CN205543960U - High efficiency unmanned aerial vehicle crowd power patrol inspection system - Google Patents
High efficiency unmanned aerial vehicle crowd power patrol inspection system Download PDFInfo
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- CN205543960U CN205543960U CN201620121793.7U CN201620121793U CN205543960U CN 205543960 U CN205543960 U CN 205543960U CN 201620121793 U CN201620121793 U CN 201620121793U CN 205543960 U CN205543960 U CN 205543960U
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- unmanned aerial
- many rotor
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- aerial vehicle
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Abstract
The utility model discloses a high efficiency unmanned aerial vehicle crowd power patrol inspection system is applied to patrolling and examining of under complicated ground environment power line very much. The system includes: light -duty manned helicopter and many rotor unmanned aerial vehicle group of planes. Manned helicopter is provided with patrols and examines data processing platform, many rotor unmanned aerial vehicle control platform, many rotor unmanned aerial vehicle crowd condition monitoring platform. Many rotor unmanned aerial vehicle are provided with high definition surveillance camera machine, infrared thermal imager. Light -duty manned helicopter and the mode communication of many rotor unmanned aerial vehicle crowd with the one -to -many as aerial mobility control command platform. Aerial mobility control command platform issue an order, many rotor unmanned aerial vehicle crowd is respectively according to the received command execution task of patrolling and examining to the extremely aerial mobility control command platform of the real -time data transmission that will gather respectively. The data processing platform that patrols and examines who lies in on the aerial mobility control command platform carries out analysis processes to the data of sending back, according to the regional classification of difference to mark data acquisition's geographical position.
Description
Technical field
This utility model belongs to the operating maintenance field of power system, relates to unmanned plane polling transmission line neck
Territory, especially a kind of high efficiency unmanned plane power transmission line polling system and method for inspecting.
Background technology
China is vast in territory, with a varied topography changeable, and overhead power line covers a wide range especially, passes through district
Territory is with a varied topography and natural environment is severe.Traditional artificial line method for inspecting not only labor intensity is big, consumption
Shi Duo, and inefficiency can not check fault comprehensively.If running into acrossing highway, railway, river course
And the complex road condition such as other alive circuits, manual inspection mode is because can not check that line conditions exists inspection comprehensively
Look into dead angle, leave potential safety hazard.In recent years, unmanned plane is patrolled and examined and is applied greatly in terms of power system,
Modal have manned helicopter routing inspection, fixed-wing unmanned plane to patrol and examine and many rotor wing unmanned aerial vehicles electric inspection process etc..
Fixed-wing unmanned plane has the advantages such as speed is fast, hang time length, flying radius are big, but fixed-wing is unmanned
Machine cannot aloft hover and therefore cannot find some tiny faults；It is unmanned that manned helicopter has fixed-wing
The problem that machine is similar, although depopulated helicopter can accomplish hovering, but fluctuation is big, volume is big, inspection
Look into and there is dead angle.Many rotor wing unmanned aerial vehicles have simple to operate, for ease of maintenaince, the advantage such as hovering is stable, but
Flying power deficiency becomes the maximum obstruction limiting the application of many rotor wing unmanned aerial vehicles.Unmanned plane for electric inspection process
In addition to being limited by problems described above, also short by communication distance, capacity of resisting disturbance is weak, safety is difficult to
The difficult problems such as guarantee.
Utility model content
In order to overcome above-mentioned the deficiencies in the prior art, this utility model provides a kind of high efficiency unmanned aerial vehicle group electricity
Power cruising inspection system.For making up the defect of unmanned plane power circuit polling on prior art conditioned basic.
