CN205333858U - Line protection based on laser three -dimensional formation of image - Google Patents
Line protection based on laser three -dimensional formation of image Download PDFInfo
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- CN205333858U CN205333858U CN201521062882.0U CN201521062882U CN205333858U CN 205333858 U CN205333858 U CN 205333858U CN 201521062882 U CN201521062882 U CN 201521062882U CN 205333858 U CN205333858 U CN 205333858U
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Abstract
The utility model discloses a line protection based on laser three -dimensional formation of image, include: laser scanning device, time difference detection module, miniature cloud platform, horizontal angle detection module and vertical angle detection module, wherein: laser scanning device sets up in miniature cloud bench to detection module is connected with the time difference, horizontal angle detection module sets up between laser scanning device and transmission line, vertical angle detection module sets up between laser scanning device and ground. The utility model discloses follow transmission line and go up induction electricity -taking, to scanning the range finding below the transmission pressure to can be through calculating the three -dimensional image who forms transmission pressure and peripheral object distance, the region of looking over insulating potential safety hazard directly perceived of being convenient for, easily apply to in the actual engineering of transmission line maintenance.
Description
Technical field
This utility model belongs to technical field of electric system protection, and it relates to a kind of line protection based on laser three-dimensional imaging。
Background technology
Along with the fast development of national economy and the continuous of city size expand, transmission line of electricity is more and more intensive, and running environment is increasingly sophisticated；Numerous transmission lines of electricity are across highway, railway, bridge, river, lake and pass through high mountain, groups of building etc., and the safety of transmission line of electricity is increasingly subject to the serious threat of various construction violating the regulations, the architecture against regulations, trees violating the regulations, floating thing and bird pest etc.。
Transmission line of electricity in all parts of the country is happened occasionally by external force malicious event, as: scene, construction site be in below transmission line of electricity or near, construction appliance (is mainly the tall and big construction machineries such as crane, excavator, concrete mixer truck) in operation, its tall ledge enters sometimes and causes circuit to its electric discharge in the safe range line of transmission line of electricity, even touches and is suspended to transmission line of electricity and causes tripping operation, power outage。And for example transmission line of electricity is when crossing highway, and due to vehicle super-high, transmission line of electricity lacks warning mark, causes that transmission line of electricity is damaged；The equipment such as also some transmission lines of electricity are when crossing over rivers, some large ships, dredger pass under from transmission line of electricity when non-loading thing again at the incoming tide, and its superelevation part causes the destruction etc. of transmission line of electricity。The insulation distance of trees is discharged by circuit not to also have some line crossings building or forest zone, the growth of trees and the effect of wind-force to cause。
Traditional transmission line of electricity supervising device is generally video monitoring equipment, and this equipment can be only installed on iron tower of power transmission line, and it is bulky, installs complexity, and can not realize reliable and stable warning。The power supply mode of solar energy and accumulator generally selected by traditional transmission line of electricity supervising device, owing to the setting angle of solar panels is undesirable, site pollution, overcast and rainy continuously and accumulator life-span etc. cause the poor reliability of this equipment substantially reducing the service life of equipment。Meanwhile, this kind equipment does not measure function, it is impossible to the object near transmission pressure is positioned, thus being difficult to carry out effectively identifying and reporting to the police, it is impossible to effectively protect transmission line of electricity。
Utility model content
For defect of the prior art, the purpose of this utility model is to provide a kind of line protection based on laser three-dimensional imaging。In application of the present utility model, utilize the laser scanning device that the device that this utility model obtains can be installed on transmission line of electricity high-voltage conducting wires for zero, set up three-dimensional cartesian coordinate system；Adopt laser, and realized the scanning range finding of half sphere space internal object body surface below wire by miniature The Cloud Terrace, the x time of real time record laser, reflect via target object surface after the laser pick-off moment and the angle β of the horizontal sextant angle α of wire and laser beam line perpendicular to the ground。The distance L of pip and generating laser is obtained according to the time difference t between laser pick-off and x time that range finding obtains；The target object surface beeline to transmission pressure is calculated by L, α and β。
