CN204258162U - Helicopter in electric inspection process system - Google Patents
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- CN204258162U CN204258162U CN201420835856.6U CN201420835856U CN204258162U CN 204258162 U CN204258162 U CN 204258162U CN 201420835856 U CN201420835856 U CN 201420835856U CN 204258162 U CN204258162 U CN 204258162U
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Abstract
The utility model discloses a kind of helicopter in electric inspection process system, this system comprises: main control cabin and transducer gondola, installs the first equipment and the first power supply in main control cabin; Fitting machine bone laser radar, Inertial Measurement Unit, positioning equipment, capture apparatus, environmental sensor, the second equipment and second source in transducer gondola; First power supply is connected to the first equipment and second source by power line; Second source is connected to other devices in transducer gondola by power line; First equipment is connected to the second equipment, airborne laser radar, Inertial Measurement Unit and positioning equipment by the first signal of communication line; First equipment is also connected to airborne laser radar and the second equipment by time synchronizing signal line, for passing through time synchronizing signal alignment airborne laser radar and the second equipment transmitting time synchronizing signal; Second equipment is connected to capture apparatus and environmental sensor by second communication holding wire.Gondola volume is little, lightweight, improves efficiency and the precision of data acquisition.
Description
Technical field
The utility model relates to electric inspection process technical field, particularly relates to a kind of helicopter in electric inspection process system.
Background technology
At present, electrical network scale is day by day huge, and structure is increasingly sophisticated, and the construction of network system, operation maintenance are more and more higher to the accuracy of electric power facility data acquisition, reliability and requirement of real-time.Due to transmission line distance, wide coverage, therefore power-line patrolling just becomes power grid operation maintenance, guarantees the reliable important content of electric power safety.The service mode of China's ultra-high-tension power transmission line and routine inspection mode have developed into the Vis and infrared thermography that application helicopter carries gradually, check the heat generating spot of transmission facility and naked eyes inspection facility defect and running status.This routine inspection mode is difficult to carry out power transmission line intelligent information system management and analysis, also the power transmission facility connections such as transmission line, shaft tower and insulator cannot intuitively be reflected, more cannot the real conditions of three-dimensional display and dynamic analog power transmission facility, as vertical space hierarchical informations such as screens of trees under overhead transmission line sag, line.And traditional aerophotogrammetry is often difficult to quick obtaining transmission line spatial level information, three-dimensional spatial analysis cannot be carried out to the geographical environment around circuit.Existing power-line patrolling can only the details defect of detection line and facility, cannot shake, icing and circuit dilatation supercharging provide Data support for later stage space safety distance, wind.
Respectively existing two kinds of Power Line Inspection System and shortcoming thereof are described below.
(1) infrared imagery technique electric inspection process
It is that helicopter carries Vis and infrared thermography that infrared imagery technique patrols and examines ultra-high-tension power transmission line, a boat inspection person operation control system checks circuit and records a video, the power transmission facilities such as main determination and analysis transmission line upper conductor splicing sleeve, strain insulator pipe, lead wire and earth wire wire clamp, gold utensil, insulator; Inspection person operates stabilization telescope to another boat, camera carries out defect observation to circuit, checks the parts running statuses such as shaft tower, lead wire and earth wire gold utensil, insulator.
This technical disadvantages is as follows:
1) accuracy of data acquisition and accuracy low, utilize the infrared radiation of infrared thermal imaging technique detecting objects, the temperature distribution image of target object converted to the equipment of video image, rely on temperature difference imaging.The general transmission line temperature difference is little, and therefore contrast is low, resolve minutiae ability.
2) transmission line and electric power facility three-dimensional information cannot be obtained efficiently, on a large scale, ultra-high-tension power transmission line corridor three-dimensional digitalization model cannot be obtained, represent the real conditions of power circuit, comprise sag, crossing elimination leap, vegetative coverage etc., therefore cannot carry out three-dimensional spatial analysis etc. to geographical environment around circuit.
(2) the unmanned plane Power Line Inspection System of three-dimensional laser scanning system is carried
Based on the fixed-wing unmanned plane Power Line Inspection System of three-dimensional laser scanning system, primarily of unmanned plane body and ground observing and controlling center (being responsible for controlling state of flight, process Detection Information, receiving data etc.), body is equipped with flight control system and gondola, gondola carries three-dimensional laser scanner and imaging device, by ground observing and controlling center operations flight control system and three-dimensional laser scanning system.
