CN208751498U - A kind of electric power line ice-covering thickness accurate measuring systems - Google Patents
A kind of electric power line ice-covering thickness accurate measuring systems Download PDFInfo
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- CN208751498U CN208751498U CN201821785185.1U CN201821785185U CN208751498U CN 208751498 U CN208751498 U CN 208751498U CN 201821785185 U CN201821785185 U CN 201821785185U CN 208751498 U CN208751498 U CN 208751498U
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Abstract
The utility model discloses a kind of electric power line ice-covering thickness accurate measuring systems, three axis holders, camera and range finding probe including hanging on unmanned plane, camera, ultrasonic probe and laser probe are mounted on the pitching rotation pedestal of three axis holders and shooting direction and distance measurement direction keeping parallelism.The utility model installs camera and range finder module (ultrasonic probe and laser probe) by three axis holders of suspension unmanned plane, realize the precise measurement of electric power line ice-covering thickness, using two kinds of range finding probes of ultrasonic probe and laser probe, it can be for the measurement in the case of varying environment, it realizes and has complementary advantages and be compared to each other, so that measurement data is more accurate, test leakage situation is avoided.
Description
Technical field
The utility model relates to a kind of electric power line ice-covering thickness accurate measuring systems, belong to ice covering thickness measuring device skill
Art field.
Background technique
Current unmanned plane power circuit polling, it is main that optical imaging apparatus is relied on to carry out qualitative analysis, it need to carry out more smart
It really when the dimensional measurement of (centimetre or grade), often needs using laser imaging apparatus, not only buying expenses are high, and when using
It is excited the influence such as luminous point cloud density, scanning distance, it is not high to the resolution ratio of small-size object, high density distribution apparatus, such as exist
Wire icing thickness measure, fitting corrosion area measurement, wire strand breakage quantitative analysis etc. laser scanning are with regard to helpless；People
Work patrol and detection sees ice station and on-line checking etc., and manual patrol large labor intensity, time are long, and testing result accuracy is not high
The problems such as.And the weight method, conducting wire inclination angle-arc sag method in on-line checking are indirect measurement, the data obtained is not intuitive, and indirectly
The overall condition being only capable of for icing in shelves is calculated, icing situation continuously can not be intuitively reacted, and image method is applied to admittedly more
Fixed online monitoring device, observed range is close, and there are snow and ice cover cameras to influence the case where observing, and limits larger.
Summary of the invention
Technical problem to be solved by the utility model is: a kind of electric power line ice-covering thickness accurate measuring systems are provided, with
Solve above-mentioned problems of the prior art.
The technical solution that the utility model is taken are as follows: a kind of electric power line ice-covering thickness accurate measuring systems, including suspension
In three axis holders, camera and the range finding probe of unmanned plane, camera, ultrasonic probe and laser probe are mounted on the pitching of three axis holders
It rotates on pedestal and shooting direction and distance measurement direction keeping parallelism.
Preferably, the cable release of above-mentioned camera and ultrasonic probe are electrically connected to controller one, and laser probe is electrically connected to control
Device two processed, is electrically connected between controller one and controller two, and controller two is connected to controller three, controller by wireless module one
Three are electrically connected to video laminating module, and video laminating module is electrically connected with the vision signal end of camera, and video laminating module passes through
Wireless module two is connected to ground monitoring terminal.
The utility model has the beneficial effects that compared with prior art, the effect of the utility model is as follows:
(1) the utility model by three axis holders of suspension unmanned plane install camera and range finder module (ultrasonic probe and
Laser probe), it realizes the precise measurement of electric power line ice-covering thickness, is visited using two kinds of rangings of ultrasonic probe and laser probe
Head can be realized for the measurement in the case of varying environment and have complementary advantages and be compared to each other, so that measurement data is more smart
Really, test leakage situation is avoided；
(2) wireless transmission data are used in range finder module, are reduced cable arrangement, are improved holder functional reliability
And stability, the long-range monitoring on ground is realized using wireless module teletransmission data to ground；
(3) connection type of three controllers is used, it is independent to carry out operation, it can be improved operation efficiency and data transmission be reliable
Property.