The problems referred to above of existence, the technical scheme that this utility model is used is patrolled and examined for solving current unmanned plane
It is:
A kind of high efficiency unmanned aerial vehicle group Power Line Inspection System, including light passenger's helicopter and many rotor wing unmanned aerial vehicles
Group；Described light passenger's helicopter 1 is equipped with patrols and examines data processing platform (DPP) 2, and many rotor wing unmanned aerial vehicles group's state is supervised
Control platform rotor wing unmanned aerial vehicle more than 3 controls platform 4, and communication system；Described many rotor wing unmanned aerial vehicles are equipped with
Infrared thermography 13, high-definition camera 14, data transmission radio station 15, image transmitting radio station 16；As
Light passenger's helicopter of aerial mobile control maneuvering platform and many rotor wing unmanned aerial vehicles group are in the way of one-to-many
Communication；Aerial mobile controls maneuvering platform and issues control instruction, and many rotor wing unmanned aerial vehicles group is according to this control instruction
Described maintenance object is carried out the multi-faceted collaborative realtime image data patrolling and examining to obtain described maintenance object, with
Time respectively by this realtime image data by described image transmitting radio station send to described aerial mobile control refer to
Wave platform.
On the manned helicopter that each unmanned plane constituting many rotor wing unmanned aerial vehicles group can aloft hover
Many rotor wing unmanned aerial vehicles operator region 5 in face uses many rotor wing unmanned aerial vehicles R-T unit 6 to complete to let fly away and regain
Task.
So, aerial mobile controls maneuvering platform and many rotor wing unmanned aerial vehicles group maintains a certain distance one and takes off
OK, for monitoring the status information of many rotor wing unmanned aerial vehicles group, number is patrolled and examined to what many rotor wing unmanned aerial vehicles fed back
According to processing, it is responsible for the control to many rotor wing unmanned aerial vehicles group.Break down at the many rotor wing unmanned aerial vehicles of certain height
Or being responsible for regaining this many rotor wing unmanned aerial vehicles during electric power deficiency, pending fault continues current work after removing.
It is positioned at the controllers above manned helicopter and can control unmanned aerial vehicle group by two ways: first
Planting control mode is: the video camera real time imaging that controllers is sent back by observing image controls unmanned
Machine；The second control mode is: when distance when between manned helicopter and many rotor wing unmanned aerial vehicles group is comparatively short,
It is positioned at the controllers above manned helicopter and directly can control many rotor wing unmanned aerial vehicles by eye-observation
Through row patrol task.
Many rotor wing unmanned aerial vehicles group receives aerial mobile and controls the control instruction of maneuvering platform, is responsible for transmission line of electricity
With the inspection of shaft tower, for patrolling and examining status information and patrolling and examining data and carry out local monitor, to patrolling and examining picture number
According to carrying out pretreatment.Finally the image detected is sent to aerial mobile and controls maneuvering platform.
Aerial mobile controls maneuvering platform and includes: light passenger's helicopter, patrols and examines data processing platform (DPP), revolves more
Wing unmanned aerial vehicle (UAV) control platform, many rotor wing unmanned aerial vehicles group's condition monitoring platform and communication system.
Many rotor wing unmanned aerial vehicles group is made up of four rotor wing unmanned aerial vehicles of multiple identical band rotor protective covers, specifically counts
Measure depending on the quantity that job demand and aerial mobile control the controllers that maneuvering platform carries.
Light passenger's helicopter is Bel's series light helicopter of stable performance, this light passenger's helicopter edge
Transmission line of electricity moves with many rotor wing unmanned aerial vehicles group simultaneously, is responsible for carrying various control platforms and many rotor wing unmanned aerial vehicles
Controllers.
Patrol and examine the shooting that many rotor wing unmanned aerial vehicles each in many rotor wing unmanned aerial vehicles group are fed back by data processing platform (DPP)
The image of machine image and infrared thermography finds wherein to exist after corresponding image processing algorithm filters
Fault and labelling.
Many rotor wing unmanned aerial vehicles control platform by unmanned aerial vehicle (UAV) control personnel by aircraft figure conduct electricity that platform sends back real-time
Image rotor wing unmanned aerial vehicle many to each in many rotor wing unmanned aerial vehicles group is through row motor control.
Many rotor wing unmanned aerial vehicles group's condition monitoring platform monitoring shows the real-time shape of the many rotor wing unmanned aerial vehicles worked
State, including electricity and the running status of modules.When the many rotor wing unmanned aerial vehicles of certain worked occur
Alarm is sent when fault or electricity deficiency.