The shortcoming of this technology is as follows:
1) air line is complicated, except electric power facility crosses over intersection complexity, also there are other communications facilitys, unmanned plane handles hand limited view, terrestrial operation is difficult to accurately control unmanned plane course line, and by environment (air visibility, wind speed) impact obviously.
2) unmanned plane is flexible and changeable, easy to operate, but unmanned plane load weight is little, is substantially difficult to carry other checkout equipments such as visible ray, infrared imaging except laser radar.More cannot obtain environmental correclation factor (wind speed, temperature, humidity), Data acquisition and issuance ability is had a greatly reduced quality.
3) unmanned plane security and stability is poor, flying power is poor, and the unmanned plane Power Line Inspection System of three-dimensional laser scanning system lacks generalization, cannot use on a large scale, on a large scale.
Utility model content
The utility model provides a kind of helicopter in electric inspection process system, low at least to solve helicopter in electric inspection process system data acquisition precision in prior art, can not meet the problem of electric inspection process data acquisition request.
The utility model embodiment provides a kind of helicopter in electric inspection process system, comprising: main control cabin and transducer gondola, and described transducer gondola is arranged on below described main control cabin; Be provided with in described main control cabin: the first equipment and the first power supply; Be provided with in described transducer gondola: airborne laser radar, Inertial Measurement Unit, positioning equipment, capture apparatus, environmental sensor, the second equipment and second source; Wherein, described first power supply is connected to described first equipment and described second source by power line; Described second source is connected to described airborne laser radar, described Inertial Measurement Unit, described positioning equipment, described capture apparatus, described environmental sensor and described second equipment by power line; Described first equipment is connected to described second equipment, described airborne laser radar, described Inertial Measurement Unit and described positioning equipment by the first signal of communication line, and described first equipment is also connected to described airborne laser radar and described second equipment by time synchronizing signal line;
Described first equipment comprises: the first Transmit-Receive Unit, for being sent control information by the second equipment described in described first signal of communication alignment, the first data from described airborne laser radar, described Inertial Measurement Unit and described positioning equipment are received by described first signal of communication line, and by airborne laser radar described in described time synchronizing signal alignment and described second equipment transmitting time synchronizing signal;
Described second equipment is connected to described capture apparatus and described environmental sensor by second communication holding wire; Described second equipment comprises: the second Transmit-Receive Unit, for receiving described control information by described first signal of communication line, described time synchronizing signal is received by described time synchronizing signal line, receive the second data from described capture apparatus and described environmental sensor by described second communication holding wire, and by described first signal of communication line, described second data are sent to described first equipment.
In one embodiment, described first equipment also comprises: memory and display screen; Wherein, described memory is for storing described first data and described second data; Described display screen, for the data showing described first data, described second data or obtain after processing described first data and described second data.
In one embodiment, described capture apparatus comprises: photographing device and video recording equipment; Also be provided with in described transducer gondola: course deviation adjusting mechanism, be connected to described photographing device and described video recording equipment, for adjusting the angle of described photographing device and described video recording equipment.
In one embodiment, described first equipment is also connected with described photographing device, for sending described time synchronizing signal to described photographing device by described time synchronizing signal line.
In one embodiment, described environmental sensor comprises: pitot and Temperature Humidity Sensor; Wherein, described pitot is used for gathering instantaneous wind speed according to the first predetermined period; Described Temperature Humidity Sensor is used for gathering instantaneous air themperature and humidity according to the second predetermined period.
By helicopter in electric inspection process system of the present utility model, by laser radar, POS system, capture apparatus, environmental sensor is integrated in transducer gondola, controlled by the second equipment in the first equipment in main control cabin and transducer gondola, gondola volume is little, lightweight, decrease the workload of boat inspection person, operation bench is simple to operate, it is convenient to implement, ensure that monitoring information is comprehensive, obtain high accuracy, highdensity laser point cloud data, meet long distance, on a large scale, the requirement of high-precision electric line data-logging three dimensional data collection, greatly improve efficiency and the precision of data acquisition, also improve the efficiency of patrolling and examining.Adopt two-stage Power supply simultaneously, conveniently power and be beneficial to power supply management.In addition, time synchronized is carried out to device, ensure that the synchronism of data acquisition.In addition, display data, facilitate staff to check, know the relevant information of transmission line.
