CN205450784U - Unmanned aerial vehicle electric power patrols linear system all - Google Patents
Unmanned aerial vehicle electric power patrols linear system all Download PDFInfo
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Abstract
The utility model discloses an unmanned aerial vehicle electric power patrols linear system all, this system includes: install data acquisition device (10) in unmanned aerial vehicle and set up data process system (11) in ground surveillance center, wherein, data acquisition device (10) include: control processing unit (1), power module (2), image gathering module (3), ranging module (4), self -checking module (5), data storage module (6), GIS information module (7), GPS navigation module (8) and wireless communication module (9), data process system (11) include: ground communication module (12), image processing module (14), image displaying module (15), image storage module (16) and condition monitoring module (13). Compared with the prior art, the utility model discloses can effectively improve unmanned aerial vehicle electric power and patrol line data collection's the treatment effeciency and the degree of accuracy of defect discernment, alleviate the burden of artifical examination, have wide application prospect.
Description
Technical field
This utility model belongs to automatic Detection & Controling field, relates to a kind of transmission line equipment detecting system, is specially a kind of unmanned plane power-line patrolling system.
Background technology
Along with the expanding day of electrical network, the workload of line walking strengthens the most day by day.Unmanned plane is applied in polling transmission line, can improve the efficiency of line walking, alleviates the workload of electrical power services personnel, reduces the probability of the contingent danger of manual inspection, reduces the maintenance cost of power equipment, improves the safety and reliability of electrical network.
Unmanned plane can produce substantial amounts of view data after patrolling and examining, and the process for data presently, there are bigger difficulty.Patrol and examine arranging of image data to need to consume the longer time, under the conditions of current present construction of personnel, the efficiency processing data is extremely beneath, and the personnel particularly possessing abundant circuit O&M experience in unmanned plane operating personnel are less, cause the efficiency of defect recognition and accuracy relatively low.
At present, transmission line equipment state inspection based on unmanned plane Aerial Images is still in the starting stage.The image processing techniques application time in polling transmission line is the shortest, and achievement in research is less, currently mainly concentrates on the stability of image acquisition and improves in the effect of image taking, relating to the research in terms of the identification of transmission line equipment image little.
Utility model content
(1) to solve the technical problem that
The technical problems to be solved in the utility model is: how to be effectively improved treatment effeciency and the accuracy of defect recognition of unmanned plane power-line patrolling view data.
(2) technical scheme
For solving above-mentioned technical problem, this utility model provides a kind of unmanned plane power-line patrolling system, and this system includes: the data acquisition unit being arranged in unmanned plane and the data handling system being arranged on ground monitoring center；Data acquisition unit includes: control processing unit, power module, image capture module, range finder module, selftest module, data memory module, GIS information module, GPS navigation module and wireless communication module；Data handling system includes: ground communication module, image processing module, image display, image storage module and monitoring module.
Wherein, described unmanned plane uses the X many rotor wing unmanned aerial vehicles of series that Tianjin Zhong Xiangtenghang Science and Technology Ltd. develops.
Wherein, described control processing unit, for controlling the work of each functional module.
Wherein, described power module, use the accumulator of 12V or 24V, the power supply needed for providing system to run.
Wherein, described image capture module, including visible image capturing head and infrared thermography, for gathering the view data of transmission line equipment.
Wherein, described range finder module, including laser range finder and altimeter, for measuring distance and the flying height of unmanned plane of unmanned plane and transmission line equipment.
Wherein, described control processing unit, it is additionally operable to receive the control instruction of the monitoring module of wireless communication module transmission, control instruction is sent to image capture module and range finder module, visible image capturing head and infrared thermography are carried out pose adjustment and correction, adjusts unmanned plane and the distance of transmission line equipment and the flying height of unmanned plane.
Wherein, described selftest module, during unmanned plane during flying, whether real-time self-measuring battery electricity and unmanned plane break down.
Wherein, described data memory module, for storing the data of each functional module.
Wherein, described GIS information module, for gathering the geographical position of transmission line equipment, administrative region and landform condition information.
Wherein, described GPS navigation module, for receiving and resolve the GPS information of unmanned plane.
Wherein, described wireless communication module, for transmitting the data of each functional module, reception is through the control instruction of the monitoring module of ground communication module transfer.
Wherein, described ground communication module, for receiving the data of wireless communication module transmission, the control instruction of transmission state monitoring module.
Wherein, described image processing module, for reading the view data that ground communication module receives, view data is carried out definition inspection and availability inspection, filters out the image including defect equipment.
Wherein, described image processing module, it is additionally operable to receive the data of the functional module of monitoring module transmission, determine the GPS information of image taking, it is associated with GIS information, complete the coupling of image attributes information, if the inspection result of view data or matching result are undesirable, then result is sent to monitoring module.