Communication system is responsible for the data classification display sent back by each many rotor wing unmanned aerial vehicles, and to each many
Rotor wing unmanned aerial vehicle sends control instruction.
Many rotor wing unmanned aerial vehicles complete machine with rotor protective cover is served as by the four-axle aircraft that volume is relatively small, on
Face can simultaneously carry high-definition camera and infrared thermography, and high-definition camera is carry flies at four axles
On The Cloud Terrace below row device.
High definition photographing unit is mainly used in shooting visual image.Visual image is sent to aerial mobile by the figure platform that conducts electricity
Control maneuvering platform.Infrared thermography then detects the real-time temperature data patrolling and examining on circuit.Infra-red heat
The image of imager by figure conduct electricity platform be sent to aerial mobile control maneuvering platform.
Compared with prior art, the beneficial effects of the utility model are: according to this utility model, at many rotors
When electricity deficiency occurs in unmanned plane, aerial mobile controls maneuvering platform these many rotor wing unmanned aerial vehicles the most recoverable, treats
Row can be continued on through after changing the battery that electricity is sufficient and patrol and examine work.This mode is at the bottleneck of existing battery technology
Under, greatly increase the flying power of many rotor wing unmanned aerial vehicles.
Using this utility model system, each systems all including many rotor wing unmanned aerial vehicles controllers are equal
Aloft move.This routine inspection mode breaches traditional routine inspection mode with ground as base station, also makes to hold
Row patrol task is no longer limited by landform.Therefore this utility model can perform the power circuit of various complexity
Patrol task.Aerial mobile controls maneuvering platform and starts shipment with the many rotor wing unmanned aerial vehicles group one performing patrol task
Dynamic, and the distance that aerial mobile controls between maneuvering platform and many rotor wing unmanned aerial vehicles group is the shortest.In this distance
In the range of, the many rotors controllers being positioned on aerial mobile control maneuvering platform can not also be passed by figure
The image that radio station is sent back is through the control of the many rotor wing unmanned aerial vehicles of row, but directly controls to revolve by eye-observation more
Wing unmanned plane patrol and examine motion.So can overcome the restriction of camera review narrow range, improve many greatly
The safety of rotor wing unmanned aerial vehicle manipulation.
Using this utility model to patrol and examine power circuit, many rotor wing unmanned aerial vehicles size is little, motion is flexible, and
And be the collaborative inspection together of multiple many rotor wing unmanned aerial vehicles, while so making to patrol and examine efficiency raising, make again
Check and more see comprehensively, find that the probability of fault is bigger.Manned helicopter and many rotor wing unmanned aerial vehicles perform simultaneously
The working method of power circuit polling improves the adaptability of whole system, improves work efficiency.
Accompanying drawing explanation
Fig. 1 is the block diagram of high efficiency unmanned aerial vehicle group Power Line Inspection System described in the utility model；
Fig. 2 is many rotor wing unmanned aerial vehicles structured flowchart
Fig. 3 is the work that high efficiency unmanned aerial vehicle group Power Line Inspection System described in the utility model checks multiple shaft tower simultaneously
Industry figure；
Fig. 4 is the flow diagram of high efficiency unmanned aerial vehicle group Power Line Inspection System power-line patrolling described in the utility model；
Fig. 5 is the operation that high efficiency unmanned aerial vehicle group Power Line Inspection System described in the utility model checks single shaft tower
Figure.
Wherein, 1. light passenger's helicopter, 2. patrol and examine data processing platform (DPP), 3. more than rotor wing unmanned aerial vehicle group state
Monitor supervision platform, 4. more than rotor wing unmanned aerial vehicle group control platform, 5. more than rotor wing unmanned aerial vehicle operator region, 6. many rotations
Wing unmanned plane R-T unit, 7. communication system, 8-10: sub many rotor wing unmanned aerial vehicles, 11. communicators, 12.
Four-axle aircraft, 13. infrared thermographies, 14. high-definition cameras, 15. data transmission radio stations, 16. images
Transmission radio station.