Accompanying drawing explanation
Accompanying drawing described herein is used to provide further understanding of the present utility model, and form a application's part, schematic description and description of the present utility model, for explaining the utility model, is not formed restriction of the present utility model.In the accompanying drawings:
Fig. 1 is the structural representation of the helicopter in electric inspection process system of the utility model embodiment;
Fig. 2 is the electric wiring structural representation of the helicopter in electric inspection process system of the utility model embodiment;
Fig. 3 is the communication wires structural representation of the helicopter in electric inspection process system of the utility model embodiment.
Embodiment
Below in conjunction with the accompanying drawing in the utility model embodiment, be clearly and completely described the technical scheme in the utility model embodiment, obviously, described embodiment is only the utility model part embodiment, instead of whole embodiments.Based on embodiment of the present utility model, those of ordinary skill in the art, not making the every other embodiment obtained under creative work prerequisite, belong to protection range of the present utility model.
The utility model embodiment provides a kind of helicopter in electric inspection process system.Fig. 1 is the structural representation of the helicopter in electric inspection process system of the utility model embodiment, as shown in Figure 1, this system comprises: main control cabin 10 and transducer gondola 20, transducer gondola 20 is arranged on below main control cabin 10, the main control cabin 10 i.e. cabin of helicopter, therefore, also can be understood as transducer gondola 20 to be herein arranged on below helicopter.
Be provided with in main control cabin 10: the first equipment 11 and the first power supply 12.
Be provided with in transducer gondola 20: airborne laser radar 21, Inertial Measurement Unit 22, positioning equipment 23, capture apparatus 24, environmental sensor 25, second equipment 26 and second source 27.
Wherein, airborne laser radar 21 (LiDAR), for to object (such as, power line etc.) emission detection laser beam (transmitting), receive the echo-signal reflected from object, echo-signal is compared process with transmitting, obtain the range information of object, in conjunction with the attitude data of Inertial Measurement Unit 22 acquisition, the position data of positioning equipment 23 acquisition, a large amount of discrete data points with accurate three-dimensional coordinate are calculated, i.e. LiDAR point cloud data by data.The image that LiDAR point cloud data obtain in conjunction with capture apparatus 24 and Video data can generate precise figures elevation model (DEM), digital surface model (DSM), digital orthoimage (DOM), by the poster processing soft, real three-dimensional scenic can be obtained.By circuit analysis software, the environmentally wind speed, the temperature and humidity that gather of transducer 25, launches that high voltage transmission line transportation work style is shaken, the analysis such as icing and circuit increase-volume supercharging.
Inertial Measurement Unit 22 (Inertial Measurement Unit, referred to as IMU), for transducer (such as, airborne laser radar 21) the transient posture parameter in space in determination sensor gondola 20, i.e. the angle of pitch, the angle of roll and angle of drift.
Positioning equipment 23 can be GPS, such as dynamic carrier phase difference GPS, for measuring the instantaneous three dimensional local information of helicopter in space.
Capture apparatus 24 can be taken pictures to transmission line, obtains the true multimedia message of geomorphological features on ground, as the data texturing source of three-dimensional information.Also when gathering laser point cloud, power transmission line corridor can be recorded a video, the real conditions of record circuit.
Environmental sensor 25 for gathering transmission line surrounding environment meteorological data, for transmission line analysis provides reference.
Can adopt in the present embodiment and survey appearance navigation system (Position and Orientation System, referred to as POS), comprise IMU, GPS and corresponding process software PCS, PCS can be arranged in the first equipment 11.First equipment 11 and the second equipment 27 can be all computers.
First power supply 12 is connected to the first equipment 11 and second source 27 by power line (as shown in heavy line in Fig. 1); Second source 27 is connected to airborne laser radar 21, Inertial Measurement Unit 22, positioning equipment 23, capture apparatus 24, environmental sensor 25 and the second equipment 26 by power line.
First equipment 11 by the first signal of communication line (as shown in phantom in Figure 1) be connected to the second equipment 26, airborne laser radar 21, Inertial Measurement Unit 22 and positioning equipment 23, first equipment 11 be also connected to airborne laser radar 21 and the second equipment 26 by time synchronizing signal line (as shown in double dot dash line in Fig. 1).
First equipment 11 comprises: the first Transmit-Receive Unit 111, for being sent control information by the first signal of communication alignment second equipment 26, the first data (i.e. power transmission line corridor three-dimensional laser point cloud data) from airborne laser radar 21, Inertial Measurement Unit 22 and positioning equipment 23 are received by the first signal of communication line, and by time synchronizing signal alignment airborne laser radar 21 and the second equipment 26 transmitting time synchronizing signal.