Detailed description of the invention
Fig. 1 is the schematic perspective view of the utility model；
Fig. 2 is the forward sight structural schematic diagram of the utility model；
Fig. 3 is the overlooking structure diagram of the utility model；
Fig. 4 is the left view structural representation of the utility model；
Fig. 5 is the backsight structural representation of the utility model；
Fig. 6 is imaging schematic diagram；
Fig. 7 is simple circuit block diagram.
Specific embodiment
With reference to the accompanying drawing and the utility model is described further in specific embodiment.
Embodiment 1: as shown in Fig. 1-Fig. 7, a kind of electric power line ice-covering thickness accurate measuring systems, including hang on nobody
Three axis holders 1, camera 2, ultrasonic probe 3 and the laser probe 4 of machine, camera 2, ultrasonic probe 3 and laser probe 4 are mounted on three axis
On the pitching rotation pedestal 5 of holder 1 and shooting direction and distance measurement direction keeping parallelism.
Preferably, the cable release of above-mentioned camera 2 and ultrasonic probe 3 are electrically connected to controller one, and laser probe 4 is electrically connected to
Controller two is electrically connected between controller one and controller two, and controller two is connected to controller three by wireless module one, is controlled
Device three is electrically connected to video laminating module, and video laminating module is electrically connected with the vision signal end of camera 2, and video laminating module is logical
It crosses wireless module two and is connected to ground monitoring terminal.
Three axis holders 1 include vertical rotating mechanism 7, handstand L-type support 8, the driving mechanism that is swung left and right 9, crossbeam 10, pitching
Arm 11 and pitching driving mechanism 12 and pitching rotate pedestal 5, and vertical 7 upper end of rotating mechanism is fixedly connected with suspension plate 6, and lower end connects
It connects handstand L-type support 8 and handstand L-type support 8 can be driven to rotate, 8 lower end of handstand L-type support connects the driving mechanism that is swung left and right
9, the driving mechanism that is swung left and right 9 exports round end connecting cross beam 10 and crossbeam 10 can be driven to be swung left and right, and 10 both ends of crossbeam are equal
It is connected with a pitch arm 11, pitching is connected by pitching driving mechanism 12 between two pitch arms 11 and rotates pedestal 5, pitching driving mechanism
12 can drive pitching to rotate 5 pitching movement of pedestal.
A kind of measurement method of electric power line ice-covering thickness accurate measuring systems, this method are as follows:
(1) ranging is carried out to target using ultrasonic probe and laser probe；
(2) the data obtained in step (1) is synthesized into a data packet, controller three is transferred to by wireless module one；
(3) controller three carries out data data processing and to remove background invalid data, obtain one it is nearest with unmanned plane
Data, this group of data are actual range between conducting wire, fitting and camera gun；
(4) video laminating module is sent data to by controller three again to be overlapped with camera real time video image, lead to
It crosses wireless transport module two and reaches the display of ground monitoring terminal and show that operator can effectively be controlled by ground data
Distance carries out spacing shooting between unmanned plane and measured object；
(5) it is compared by the actual size and normal size that are measured to target, realizes ice covering thickness measurement.
Data processing in step (3): use filtering algorithm: when unmanned plane inspection, by passback real time video image into
The preliminary distance assessment of row, when close to 20 meters of shaft tower speed can be reduced to 4 meter per seconds hereinafter, and by atmospherical discharges required distance,
Porcelain vase and fitting are all larger than one meter or more apart from tower body, calculate by supersonic sounding minimum data refresh rate 50 times, such as unmanned plane
4 meter per second of maximum speed when close to tower, then simple target single data fluctuations should be not more than 8 centimetres/time；And unmanned plane inspection is
Close on the outside of tower, porcelain vase, fitting can be considered nearest target reflection point, therefore preliminary using by group recycle ratio pair, compare 7 every time
A echo data is a cycle, after comparing out single group minimum data, will more new data compares therewith every time, variation in the period
The valid data that are accordingly to be regarded as less than 560 centimetres retain update, and what is be greater than abandons, filters；As being big data in the period, then regard
For measuring distance of target conversion, the data filtering and extraction that minimum data carries out a new round are compared out again by seven new echoes.Swash
Because data refresh rate reaches 150HZ or more bigger comparison data group can be used, while use is more multiple in ligh-ranging module
Miscellaneous calculation carries out data filtering, and final ranging data refresh rate, accuracy rate will all be improved to a new degree.