Detailed description of the invention
In order to make the purpose of this utility model, technical scheme and advantage clearer, will retouch at following
State the detailed step of middle proposition and detailed structure, in order to explaination the technical solution of the utility model.
As it is shown in figure 1, the high efficiency unmanned aerial vehicle group Power Line Inspection System that this utility model provides specifically includes that
Light passenger's helicopter main body 1, many rotor wing unmanned aerial vehicles complete machine 8 of multiple band rotor protective covers, patrol and examine data
Processing platform 2, many rotor wing unmanned aerial vehicles group control platform 4, many rotor wing unmanned aerial vehicles group's condition monitoring platform.
As in figure 2 it is shown, be provided with high-definition monitoring camera 14 on many rotor wing unmanned aerial vehicles, infrared thermography 13,
Airplane data transmission radio station 15, aircraft brake disc transmission radio station 16.
As it is shown on figure 3, for this high efficiency unmanned aerial vehicle group Power Line Inspection System for patrol and examine simultaneously multiple shaft tower or
The routine inspection mode of target.This kind of routine inspection mode can be taked to patrolling and examining the intensive region of target distribution.At Fig. 3
In depict simultaneously patrolling and examining through 4 target shaft towers of row, increasing that in practice can be the most suitable
Add and reduce the quantity of many rotor wing unmanned aerial vehicles.
As shown in Figure 4, for concrete in power circuit polling of this high efficiency unmanned aerial vehicle group Power Line Inspection System
Application.Take upper from electric power cable respectively of rotor wing unmanned aerial vehicle more than three at whole power circuit the most simultaneously
Portion, left part and right part to same section of power circuit simultaneously through row patrol task.Patrolling and examining without dead angle can be accomplished.
As it is shown in figure 5, that patrols and examines a shaft tower for this high efficiency unmanned aerial vehicle group Power Line Inspection System specifically should
With.Under a shaft tower surrounding stood still for a long while uses rotor wing unmanned aerial vehicle more than 3 to take simultaneously on the side of patrolling and examining
Formula.Avoid same many rotor wing unmanned aerial vehicles to stop the too much time in deathtrap, reduce the possibility broken down
Property.
The high-definition camera that all of many rotor wing unmanned aerial vehicles carry in this high efficiency unmanned aerial vehicle group Power Line Inspection System
All it is mounted on the The Cloud Terrace above many rotor wing unmanned aerial vehicles.
In this utility model, light passenger's helicopter 1 is connected with many rotor wing unmanned aerial vehicles group communication.Wherein,
Maintenance object is patrolled and examined shooting to obtain real time imaging according to DC instruction by many rotor wing unmanned aerial vehicles group
Data, and realtime image data is sent to aerial mobile control maneuvering platform by image transmitting radio station 16
Control terminal, and then realize maintenance object is patrolled and examined operation.
In embodiment of the present utility model, light passenger's helicopter is unsettled aloft, unmanned apart from many rotors
Group of planes a certain distance；Traditional cruising inspection system mainly flies in mountainous environment because of task helicopter, many
Communication signal between earth station and task helicopter can be interfered by the environment on mountain and the magnetic field of complexity,
And then constrain job area and the advantage of tradition cruising inspection system.In the present embodiment, by by manned helicopter
Flight aloft, and is moved with many rotor wing unmanned aerial vehicles group, i.e. aerial mobile controls maneuvering platform and task
Unmanned plane direct communication link, therefore avoids mountainous environment and weakens the obstruction of communication signal.
In embodiment of the present utility model, light passenger's helicopter and the maximum distance of many rotor wing unmanned aerial vehicles group
Up to 15 kilometers.In actual patrol task, between general light passenger's helicopter and target to be inspected away from
The most preferable from patrolling and examining effect between 50 meters to 100 meter scopes.