Concrete, first signal of communication line is the cable between main control cabin 10 and transducer gondola 20, and it can be POS specific cables (junctor bone laser radar 21 and Inertial Measurement Unit 22), the proprietary holding wire of radar (junctor bone laser radar 21) and integrating control gigabit network cable (being connected the second equipment 26).First data can be the angle-data measured of data, Inertial Measurement Unit 22 that airborne laser radar 21 scans and the three-dimensional location data that obtains of positioning equipment 23.
Second equipment 26 is connected to capture apparatus 24 and environmental sensor 25 by second communication holding wire (as shown in dotted line in 1 figure).
Second equipment 26 comprises: the second Transmit-Receive Unit 261, for passing through the first signal of communication line receiving control information, by time synchronizing signal line time of reception synchronizing signal, receive the second data from capture apparatus 24 and environmental sensor 25 by second communication holding wire, and by the first signal of communication line, the second data are sent to the first equipment 11.The wind speed that second data can be the photo of capture apparatus 24 or video recording, environmental sensor 25 obtains and humiture data, i.e. instantaneous parameters in power transmission line corridor image data and air ambient.
By the helicopter in electric inspection process system of the utility model embodiment, by laser radar, POS system, capture apparatus, environmental sensor is integrated in transducer gondola, (the first equipment is main control device to realize two-step evolution by the first equipment in main control cabin and the second equipment in transducer gondola, the control to the second equipment is realized) by control information, gondola volume is little, lightweight, decrease the workload of boat inspection person, operation bench is simple to operate, it is convenient to implement, ensure that monitoring information is comprehensive, obtain high accuracy, highdensity laser point cloud data, meet long distance, on a large scale, the requirement of high-precision electric line data-logging three dimensional data collection, greatly improve efficiency and the precision of data acquisition, also improve the efficiency of patrolling and examining.Adopt two-stage Power supply simultaneously, conveniently power and be beneficial to power supply management.In addition, time synchronized is carried out to device, ensure that the synchronism of data acquisition.
First equipment 11 can also comprise: memory and display screen; Wherein, memory is for storing the first data and the second data; Display screen, for the data showing the first data, the second data or obtain after processing the first data and the second data.Facilitate staff to check, know the relevant information of transmission line.Certainly, according to actual conditions, the data that only display obtains after processing the first data and the second data can be set to, if staff needs to check the first concrete data and the second data, data can be recalled voluntarily from memory and check.
Capture apparatus 24 can comprise: photographing device and video recording equipment; Also be provided with in transducer gondola 20: course deviation adjusting mechanism, be connected to photographing device and video recording equipment, for adjusting the angle of photographing device and video recording equipment.Concrete, photographing device can be digital camera, reconfigure according to the routine interface (API) that should have that producer provides and develop driver, carry out timed periodic to transmission line to take pictures, obtain the true multimedia message of geomorphological features on ground, to make up the deficiency of LiDAR, simultaneously as the data texturing source of three-dimensional information.Video recording equipment can be DV video instrument, reconfigures according to the API that producer provides and develops driver, when gathering laser point cloud, to power transmission line corridor video recording, and the real conditions of record circuit.Course deviation adjusting mechanism can calculate yaw angle automatically according to flight attitude and flight course planning, deviation correction mechanism can be driven to realize automatic deviation correction according to operational order simultaneously.The present embodiment can adjust angle in time, ensures the data of the demand that is met.One or more video tape recorder can be used, to obtain comprehensive video information.
In one embodiment, the first equipment 11 can also be connected with photographing device by time synchronizing signal line, for photographing device transmitting time synchronizing signal.For acquisition cloud data, the data of photographing device collection are important, and therefore, in the present embodiment, the first equipment 11 has additionally connect time synchronizing signal line and has been connected with photographing device, makes time synchronized more promptly and accurately.
In one embodiment, environmental sensor 25 comprises: pitot and Temperature Humidity Sensor; Wherein, pitot is used for gathering instantaneous wind speed according to the first predetermined period; Temperature Humidity Sensor is used for gathering instantaneous air themperature and humidity according to the second predetermined period.In the present embodiment, pitot and Temperature Humidity Sensor periodically gather environment weather data, can meet the demand of transmission line analysis to environmental data.By institute's image data synchronized upload, be presented on the display screen of the first equipment, and in the data file with environmental monitoring data packet format record.