For achieving the above object, this utility model is achieved through the following technical solutions。
A kind of line protection based on laser three-dimensional imaging, including: laser scanning device, time difference detection module, miniature The Cloud Terrace, level angle detection module and vertical angle detection module；Wherein:
Described laser scanning device is arranged on miniature The Cloud Terrace, and is connected with time difference detection module；
Described level angle detection module is arranged between laser scanning device and transmission line of electricity；
Described vertical angle detection module is arranged between laser scanning device and ground。
Preferably, described laser scanning device includes laser emitting module and laser pick-off module, it is mutually adapted between described laser emitting module and laser pick-off module, described laser emitting module receives passage by first and is connected with time difference detection module, and described laser pick-off module receives passage by second and is connected with time difference detection module。
Preferably, described miniature The Cloud Terrace includes horizontally rotating motor and vertical deflection motor, described laser scanning device respectively with horizontally rotate motor and vertical deflection step motor drive is connected。
Preferably, described time difference detection module adopts time comparator。
Preferably, described level angle detection module and vertical angle detection module are respectively adopted angular transducer。
Preferably, the described line protection based on laser three-dimensional imaging also include following any one or appoint multiple parts:
-controlling module mounting groove, described control module mounting groove is connected with laser emitting module；
-data processing module mounting groove, described data processing module mounting groove is connected with time difference detection module, level angle detection module and vertical angle detection module respectively。
Preferably, being provided with controller in described control module mounting groove, described controller adopts on-off circuit。
Preferably, in described data processing module mounting groove, computer is installed。
Compared with prior art, the beneficial effects of the utility model are as follows:
First, this utility model achieves sensing power taking from transmission line of electricity, it is achieved that monitor in real time。
Second, utilize device of the present utility model can pass through to calculate the 3-D view forming transmission line of electricity periphery object, and can be visually seen the region with potential safety hazard。
3rd, this utility model simple in construction, it is easy to apply in Practical Project。
4th; this utility model preventing damage to power transmission line caused by external force early warning protector based on laser three-D is found range; it is directly mounted at and is needed on wire to be protected, by the scanning range finding of laser quick three-dimensional, it is achieved to install a little for hemisphere region overlay more than 50 meters of the centre of sphere, radius；According to the position of every bit in hemisphere, different alarm distance values is set, can realize to below wire along the protection early warning of wire direction length superelevation 100 meters, the rectangular region of width superelevation 30 meters。
5th, utility model works process is not tilted by shaft tower, vibrates, waves and the impact of trees etc. near shaft tower, and protection device obtains working power by induction mode so that it is also by continuous cloudy impact。Compared to the system with large area solar cell array etc. being arranged on shaft tower, the preventing damage to power transmission line caused by external force prior-warning device compact of application laser three-D ranging technology, in-site installation is simple, can run reliably and with long-term。
Accompanying drawing explanation
By reading detailed description non-limiting example made with reference to the following drawings, other features, objects and advantages of the present utility model will become more apparent upon:
Fig. 1 is the flow chart utilizing a kind of line protection method based on laser three-dimensional imaging in device of the present utility model；
Fig. 2 is the system block diagram of this utility model line protection；
Fig. 3 is the geometrical principle figure of laser ranging；
Fig. 4 is the top view of laser distance measuring principle figure；
Fig. 5 is the side view of laser distance measuring principle figure；
Fig. 6 is the axonometric chart of laser distance measuring principle figure。
In figure: 1 is laser scanning device, 2 is transmission line of electricity, and 3 is shaft tower。
Detailed description of the invention