The described power-line patrolling system of example one carries out the concrete operations mode of power circuit line walking below:
(1), light passenger's depopulated helicopter 1 carries four-axle aircraft and the unmanned plane of composition many rotor wing unmanned aerial vehicles group
Controllers fly to away to be measured patrol and examine target 100 meters in the range of；
(2), unmanned aerial vehicle (UAV) control personnel let fly away for performing patrol task respectively on the manned helicopter of hovering
Many rotor wing unmanned aerial vehicles, at least let the three many rotor wing unmanned aerial vehicles of frame fly away；
(3), each unmanned aerial vehicle (UAV) control human users one is used for performing the unmanned plane of patrol task, light passenger
Circuit given area to be detected is arrived in by plane after taking off on helicopter.On the top of electric power cable to be inspected, left part,
Right part has the many rotor wing unmanned aerial vehicles of frame respectively.Make head towards consistent with line direction, control unmanned plane and hang
Stop；Control rotor wing unmanned aerial vehicle more than three in same vertical plane as far as possible；
(4), CCTV camera acquisition monitoring scenic picture, and by image transmitting radio station by CCTV camera collection
Picture transmission to aerial mobile control maneuvering platform image analysis processor；
(5), the airborne CCTV camera received is adopted by the image analysis processor of aerial mobile control maneuvering platform
The picture of collection operates；
(6), it is positioned at the many rotor wing unmanned aerial vehicles controllers above helicopter to strive making controlled many rotor wing unmanned aerial vehicles
Can the consistent flight forward of speed, and constantly transmit the view data collected；
(7), task to be inspected terminate, be positioned at the many rotor wing unmanned aerial vehicles controllers above helicopter and will perform times
Many rotor wing unmanned aerial vehicles of business are recovered to above helicopter successively；
(8), task terminates, helicopter carries unmanned plane and controllers is maked a return voyage.
The above carries out the concrete operations mode of power circuit line walking for power-line patrolling system, if for multiple bars
The operation of specifically patrolling and examining of tower or a shaft tower is referred to the mode of operation to power circuit polling.
The content not being described in detail in this specification belongs to existing skill known to professional and technical personnel in the field
Art.Above-mentioned detailed description of the invention is preferred embodiment of the present utility model, can not carry out this utility model
Limit, all within spirit of the present utility model and principle, any amendment of being made, equivalent etc., all
Within protection domain of the present utility model should be included in.
Claims (6)
1. a high efficiency unmanned aerial vehicle group Power Line Inspection System, it is characterised in that include light passenger's helicopter and many rotor wing unmanned aerial vehicles group；Light passenger's helicopter (1) is equipped with patrols and examines data processing platform (DPP) (2), and many rotor wing unmanned aerial vehicles group's condition monitoring platform (3) many rotor wing unmanned aerial vehicles control platform (4) and communication system；Many rotor wing unmanned aerial vehicles are equipped with infrared thermography (13), high-definition camera (14), data transmission radio station (15), image transmitting radio station (16)；The light passenger's helicopter controlling maneuvering platform as aerial mobile communicates in the way of one-to-many with many rotor wing unmanned aerial vehicles group；Aerial mobile controls maneuvering platform and issues control instruction, many rotor wing unmanned aerial vehicles group carries out multi-faceted working in coordination with according to this control instruction to maintenance object and patrols and examines to obtain the realtime image data of maintenance object, is sent to aerial mobile control maneuvering platform by image transmitting radio station by this realtime image data the most respectively.
High efficiency unmanned aerial vehicle group Power Line Inspection System the most according to claim 1, it is characterised in that many rotor wing unmanned aerial vehicles group is made up of four rotor wing unmanned aerial vehicles of multiple identical band rotor protective covers.
High efficiency unmanned aerial vehicle group Power Line Inspection System the most according to claim 2, it is characterised in that: the many rotor wing unmanned aerial vehicles operator region (5) above manned helicopter that each unmanned plane constituting many rotor wing unmanned aerial vehicles group can aloft hover uses many rotor wing unmanned aerial vehicles R-T unit (6) to complete letting fly away and regaining of task.