As can be seen here, the utility model is by carrying out power management to gondola transducer, increase computer for controlling, integrated equipment cable, reach and efficiently, easily gather the ultra-high-tension power transmission line spatial point cloud data that accuracy is high, density is good, synchronous recording GPS and inertial navigation system information, and merge high-resolution camera data, in conjunction with visible ray Video data, realize power transmission line and electric power facility high-precision three-dimensional is visual.
Below in conjunction with Fig. 2 and Fig. 3, the specific embodiment of above-mentioned helicopter in electric inspection process system is described in detail, to adopt POS system.This embodiment has been only and has explained explanation, can not be used for limiting the utility model.
Whole system comprises main control cabin and transducer gondola.Whole system adopts two-stage Power supply and control pattern, arranges computer and power supply respectively at main control cabin and transducer gondola.Main control computer in main control cabin is the center-controlling computer of whole system, and the device power supply (DPS) in main control cabin is the power supply of whole system.
Main control cabin (also can be described as operating desk) comprising: main control computer (comprising Transmit-Receive Unit, data storage cell and display screen) and device power supply (DPS).The built-in PCS software of main control computer.Main control cabin Main Function comprises: system power supply, man-machine interaction and data store.By main control computer and computer for controlling can realize controlling each transducer (IMU, GPS, laser radar, camera, video tape recorder, environmental sensor etc.) working condition, system initialization is arranged, status of equipment monitors, flight position attitude information and line of flight information displaying, control adjust Xuan Pian mechanism, image data record, and can time synchronized be carried out, real-time synchronization gathers each sensing data, solve the stationary problem of data acquisition, ensure that the consistency of devices collect data.
Wherein, device power supply (DPS) is responsible for whole system and is powered, and be the Power supply in the main control computer in main control cabin and transducer gondola, power-supplying forms is mainly 24V, 12V, 5V DC, and whole output power of power supply can be designed as 300W.Main control computer, by the computer for controlling of gigabit Ethernet connecting sensor gondola, controls whole system and runs and operation, realize man-machine interaction by display screen.Main control computer can be provided with more than 500G solid state hard disc, adopts strong design, ensures that computer reliably working and data security store.PCS is software corresponding to POS system, is mainly used in storing GPS and IMU data, is system output time synchronizing signal.
Mainly be provided with power supply, computer for controlling and various transducer in transducer gondola, e.g., radar, GPS, IMU, camera, video tape recorder, environmental sensor, for image data.Wherein, the power supply object of this power supply is each device in transducer gondola, and whole power-supply system power output can be 200W, and this power supply accepts to control computer control in cabin simultaneously, possesses the functions such as power supply status report and overcurrent protection.Computer for controlling is responsible for communicating with main control computer, is responsible for the Control & data acquisition work of transducer gondola internal part simultaneously.Computer for controlling comprises: embedded computer and expansion board, embeddeding computer controls all the sensors parts in transducer gondola, computer for controlling connects video tape recorder by Firewire, by A/D acquisition module JA(junction ambient) transducer in expansion board, by A/D sampling module to pitot signal and temperature-humidity signal periodic sampling.Connect digital camera by USB interface, be connected the course deviation correction unit of digital camera and DV video tape recorder by serial ports, TTL channel with modulating output, received pulse per second (PPS) (PPS) signal of PCS by TTL channel and serial ports.
As shown in Figure 2, heavy line represents power line to the electric wiring structure of system.Main control cabin 10 is by a power supply cable connecting sensor gondola 20.Power supply in main control cabin 10 is that below deck equipment is powered, and is that transducer gondola is powered by power line simultaneously.POS/AV IMU GPS represents Inertial Measurement Unit in POS system and global positioning system.
As shown in Figure 3, in connecting line, heavy line represents holding wire to the communication wires structure of system, and dotted line represents precise synchronization relation, and in order to the connection of clear embodiment POS system, PCS adopts a module to represent by Fig. 3.4 cables are had between main control cabin 10 and transducer gondola 20, POS/AV 510 specific cables (connection for POS system), time synchronizing signal line (for time synchronized) respectively, the proprietary holding wire of LiDAR equipment (for connecting radar) and integrating control gigabit network cable (connection for the computer in two cabins).Except POS/AV 510 specific cables, other three cables can be connected to an aviation connector, i.e. signal communication connector according to actual conditions design.Holding wire is connected with between power supply in computer and its cabin; charging can be realized control and management, such as, control charging modes, carry out overcurrent protection and monitoring power supply status etc.; also can carry out Energy control separately to a certain device in transducer gondola 20, ensure the stability of a system.