It is main in the utility model only to be measured according to optical camera image-forming principle using the method for calibration angle lens
Every pixel actual size is determined by triangulation under conditions of distance, carries out pixel finally by target object in photo
Measurement, can be obtained actual size after being computed.
Per a camera, there is an imaging pixel, is reflected as gained photo by the final of 72 pixel distribution of per inch
Photo size, by taking Sony A6000 as an example, photograph pixel is having a size of 6000 × 4000, total 24,000,000 pixel, and identical burnt section
Camera lens, viewfinder range be it is certain, that is, camera lens angle coverage be it is related and relatively-stationary to burnt section, therefore,
Under different distance, specific scale representated by every pixel is also can be calculated, is specifically detailed in Fig. 6.
If: L1, L2 are respectively different viewing distances twice, and D1, D2 respectively find a view Shi Chongzhi range twice, and α is camera lens
Vertical view angle, P are photo vertical pixel value, wherein P value and camera model, photograph pixel are relatively fixed, i.e. a model
Camera, P value is exactly definite value；α value and camera lens model, burnt section are relatively fixed, i.e., the camera lens of one model, α value is exactly definite value, is led to
Upper figure is crossed as can be seen that identical camera, camera lens, with apart from far, captured range accordingly becomes larger, phase jljl in opposite photo
Body just becomes smaller, and every pixel represents actual size and increases accordingly, but relationship proportional to tan α, so that
Xmm/px=tan(α/2)*L*2/P
Note: Xmm/px is millimeter/pixel
By above-mentioned formula, we can use the standard item of known dimensions, the photograph shot under known gauged distance
Piece carries out angle calibration to any a camera lens, if standard item known altitude is l, gauged distance L1, actual measurement pixel is
M, then:
α=ctan [(l/M*D1)/2/L1] 3
It is shot using a standard, completes the calibration of certain camera and camera lens, so far, any photo captured by the camera,
Corresponding precision measure can be completed with subject spacing when only need to measure shooting to work.And since pixel is that side length is equal
Positive square only need to measure actual size representated by the every pixel of vertical direction, also just can measure full photo horizontal direction arbitrary dimension.
Example: test object: 220Kv line tangent tower
Test mode: by carrying out spacing shooting respectively to 30 meters of single conductors outside the tangent tower fitting point conducting wire and tower,
Imaging pixel gap is compared, is such as shot twice, conducting wire actual pixels resolving gap in photo is smaller, then proof system is to complexity
Background and small objects ranging processing are appropriate, can effectively measure 240/30 conducting wire between different location and patrol unmanned machine accurately away from
From；If deviation is excessive, then illustrates range-measurement system disposition failure, can not accurately measure effective distance.
Test process: 1, it by twice indoor spacing shooting, calibration system camera lens using 50mm focal length is demarcated；
2,3 meters of spacing shoots two photos to conducting wire respectively at 30 meters at porcelain vase and outside tower；
3, by comparing error between two photo actual wire diameter calculation values and true value at 3 meters of spacing respectively, and it is right
Different location photo carries out the pixel ratio pair of diameter of wire under same spacing, verifies spacing accuracy by difference；
Test equipment: unmanned plane ultrasound/laser ranging system contains only supersonic sounding mould group, and manipulator passes through return data
Artificial spacing sets 3 meters of shooting distance；
Test result is as follows:
Angle lens calibration value: known object is shot and is calculated respectively by 3 meters and 5 meters, respectively obtains the camera lens angle
Degree 23.90 and 23.89 is rounded and presses the 23.9 scale degree camera lens angle.