Below embodiment of the present utility model is elaborated: the present embodiment is carried out under premised on technical solutions of the utility model, give detailed embodiment and concrete operating process。It should be pointed out that, to those skilled in the art, without departing from the concept of the premise utility, it is also possible to make some deformation and improvement, these broadly fall into protection domain of the present utility model。
Embodiment
Below in conjunction with accompanying drawing, the line protection based on laser three-dimensional imaging that the present embodiment is provided is described in detail。
According to a kind of line protection based on laser three-dimensional imaging that this utility model provides, including: laser scanning device, time difference detection module, miniature The Cloud Terrace, level angle detection module and vertical angle detection module；Wherein:
Described laser scanning device is arranged on miniature The Cloud Terrace, and is connected with time difference detection module；
Described level angle detection module is arranged between laser scanning device and transmission line of electricity；
Described vertical angle detection module is arranged between laser scanning device and ground。
Preferably, described laser scanning device includes laser emitting module and laser pick-off module, it is mutually adapted between described laser emitting module and laser pick-off module, described laser emitting module receives passage by first and is connected with time difference detection module, and described laser pick-off module receives passage by second and is connected with time difference detection module。
Preferably, described miniature The Cloud Terrace includes horizontally rotating motor and vertical deflection motor, described laser scanning device respectively with horizontally rotate motor and vertical deflection step motor drive is connected。
Preferably, described time difference detection module adopts time comparator。
Preferably, described level angle detection module and vertical angle detection module are respectively adopted angular transducer。
Preferably, the described line protection based on laser three-dimensional imaging also include following any one or appoint multiple parts:
-controlling module mounting groove, described control module mounting groove is connected with laser emitting module；
-data processing module mounting groove, described data processing module mounting groove is connected with time difference detection module, level angle detection module and vertical angle detection module respectively。
Preferably, being provided with controller in described control module mounting groove, described controller adopts on-off circuit。
Preferably, in described data processing module mounting groove, computer is installed。
Below to application of the present utility model, namely utilize shape that this utility model provides and/or the device that constructing technology scheme obtains, be described in detail。As in figure 2 it is shown, present embodiments provide a kind of line protection based on laser three-dimensional imaging, its design is:
Laser emitting module can be opened by controller, laser emitting module launches periodic laser pulse signal, laser emitting module receives passage by first and sends laser pulse signal to time difference detection module simultaneously, time difference detection module receives the laser pulse signal of the first reception passage, writes down t launch time1, the laser pulse signal of transmitting arrives measured target, and diffuse-reflectance occurs, and irreflexive laser pulse signal is received by the photodetector of laser pick-off module, receives passage step-out time detection module through second, writes down reception time t2, time difference detection module calculates laser pulse signal launch time and the interval t of the time of reception2-t1。
Time difference detection module can deliver to, the time interval value recorded, the computer being positioned in data processing module mounting groove, and people pass through computer computed range value。
Obviously along with the periodic scan of the line protection of laser three-dimensional imaging, a series of range data can be obtained, theseThe image that just can form transmission line of electricity (wire) with periphery object distance is processed in reconfiguring of range data, and then has judged whether insulation safety hidden danger region。
Particularly as follows:
A kind of line protection based on laser three-dimensional imaging, including: laser scanning device, time difference detection module, miniature The Cloud Terrace, level angle detection module and vertical angle detection module；Wherein:
Described laser scanning device is arranged on miniature The Cloud Terrace, and is connected with time difference detection module；
Described level angle detection module is arranged between laser scanning device and transmission line of electricity；
Described vertical angle detection module is arranged between laser scanning device and ground。