In sum, the utility model is according to electric inspection process aspect unique requirements, provide a kind of helicopter in electric inspection process system based on laser radar technique, overcome the deficiency of the unmanned plane Power Line Inspection System of existing infrared imagery technique Power Line Inspection System and lift-launch three-dimensional laser scanning system, this system can obtain high accuracy, high density, high efficiency laser point cloud data and environment weather data.Meet long distance, on a large scale, the requirement of high-precision electric line data-logging three dimensional data collection, greatly improve efficiency and the precision of data acquisition.
It is integrated that the utility model achieves three-dimensional laser radar data acquisition system, digital image acquisition system and the Trinitarian systematization of environment weather acquisition system; The aspects such as the suitable same sex of the concurrency gathered from Various types of data, the integraty of workbench, synchronism, operational environment, have carried out system, effective integration and innovation.For helicopter platform particularity (vibration strong, revolve bigger than normal), devise shooting video recording equipment course deviation adjusting mechanism, control in real time.According to the demand of transmission line analysis to environmental data, be integrated with environmental sensor (pitot and Temperature Humidity Sensor), periodically gather environment weather data.Realize the synchronism of each transducer image data, Real-Time Monitoring, collection and display transducer (as laser radar, camera, video tape recorder, environmental sensor etc.) working condition.
The helicopter in electric inspection process system of the utility model embodiment has following beneficial effect:
1) compared to thermal infrared imaging instrument technology, based on the helicopter in electric inspection process system of laser radar technique, the technology of energy quick obtaining large area earth's surface three-dimensional data, operating speed is fast, certainty of measurement is high, accuracy good, reflect the features such as earth's surface situation truly to greatest extent, can be used for quick generating digital elevation model, digital surface model and digital orthoimage.Can synchronous acquisition high-precision laser point cloud and high-resolution digital image data, be combined with geographical information technology, in power grid construction and management, tool has been widely used.Gather cloud data and can obtain the three-dimensional corridor of transmission line.
2) compare unmanned aerial vehicle platform, utilize helicopter platform, ensure that system safety is stablized, reach transmission line (beam shapes) large area, the patrolling and examining of long distance, enrich electric inspection process technological means.
In the description of this specification, specific features, structure, material or feature that the description of reference term " embodiment ", " some embodiments ", " example ", " concrete example " or " some examples " etc. means to describe in conjunction with this embodiment or example are contained at least one embodiment of the present utility model or example.In this manual, identical embodiment or example are not necessarily referred to the schematic representation of above-mentioned term.And the specific features of description, structure, material or feature can combine in an appropriate manner in any one or more embodiment or example.
Above-described specific embodiment; the purpose of this utility model, technical scheme and beneficial effect are further described; be understood that; the foregoing is only specific embodiment of the utility model; and be not used in restriction protection range of the present utility model; all within spirit of the present utility model and principle, any amendment made, equivalent replacement, improvement etc., all should be included within protection range of the present utility model.
Claims (5)
1. a helicopter in electric inspection process system, is characterized in that, comprising: main control cabin and transducer gondola, and described transducer gondola is arranged on below described main control cabin;
Be provided with in described main control cabin: the first equipment and the first power supply;
Be provided with in described transducer gondola: airborne laser radar, Inertial Measurement Unit, positioning equipment, capture apparatus, environmental sensor, the second equipment and second source;
Wherein, described first power supply is connected to described first equipment and described second source by power line; Described second source is connected to described airborne laser radar, described Inertial Measurement Unit, described positioning equipment, described capture apparatus, described environmental sensor and described second equipment by power line;
Described first equipment is connected to described second equipment, described airborne laser radar, described Inertial Measurement Unit and described positioning equipment by the first signal of communication line, and described first equipment is also connected to described airborne laser radar and described second equipment by time synchronizing signal line;
Described first equipment comprises: the first Transmit-Receive Unit, for being sent control information by the second equipment described in described first signal of communication alignment, the first data from described airborne laser radar, described Inertial Measurement Unit and described positioning equipment are received by described first signal of communication line, and by airborne laser radar described in described time synchronizing signal alignment and described second equipment transmitting time synchronizing signal;
Described second equipment is connected to described capture apparatus and described environmental sensor by second communication holding wire;
Described second equipment comprises: the second Transmit-Receive Unit, for receiving described control information by described first signal of communication line, described time synchronizing signal is received by described time synchronizing signal line, receive the second data from described capture apparatus and described environmental sensor by described second communication holding wire, and by described first signal of communication line, described second data are sent to described first equipment.