Wherein, described monitoring module, receives the data of each functional module of ground communication module transfer, interacts with image processing module, the result sent according to image processing module, sends control instruction through ground communication module and wireless communication module to controlling processing unit.
Wherein, described image display, for showing the image information that image processing module has mated, it is achieved man-machine interaction.
Wherein, described image storage module, for storing the image information that image processing module has mated, in case the later stage calls.
(3) beneficial effect
Compared with prior art, the beneficial effects of the utility model are: this utility model is by can effectively realize the location of transmission line equipment and the identification of equipment deficiency to quickly identifying of line walking image；By to the real-time pose adjustment of visible image capturing head and infrared thermography and correction, and laser range finder and the adjustment of altimeter, the shooting effect of image can be effectively improved；Meanwhile, line walking image can be screened, alleviate the burden of artificial examination, have broad application prospects.
Accompanying drawing explanation
Fig. 1 is the overall construction drawing of the unmanned plane power-line patrolling system of this utility model embodiment；
Fig. 2 is the selftest module workflow diagram of the unmanned plane power-line patrolling system of this utility model embodiment.
Detailed description of the invention
The unmanned plane power-line patrolling system that the utility model proposes, describes in detail as follows in conjunction with the accompanying drawings and embodiments.
As it is shown in figure 1, this utility model unmanned plane power-line patrolling system includes the data acquisition unit 10 being arranged in unmanned plane and the data handling system 11 being arranged on ground monitoring center.Wherein, data acquisition unit 10 includes controlling processing unit 1, power module 2, image capture module 3, range finder module 4, selftest module 5, data memory module 6, GIS information module 7, GPS navigation module 8 and wireless communication module 9.Data handling system 11 includes ground communication module 12, image processing module 14, image display 15, image storage module 16 and monitoring module 13.
Unmanned plane involved by this utility model uses the X many rotor wing unmanned aerial vehicles of series that Tianjin Zhong Xiangtenghang Science and Technology Ltd. develops.
Control processing unit 1 for controlling the work of each functional module 3,4,5,6,7,8 and 9.Power module 2 uses the accumulator of 12V or 24V, the power supply needed for providing system to run.Image capture module 3 includes visible image capturing head and infrared thermography, for gathering the view data of transmission line equipment.Range finder module 4 includes laser range finder and altimeter, for measuring distance and the flying height of unmanned plane of unmanned plane and transmission line equipment.Control processing unit 1 and be additionally operable to receive the control instruction of the monitoring module 13 of wireless communication module 9 transmission, control instruction is sent to image capture module 3 and range finder module 4, visible image capturing head and infrared thermography are carried out pose adjustment and correction, adjusts unmanned plane and the distance of transmission line equipment and the flying height of unmanned plane.During unmanned plane during flying, whether self-measuring battery electricity and unmanned plane break down selftest module 5 in real time.Data memory module 6 is for storing the data of each functional module 3,4,7 and 8.GIS information module 7 is for gathering the geographical position of transmission line equipment, administrative region and landform condition information.GPS navigation module 8 is for receiving and resolve the GPS information of unmanned plane.Wireless communication module 9, for transmitting the data of each functional module 3,4,7 and 8, receives the control instruction of the monitoring module 13 transmitted through ground communication module 12.
Ground communication module 12 is for receiving the data of wireless communication module 9 transmission, the control instruction of transmission state monitoring module 13.Image processing module 14, for reading the view data that ground communication module 12 receives, carries out definition inspection and availability inspection, filters out the image including defect equipment view data.Image processing module 14 is additionally operable to receive the data of the functional module 7 and 8 of monitoring module 13 transmission, determine the GPS information of image taking, it is associated with GIS information, complete the coupling of image attributes information, if the inspection result of view data or matching result are undesirable, then result is sent to monitoring module 13.Monitoring module 13 receives the data of each functional module 3,4,7 and 8 of ground communication module 12 transmission, interact with image processing module 14, the result sent according to image processing module 14, sends control instruction through ground communication module 12 and wireless communication module 9 to controlling processing unit 1.Image display 15 is for showing the image information that image processing module 14 has mated, it is achieved man-machine interaction.Image storage module 16 is for storing the image information that image processing module 14 has mated, in case the later stage calls.
As in figure 2 it is shown, the selftest module flow chart of this utility model unmanned plane power-line patrolling system, unmanned plane carries out self-inspection in flight course in real time, and detection battery electric quantity is the most sufficient and whether unmanned plane breaks down respectively.If battery electric quantity is sufficient, and unmanned plane does not breaks down, then unmanned plane works on；If battery electric quantity is not enough, or unmanned plane breaks down, then control processing unit 1 and send alarm signal to ground monitoring center, and unmanned plane returns to ground and processes.