Further, described laser scanning device includes laser emitting module and laser pick-off module, it is mutually adapted between described laser emitting module and laser pick-off module, described laser emitting module receives passage by first and is connected with time difference detection module, and described laser pick-off module receives passage by second and is connected with time difference detection module。
Further, described miniature The Cloud Terrace includes horizontally rotating motor and vertical deflection motor, described laser scanning device respectively with horizontally rotate motor and vertical deflection step motor drive is connected。
Further, described time difference detection module adopts time comparator；Pulse counting method and time-scale extension method can also be adopted to carry out the measurement of time difference。
Further, described level angle detection module and vertical angle detection module are respectively adopted angular transducer。
Further, the described line protection based on laser three-dimensional imaging also include following any one or appoint multiple parts:
-controlling module mounting groove, described control module mounting groove is connected with laser emitting module；
-data processing module mounting groove, described data processing module mounting groove is connected with time difference detection module, level angle detection module and vertical angle detection module respectively。
Further, being provided with controller in described control module mounting groove, described controller adopts on-off circuit, it is also possible to adopt Analog-digital circuit。
Further, in described data processing module mounting groove, computer is installed, it is also possible to microcomputer is installed。
As it is shown in figure 1, the line protection based on laser three-dimensional imaging that the present embodiment provides, its guard method, comprise the following steps:
Step S1, the laser scanning device installed on transmission line of electricity high-voltage conducting wires, for zero, sets up three-dimensional cartesian coordinate system；
Step S2, starts the motor that horizontally rotates of miniature The Cloud Terrace, and wait horizontally rotates motor at the uniform velocity to rotate；
Step S3, reset vertical deflection motor, make the sensing of laser scanning device vertically downward, i.e. vertical angle β is 90 degree；
Step S4, waits that horizontally rotating electrode level rotates past angle 0 degree, i.e. horizontal sextant angle α is 0 degree；
Step S5, starts the laser emitting module of laser scanning device, and laser emitting module sends range laser pulse signal；
Step S6, laser pick-off module receives the laser pulse signal reflected, the launch time of time difference detection module recording laser pulse signal and the time of reception, and obtains time interval value t；People utilize computer to calculate the distance L between target object and laser scanning device according to time interval value t；
Step S7, people utilize computer to calculate the beeline L of target object and transmission line of electricity according to distance L, horizontal sextant angle α and vertical angle βAB′；If beeline LAB′Less than insulation safety threshold value, then start warning；
Step S8, measures present level angle α；
Step S9:
Whether-determined level angle α is that the next one treats measuring angle, re-executes if it is, return step S7, re-executes if it is not, then return step S8；
Whether-determined level angle α is equal to 360 degree, if it is, enter step S10, re-executes if it is not, then return step S4；
Step S10, makes vertical deflection motor rotate an angle；
Step S11, it is judged that whether vertical angle β is equal to 0 degree, if it is, output beeline LAB′As a result, if it is not, then return step S4 and re-execute。
Further, in described step S6, people utilize computer to calculate the distance L between target object and laser scanning device according to time interval value t, particularly as follows:
Wherein, c is the light velocity in air。
Further, in described step S7, calculate the beeline L of target object and transmission line of electricity according to distance L, horizontal sextant angle α and vertical angle βAB′, particularly as follows:
If, O point is laser scanning device point, A point is a surface, place of target object, B ' point is A point to the point corresponding to transmission line of electricity beeline, line segment OB ' corresponds to line segment OA projection on transmission line of electricity, A point transmission line of electricity in the horizontal plane be projected as B point, A point transmission line of electricity on the vertical plane be projected as A ' point, then:
LAB=L × sin ∠ BOA
LOB=L × cos ∠ BOA
LBB′=LOB×sin∠BOB′
Wherein, LABFor the distance between A point to B point；LOBFor the distance between O point to B point；LBB′Distance between putting for B point to B '；BOA=90 ° of-β of ∠；∠ BOB '=α。
As shown in Fig. 3 and Fig. 4, Fig. 5, Fig. 6, for the geometrical principle figure of laser ranging。In figure, O point represents laser three-dimensional imaging device, and A point is a surface, place of target object (one tree), and B ' point is A point to the point corresponding to wire beeline, and OB ' corresponds to OA projection on wire；One surface, place of target object (one tree), AO is the A point distance L to O point, the horizontal sextant angle α of laser instrument and wire is ∠ BOB ', the angle of laser instrument line perpendicular to the ground is (90-∠ BOA), AB ' is the beeline between object and wire, can try to achieve distance according to following equation。Judge that it is whether in safety range further according to algorithm。