2. helicopter in electric inspection process system according to claim 1, is characterized in that, described first equipment also comprises: memory and display screen;
Wherein, described memory is for storing described first data and described second data;
Described display screen, for the data showing described first data, described second data or obtain after processing described first data and described second data.
3. helicopter in electric inspection process system according to claim 1, is characterized in that, described capture apparatus comprises: photographing device and video recording equipment;
Also be provided with in described transducer gondola: course deviation adjusting mechanism, be connected to described photographing device and described video recording equipment, for adjusting the angle of described photographing device and described video recording equipment.
4. helicopter in electric inspection process system according to claim 3, is characterized in that, described first equipment is also connected with described photographing device, for sending described time synchronizing signal to described photographing device by described time synchronizing signal line.
5. helicopter in electric inspection process system according to claim 1, is characterized in that, described environmental sensor comprises: pitot and Temperature Humidity Sensor;
Wherein, described pitot is used for gathering instantaneous wind speed according to the first predetermined period;
Described Temperature Humidity Sensor is used for gathering instantaneous air themperature and humidity according to the second predetermined period.
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| CN106504362A (en) * | 2016-10-18 | 2017-03-15 | 国网湖北省电力公司检修公司 | Power transmission and transformation system method for inspecting based on unmanned plane |
| CN106643790A (en) * | 2016-09-26 | 2017-05-10 | 南方电网科学研究院有限责任公司 | Photoelectric pod resolution detection device and detection method |
| CN112054433A (en) * | 2020-09-22 | 2020-12-08 | 国网湖北省电力有限公司检修公司 | Overhead transmission line inspection operation system, flight operation platform and regulation and control method thereof |
| CN112046770A (en) * | 2020-08-20 | 2020-12-08 | 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 | Helicopter plug-in device and installation method thereof |
| CN112578395A (en) * | 2021-01-12 | 2021-03-30 | 贵州理工学院 | Laser radar system for helicopter electric power line patrol |
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2014
- 2014-12-25 CN CN201420835856.6U patent/CN204258162U/en active Active
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106643790A (en) * | 2016-09-26 | 2017-05-10 | 南方电网科学研究院有限责任公司 | Photoelectric pod resolution detection device and detection method |
| CN106643790B (en) * | 2016-09-26 | 2023-05-16 | 南方电网科学研究院有限责任公司 | Photoelectric pod resolution detection device and detection method |
| CN106504362A (en) * | 2016-10-18 | 2017-03-15 | 国网湖北省电力公司检修公司 | Power transmission and transformation system method for inspecting based on unmanned plane |
| CN112046770A (en) * | 2020-08-20 | 2020-12-08 | 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 | Helicopter plug-in device and installation method thereof |
| CN112054433A (en) * | 2020-09-22 | 2020-12-08 | 国网湖北省电力有限公司检修公司 | Overhead transmission line inspection operation system, flight operation platform and regulation and control method thereof |
| CN112578395A (en) * | 2021-01-12 | 2021-03-30 | 贵州理工学院 | Laser radar system for helicopter electric power line patrol |
| CN112578395B (en) * | 2021-01-12 | 2024-01-26 | 贵州理工学院 | Laser radar system for helicopter power line inspection |
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Address after: 102209 B218, No. 10 Zhongxing Road, Changping District Science Park, Beijing Patentee after: State Grid Power Space Technology Co.,Ltd. Patentee after: BEIJING SURESTAR TECHNOLOGY Co.,Ltd. Patentee after: STATE GRID CORPORATION OF CHINA Patentee after: STATE GRID ZHEJIANG ELECTRIC POWER Co. Address before: 102209 B218, No. 10 Zhongxing Road, Changping District Science Park, Beijing Patentee before: SGCC GENERAL AVIATION Co.,Ltd. Patentee before: BEIJING SURESTAR TECHNOLOGY Co.,Ltd. Patentee before: State Grid Corporation of China Patentee before: STATE GRID ZHEJIANG ELECTRIC POWER Co. |
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