The work process of unmanned plane power-line patrolling system of the present utility model is as follows:
Control processing unit 1 and gather and process the data of each functional module 3,4,7 and 8, be stored in data memory module 6, send the data handling system 11 to ground monitoring center through wireless communication module 9；Meanwhile, unmanned plane carries out self-inspection in flight course in real time, if battery electric quantity is not enough, or unmanned plane breaks down, then control processing unit 1 and send alarm signal to ground monitoring center, and unmanned plane returns to ground and processes；If battery electric quantity is sufficient, and unmanned plane does not breaks down, then unmanned plane works on.
Ground communication module 12 receives the data of wireless communication module 9 transmission, and monitoring module 13 receives the data of each functional module 4,7 and 8 of ground communication module 12 transmission, interacts with image processing module 14.Image processing module 14 reads the view data that ground communication module 12 receives, and view data carries out definition inspection and availability inspection, filters out the image including defect equipment.Simultaneously, the data of the functional module 7 and 8 that image processing module 14 transmits according to monitoring module 13, determine the GPS information of image taking, it is associated with GIS information, complete the coupling of image attributes information, if processing result image meets the requirements, matching result transmission is shown to image display 15, and be stored in image storage module 16, for future use.
If the inspection result of view data or matching result are undesirable, then result is sent to monitoring module 13.Monitoring module 13 sends control instruction through ground communication module 12 and wireless communication module 9 to controlling processing unit 1.Control processing unit 1 and send control instruction to image capture module 3 and range finder module 4, visible image capturing head and infrared thermography are carried out pose adjustment and correction, adjust unmanned plane and the distance of transmission line equipment and the flying height of unmanned plane, re-start image acquisition.
Embodiment of above is merely to illustrate this utility model; and be not limitation of the utility model; those of ordinary skill about technical field; in the case of without departing from spirit and scope of the present utility model; can also make a variety of changes and modification; the technical scheme of the most all equivalents falls within category of the present utility model, and scope of patent protection of the present utility model should be defined by the claims.
Claims (4)
1. a unmanned plane power-line patrolling system, it is characterised in that this system includes:
The data acquisition unit (10) being arranged in unmanned plane and the data handling system (11) being arranged on ground monitoring center；
Wherein, data acquisition unit (10) including: controls processing unit (1), power module (2), image capture module (3), range finder module (4), selftest module (5), data memory module (6), GIS information module (7), GPS navigation module (8) and wireless communication module (9)；
Data handling system (11) including: ground communication module (12), image processing module (14), image display (15), image storage module (16) and monitoring module (13).
2. unmanned plane power-line patrolling system as claimed in claim 1, it is characterised in that described unmanned plane uses the X many rotor wing unmanned aerial vehicles of series that Tianjin Zhong Xiangtenghang Science and Technology Ltd. develops.
3. unmanned plane power-line patrolling system as claimed in claim 1, it is characterised in that described control processing unit (1), is used for controlling the work of each functional module (3,4,5,6,7,8,9)；
Described power module (2), uses the accumulator of 12V or 24V, the power supply needed for providing system to run；
Described image capture module (3), including visible image capturing head and infrared thermography, for gathering the view data of transmission line equipment；
Described range finder module (4), including laser range finder and altimeter, for measuring distance and the flying height of unmanned plane of unmanned plane and transmission line equipment；
Described control processing unit (1), it is additionally operable to receive the control instruction of the monitoring module (13) that wireless communication module (9) transmits, control instruction is sent to image capture module (3) and range finder module (4), visible image capturing head and infrared thermography are carried out pose adjustment and correction, adjusts unmanned plane and the distance of transmission line equipment and the flying height of unmanned plane；
Described selftest module (5), during unmanned plane during flying, whether real-time self-measuring battery electricity and unmanned plane break down；
Described data memory module (6), is used for storing the data of each functional module (3,4,7,8)；
Described GIS information module (7), for gathering the geographical position of transmission line equipment, administrative region and landform condition information；
Described GPS navigation module (8), for receiving and resolve the GPS information of unmanned plane；
Described wireless communication module (9), is used for transmitting the data of each functional module (3,4,7,8), receives the control instruction of the monitoring module (13) transmitted through ground communication module (12).