High efficiency unmanned aerial vehicle group Power Line Inspection System the most according to claim 1, it is characterized in that, being positioned at the controllers above manned helicopter can control unmanned aerial vehicle group by two ways: the first control mode is: the video camera real time imaging that controllers is sent back by observing image controls unmanned plane；The second control mode is: when distance when between manned helicopter and many rotor wing unmanned aerial vehicles group is comparatively short, being positioned at the controllers above manned helicopter directly can control many rotor wing unmanned aerial vehicles through row patrol task by eye-observation.
High efficiency unmanned aerial vehicle group Power Line Inspection System the most according to claim 1, it is characterised in that the controllers above manned helicopter can use stabilization telescope when observing the unmanned aerial vehicle group of execution task when distant.
High efficiency unmanned aerial vehicle group Power Line Inspection System the most according to claim 1, it is characterised in that many rotor wing unmanned aerial vehicles communication system includes data transmission radio station and image transmitting radio station.
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| CN201620121793.7U CN205543960U (en) | 2016-02-15 | 2016-02-15 | High efficiency unmanned aerial vehicle crowd power patrol inspection system |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105514872A (en) * | 2016-02-15 | 2016-04-20 | 西南交通大学 | High-efficiency unmanned aerial vehicle group power inspection system |
| CN106530839A (en) * | 2016-11-30 | 2017-03-22 | 中国航空工业集团公司沈阳飞机设计研究所 | Unmanned aerial vehicle assembly line type takeoff and landing method based on double ground stations |
| CN106598074A (en) * | 2017-01-10 | 2017-04-26 | 湖南工学院 | Method for improving stability of unmanned aerial vehicle, and aerial photography based area dynamic patrol system |
| CN107979026A (en) * | 2018-01-08 | 2018-05-01 | 安徽理工大学 | A kind of hung outside helicopter power grid inspection device |
| CN109687344A (en) * | 2018-12-28 | 2019-04-26 | 华赫电力技术（银川）有限公司 | A kind of unmanned plane removing system based on power grid foreign matter |
| CN111028377A (en) * | 2019-11-22 | 2020-04-17 | 深圳供电局有限公司 | Inspection system of power transmission line and transmission method of inspection data |
| CN111325943A (en) * | 2020-02-26 | 2020-06-23 | 中电福富信息科技有限公司 | Method and system for carrying out large-range forest fire prevention patrol early warning based on unmanned aerial vehicle |
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2016
- 2016-02-15 CN CN201620121793.7U patent/CN205543960U/en not_active Expired - Fee Related
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105514872A (en) * | 2016-02-15 | 2016-04-20 | 西南交通大学 | High-efficiency unmanned aerial vehicle group power inspection system |
| CN106530839A (en) * | 2016-11-30 | 2017-03-22 | 中国航空工业集团公司沈阳飞机设计研究所 | Unmanned aerial vehicle assembly line type takeoff and landing method based on double ground stations |
| CN106530839B (en) * | 2016-11-30 | 2019-07-19 | 中国航空工业集团公司沈阳飞机设计研究所 | A kind of unmanned plane pipeline system landing method based on double earth stations |
| CN106598074A (en) * | 2017-01-10 | 2017-04-26 | 湖南工学院 | Method for improving stability of unmanned aerial vehicle, and aerial photography based area dynamic patrol system |
| CN107979026A (en) * | 2018-01-08 | 2018-05-01 | 安徽理工大学 | A kind of hung outside helicopter power grid inspection device |
| CN109687344A (en) * | 2018-12-28 | 2019-04-26 | 华赫电力技术（银川）有限公司 | A kind of unmanned plane removing system based on power grid foreign matter |
| CN111028377A (en) * | 2019-11-22 | 2020-04-17 | 深圳供电局有限公司 | Inspection system of power transmission line and transmission method of inspection data |
| CN111028377B (en) * | 2019-11-22 | 2022-07-05 | 深圳供电局有限公司 | Inspection system of power transmission line and transmission method of inspection data |
| CN111325943A (en) * | 2020-02-26 | 2020-06-23 | 中电福富信息科技有限公司 | Method and system for carrying out large-range forest fire prevention patrol early warning based on unmanned aerial vehicle |
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160831 Termination date: 20200215 |
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| CF01 | Termination of patent right due to non-payment of annual fee |