A point to the minimum distance calculation process of wire is:
LAB=LOA×sin∠BOA
LOB=LOA×cos∠BOA
LBB′=LOB×sin∠BOB′
LAB′For the beeline of target object to transmission pressure, the insulation of wire if greater than the insulating safety distances set, is not then affected by its value；Laser emitting module realizes the scanning range finding of half sphere object below transmission pressure by combining the miniature The Cloud Terrace horizontally rotated with vertical deflection, and differentiates the potential safety hazard of transmission pressure according to insulating safety distances。
The line protection based on laser three-dimensional imaging that the present embodiment provides, the laser scanning device installed on transmission line of electricity high-voltage conducting wires, for zero, sets up three-dimensional cartesian coordinate system；Adopt laser, and realized the scanning range finding of half sphere space internal object body surface below wire by miniature The Cloud Terrace, it is possible to the x time of real time record laser, reflect via target object surface after the laser pick-off moment and the angle β of the horizontal sextant angle α of wire and laser beam line perpendicular to the ground。The distance L of pip and generating laser is obtained according to the time difference t between laser pick-off and x time that range finding obtains；The target object surface beeline to transmission pressure is calculated by L, α and β。The present embodiment senses power taking from transmission line of electricity, and transmission pressure is carried out below scanning range finding, it is possible to by calculating the 3-D view forming transmission line of electricity (wire) periphery object, it is simple to intuitively check the region of insulation safety hidden danger；It is readily deployed in the Practical Project of Maintenance of Electric Transmission Line。
The transmission line of electricity safety device of the laser three-dimensional imaging that the present embodiment provides, its core also includes the raising to impulse method precision of laser ranging。By formulaIt is recognised that the measurement of distance is actually the measurement of laser time of flight。The error of measure of time can be reduced by the combination of pulse counting method and time-scale extension method。
Showing that the method is for improving the effect of ranging time precision by measuring one group of data, as shown in table 1, table 1 embodies counting method and is combined the measurement error of front and back with time-scale extension method:
Table 1
From table 1, utilize the method that counting method and time-scale extension method combine can improve range accuracy。So when Software on Drawing 3-D view, it is possible to the apparent profile information demonstrating reverberation surface, facilitate staff to can be visually seen the object affecting transmission pressure safe operation, make more efficiently counter-measure。
This utility model preferred embodiment is only intended to help to set forth this utility model。Preferred embodiment does not have all of details of detailed descriptionthe, is not intended to the detailed description of the invention that this utility model is only described yet。Obviously, the content according to this specification, can make many modifications and variations。These embodiments are chosen and specifically described to this specification, is to explain principle of the present utility model and practical application better, so that skilled artisan can utilize this utility model well。This utility model is limited only by the restriction of claims and four corner thereof and equivalent。
Claims (8)
1. the line protection based on laser three-dimensional imaging, it is characterised in that including: laser scanning device, time difference detection module, miniature The Cloud Terrace, level angle detection module and vertical angle detection module；Wherein:
Described laser scanning device is arranged on miniature The Cloud Terrace, and is connected with time difference detection module；
Described level angle detection module is arranged between laser scanning device and transmission line of electricity；
Described vertical angle detection module is arranged between laser scanning device and ground。
2. the line protection based on laser three-dimensional imaging according to claim 1; it is characterized in that; described laser scanning device includes laser emitting module and laser pick-off module; it is mutually adapted between described laser emitting module and laser pick-off module; described laser emitting module receives passage by first and is connected with time difference detection module, and described laser pick-off module receives passage by second and is connected with time difference detection module。