4. unmanned plane power-line patrolling system as claimed in claim 1, it is characterized in that, described ground communication module (12), is used for receiving the data that wireless communication module (9) transmits, the control instruction of transmission state monitoring module (13)；
Described image processing module (14), is used for reading the view data that ground communication module (12) receives, view data carries out definition inspection and availability inspection, filters out the image including defect equipment；
Described image processing module (14), it is additionally operable to receive the data of the functional module (7,8) that monitoring module (13) transmits, determine the GPS information of image taking, it is associated with GIS information, complete the coupling of image attributes information, if the inspection result of view data or matching result are undesirable, then result is sent to monitoring module (13)；
Described monitoring module (13), receive the data of each functional module (3,4,7,8) that ground communication module (12) is transmitted, interact with image processing module (14), the result sent according to image processing module (14), sends control instruction through ground communication module (12) and wireless communication module (9) to controlling processing unit (1)；
Described image display (15), is used for showing the image information that image processing module (14) has mated, it is achieved man-machine interaction；
Described image storage module (16), is used for storing the image information that image processing module (14) has mated, in case the later stage calls.
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| CN106099763A (en) * | 2016-08-18 | 2016-11-09 | 天津中翔腾航科技股份有限公司 | A kind of power transmission line unmanned machine inspection device |
| CN106200676A (en) * | 2016-08-18 | 2016-12-07 | 广州地理研究所 | A kind of monitoring system based on unmanned plane |
| CN106598064A (en) * | 2016-10-19 | 2017-04-26 | 广东容祺智能科技有限公司 | Unmanned aerial vehicle circuit line intelligent identification device and method |
| CN106777347A (en) * | 2017-01-17 | 2017-05-31 | 广东容祺智能科技有限公司 | A kind of unmanned plane power-line patrolling big data processing system |
| CN106767683A (en) * | 2016-12-12 | 2017-05-31 | 天津凡旋科技有限公司 | Measurement apparatus and method of a kind of unmanned plane of electronic information field to ground level |
| CN106909169A (en) * | 2017-03-30 | 2017-06-30 | 广东容祺智能科技有限公司 | A kind of full automatic power patrol UAV system |
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| CN108227733A (en) * | 2017-11-30 | 2018-06-29 | 国网河南省电力公司偃师市供电公司 | A kind of method and apparatus of insulation fault location in ungrounded electric power system |
| CN108923326A (en) * | 2018-08-29 | 2018-11-30 | 华南理工大学 | A kind of round-the-clock power grid unmanned plane automatic running on transmisson line system and its operation method |
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| CN110162076A (en) * | 2019-06-11 | 2019-08-23 | 西南交通大学 | A kind of contact net fully-automatic intelligent cruising inspection system and method for inspecting based on unmanned plane |
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| CN106200676A (en) * | 2016-08-18 | 2016-12-07 | 广州地理研究所 | A kind of monitoring system based on unmanned plane |
| CN106099763A (en) * | 2016-08-18 | 2016-11-09 | 天津中翔腾航科技股份有限公司 | A kind of power transmission line unmanned machine inspection device |
| CN106598064A (en) * | 2016-10-19 | 2017-04-26 | 广东容祺智能科技有限公司 | Unmanned aerial vehicle circuit line intelligent identification device and method |
| CN106767683B (en) * | 2016-12-12 | 2019-08-09 | 广州禹卓勘测技术有限公司 | A kind of measuring device and method of the unmanned plane distance away the ground of electronic information field |
| CN106767683A (en) * | 2016-12-12 | 2017-05-31 | 天津凡旋科技有限公司 | Measurement apparatus and method of a kind of unmanned plane of electronic information field to ground level |
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| CN106909169A (en) * | 2017-03-30 | 2017-06-30 | 广东容祺智能科技有限公司 | A kind of full automatic power patrol UAV system |
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| CN107491093A (en) * | 2017-07-13 | 2017-12-19 | 华北水利水电大学 | A kind of high-power supply path Tracking Recognition device and method |
| CN107544537A (en) * | 2017-08-30 | 2018-01-05 | 中北大学 | A kind of anti-tampering power-line patrolling unmanned plane |
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| CN109405803A (en) * | 2018-10-23 | 2019-03-01 | 贵州省第三测绘院 | The method and apparatus that Airborne Data Classification obtains |
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| CN109560499A (en) * | 2018-12-10 | 2019-04-02 | 广东电网有限责任公司 | A kind of inspection system |
| CN110162076A (en) * | 2019-06-11 | 2019-08-23 | 西南交通大学 | A kind of contact net fully-automatic intelligent cruising inspection system and method for inspecting based on unmanned plane |
| CN110737282A (en) * | 2019-10-25 | 2020-01-31 | 云南电网有限责任公司电力科学研究院 | Remote control unmanned aerial vehicle infrared temperature measurement system for power transmission line |
| CN113071671A (en) * | 2021-04-08 | 2021-07-06 | 贵州电网有限责任公司 | Automatic unmanned aerial vehicle that patrols and examines with real-time dynamic control power equipment |
| CN116581687A (en) * | 2023-07-14 | 2023-08-11 | 陕西协成测试技术有限公司 | Self-propelled inspection device for power transmission line |
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