancellation: 20210324 |
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Granted publication date: 20121017 |
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