3. the line protection based on laser three-dimensional imaging according to claim 1; it is characterized in that; described miniature The Cloud Terrace includes horizontally rotating motor and vertical deflection motor, described laser scanning device respectively with horizontally rotate motor and vertical deflection step motor drive is connected。
4. the line protection based on laser three-dimensional imaging according to claim 1, it is characterised in that described time difference detection module adopts time comparator。
5. the line protection based on laser three-dimensional imaging according to claim 1, it is characterised in that described level angle detection module and vertical angle detection module are respectively adopted angular transducer。
6. the line protection based on laser three-dimensional imaging according to any one of claim 1 to 5, it is characterised in that the described line protection based on laser three-dimensional imaging also include following any one or appoint multiple parts:
-controlling module mounting groove, described control module mounting groove is connected with laser emitting module；
-data processing module mounting groove, described data processing module mounting groove is connected with time difference detection module, level angle detection module and vertical angle detection module respectively。
7. the line protection based on laser three-dimensional imaging according to claim 6, it is characterised in that be provided with controller in described control module mounting groove, described controller adopts on-off circuit。
8. the line protection based on laser three-dimensional imaging according to claim 6, it is characterised in that be provided with computer in described data processing module mounting groove。
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| CN201521062882.0U CN205333858U (en) | 2015-12-16 | 2015-12-16 | Line protection based on laser three -dimensional formation of image |
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| CN201521062882.0U CN205333858U (en) | 2015-12-16 | 2015-12-16 | Line protection based on laser three -dimensional formation of image |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107728022A (en) * | 2017-10-19 | 2018-02-23 | 上海电力学院 | Ultraviolet partial discharge number of photons detection means and method based on laser radar range compensation |
| CN107728021A (en) * | 2017-10-19 | 2018-02-23 | 上海电力学院 | The partial discharge number of photons detection means compensated based on inclination angle and supersonic sounding |
| CN107764405A (en) * | 2017-10-19 | 2018-03-06 | 上海电力学院 | Electric inspection process robot infrared temperature measurement apparatus based on laser ranging and viewing angle compensation |
| CN107941342A (en) * | 2017-10-19 | 2018-04-20 | 上海电力学院 | Comprehensive distance and the electric inspection process robot infrared temperature measurement apparatus and method at visual angle |
| CN112731438A (en) * | 2020-12-23 | 2021-04-30 | 国网福建省电力有限公司莆田供电公司 | Radar with high-precision judgment and high-precision scanning for power transmission line |
| CN114898523A (en) * | 2022-03-29 | 2022-08-12 | 山东信通电子股份有限公司 | Power transmission line image monitoring method and device with distance measuring function |
| CN116027321A (en) * | 2022-01-14 | 2023-04-28 | 北京中创恒益科技有限公司 | High-precision real-time protection system and method for power transmission line |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107728022A (en) * | 2017-10-19 | 2018-02-23 | 上海电力学院 | Ultraviolet partial discharge number of photons detection means and method based on laser radar range compensation |
| CN107728021A (en) * | 2017-10-19 | 2018-02-23 | 上海电力学院 | The partial discharge number of photons detection means compensated based on inclination angle and supersonic sounding |
| CN107764405A (en) * | 2017-10-19 | 2018-03-06 | 上海电力学院 | Electric inspection process robot infrared temperature measurement apparatus based on laser ranging and viewing angle compensation |
| CN107941342A (en) * | 2017-10-19 | 2018-04-20 | 上海电力学院 | Comprehensive distance and the electric inspection process robot infrared temperature measurement apparatus and method at visual angle |
| CN107728022B (en) * | 2017-10-19 | 2024-03-26 | 上海电力学院 | Ultraviolet partial discharge photon number detection device and method based on laser radar ranging compensation |
| CN112731438A (en) * | 2020-12-23 | 2021-04-30 | 国网福建省电力有限公司莆田供电公司 | Radar with high-precision judgment and high-precision scanning for power transmission line |
| CN116027321A (en) * | 2022-01-14 | 2023-04-28 | 北京中创恒益科技有限公司 | High-precision real-time protection system and method for power transmission line |
| CN116027321B (en) * | 2022-01-14 | 2024-01-30 | 北京中创恒益科技有限公司 | High-precision real-time protection system and method for power transmission line |
| CN114898523A (en) * | 2022-03-29 | 2022-08-12 | 山东信通电子股份有限公司 | Power transmission line image monitoring method and device with distance measuring function |
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Address after: 200030 room 3, building 333, No. 578, Hongqiao Road, Shanghai, Xuhui District Patentee after: Shanghai Beiken Intelligent Technology Co., Ltd. Address before: 200030 room 3, building 333, No. 578, Hongqiao Road, Shanghai, Xuhui District Patentee before: SHANGHAI BEIKEN ELECTROMECHANICAL TECHNOLOGY CO., LTD. |