3 meters of spacing shooting analyses: its analytical calculation difference is as follows
3 meters of spacings to porcelain vase side conducting wire measurement as a result, take three different Point Measurements, pixel is respectively 64.003,
64.698,64.014, median is taken, is compared and calculates by 64.014, calculated through formula, specific size representated by every pixel
It is 0.3175；Then diameter of wire is about 20.32mm；
3 meters of spacings to porcelain vase side conducting wire measurement as a result, take three different Point Measurements, pixel is respectively 68.519,
67.215,67.767, median is taken, is compared and calculates by 67.676, calculated through formula, specific size representated by every pixel
It is 0.3175；Then diameter of wire is about 21.49mm；
By analyzing the mistake it will be seen that due to operating in the movement and practical control of unmanned plane to 3 meters of spacings
Difference, shooting photo twice is 3.662 to diameter of wire measurement pixel difference, and it is 1.162mm that practical bring, which calculates error,；Together
When, it is compareed with LGB-240/30 wire gauge table, conducting wire true diameter takes 21.6mm, error between calculated value and true value
It is up to -1.28mm, minimum -0.11mm, error is -0.695 between average value；Respectively less than ± 2mm range.It is such as fixed using 5 meters
Away from when, every pixel is represented having a size of 0.509mm, and above-mentioned pixel value difference is up to 1.864mm, average value 0.932mm, respectively less than
System design is just such as demand error；Meanwhile retrospectively calculate is carried out with conducting wire standard size, can obtain when shooting twice it is practical nobody
Machine and wire spacing are respectively 3188.6mm and 3016.070 meter, unmanned plane operate spacing error be+188.6mm and+
16.070mm, respectively less than 0.5 meter of range, meeting unmanned plane has hovering Dutch roll rule in the case of wind.
Above description is only a specific implementation of the present invention, but the protection scope of the utility model is not limited to
In this, anyone skilled in the art within the technical scope disclosed by the utility model, can readily occur in variation
Or replacement, it should be covered within the scope of the utility model, therefore, the protection scope of the utility model should be with the power
Subject to the protection scope that benefit requires.
Claims (2)
1. a kind of electric power line ice-covering thickness accurate measuring systems, it is characterised in that: the three axis holders including hanging on unmanned plane
(1), camera (2), ultrasonic probe (3) and laser probe (4), camera (2), ultrasonic probe (3) and laser probe (4) are mounted on three
In pitching rotation pedestal (5) of axis holder (1) and shooting direction and distance measurement direction keeping parallelism.
2. a kind of electric power line ice-covering thickness accurate measuring systems according to claim 1, it is characterised in that: camera (2)
Cable release and ultrasonic probe (3) be electrically connected to controller one, laser probe (4) is electrically connected to controller two, controller one with
It is electrically connected between controller two, controller two is connected to controller three by wireless module one, and it is folded that controller three is electrically connected to video
Add module, video laminating module is electrically connected with the vision signal end of camera (2), and video laminating module is connected by wireless module two
To ground monitoring terminal.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201821785185.1U CN208751498U (en) | 2018-10-31 | 2018-10-31 | A kind of electric power line ice-covering thickness accurate measuring systems |
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| CN201821785185.1U CN208751498U (en) | 2018-10-31 | 2018-10-31 | A kind of electric power line ice-covering thickness accurate measuring systems |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114353678A (en) * | 2021-12-30 | 2022-04-15 | 海南电网有限责任公司 | Distribution network overhead line icing detection device based on range finding |
| CN114406802A (en) * | 2022-01-14 | 2022-04-29 | 光子(深圳)精密科技有限公司 | Metal part position detection device |
-
2018
- 2018-10-31 CN CN201821785185.1U patent/CN208751498U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114353678A (en) * | 2021-12-30 | 2022-04-15 | 海南电网有限责任公司 | Distribution network overhead line icing detection device based on range finding |
| CN114353678B (en) * | 2021-12-30 | 2023-10-31 | 海南电网有限责任公司 | Ranging-based power distribution network overhead line icing detection device |
| CN114406802A (en) * | 2022-01-14 | 2022-04-29 | 光子(深圳)精密科技有限公司 | Metal part position detection device |
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