CN214200100U - Overhead transmission line space safety perception device - Google Patents
Overhead transmission line space safety perception device Download PDFInfo
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- CN214200100U CN214200100U CN202023268970.XU CN202023268970U CN214200100U CN 214200100 U CN214200100 U CN 214200100U CN 202023268970 U CN202023268970 U CN 202023268970U CN 214200100 U CN214200100 U CN 214200100U
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Abstract
The utility model provides an overhead transmission line space safety sensing device, which comprises a sensing device and a control module, wherein the sensing device comprises an acquisition module, a support module and a main control module; the acquisition module comprises a distance measurement unit, an angle measurement unit and an image acquisition unit; the distance measuring unit is a laser distance measuring sensor, the image acquisition unit is a camera, and a distance measuring lens of the laser distance measuring sensor is arranged adjacent to a lens of the camera; the angle measuring unit is a gyroscope; the support module comprises a support which is a tripod and is used for supporting the acquisition module; the main control module comprises a computing unit and a display control unit; the computing unit is a microcomputer and is connected with the acquisition module; the display control unit is a touch screen and is connected with the computing unit. The utility model aims at providing a low cost, small, remote overhead transmission line space safety perception device.
Description
Technical Field
The utility model belongs to the technical field of electric power system detects, concretely relates to overhead transmission line space safety perception device.
Background
The power transmission line is supposed to be in the air, trees, houses, rivers, highways and the like may exist around the power transmission line, and potential safety hazards exist when the distance between the power transmission line and the power transmission line is too close to each other, so that in engineering application, the distance between an overhead line and surrounding objects needs to be regularly detected to prevent accidents. The traditional method mainly adopts an insulating rope and an insulating rod to measure the vertical distance from a line to a road surface, a house and the like, and with the development of electronic technology, methods based on laser ranging, ultrasonic ranging and the like appear later, but the method mainly measures the vertical distance between the line and surrounding objects and has the following problems: 1. the horizontal distance between trees, newly built houses and the like and the electric wire is difficult to measure; 2. generally, the measurement is needed under the line, and the measurement difficulty is higher for the scenes such as residences, expressways, rivers and lakes and the like; 3. the measurement process is complicated to operate and needs to be close to measurement, which wastes time and labor.
At present, the method for detecting the safe distance of the space around the line without approaching the line mainly comprises the following steps: 1. the total station can measure the coordinates of any object so as to calculate the distance between the two objects; 2. the laser height measuring instrument consists of an angle measuring part and a distance measuring part, wherein the angle measuring part is used for measuring the angle, the laser distance measuring part is used for measuring the distance, and the height is calculated by using a trigonometric relation; the common problem of the methods is that the distance of a certain point on the transmission line is directly measured by laser, and the actual engineering requirements cannot be met because the reflection surface of the line is too small to measure or the error is large; meanwhile, the total station is expensive and complex to operate, and is difficult to popularize and apply from the aspect of cost-effectiveness ratio. 3. Ultrasonic ranging, wherein an ultrasonic measuring instrument is arranged under a line, so that the distance between the lowest point of the line and the ground can be measured, the distance between cross lines can also be measured, but the processing of the ultrasonic ranging is not short of the measurement, the ultrasonic ranging is also interfered by multipath generated by houses beside the line and the like, and the application scene is limited; 4. the distance measurement method based on binocular distance measurement or a depth camera is an advanced means at present, but due to the problems of short measurement distance, high price, large volume and the like, a product with balanced cost performance is difficult to find, and the method is not suitable for popularization and application.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a solve traditional measuring method consuming time and wasting power and need be near measuring and compare total powerstation, degree of depth camera, two mesh range finding etc. and realize low-cost, small, remote overhead transmission line space safety perception device.
The utility model relates to a specific technical scheme is an overhead transmission line space safety sensing device, which is characterized in that the sensing device comprises an acquisition module, a support module and a main control module;
the acquisition module comprises a distance measurement unit, an angle measurement unit and an image acquisition unit;
the distance measuring unit is a laser distance measuring sensor, the image acquisition unit is a camera, and a distance measuring lens of the laser distance measuring sensor is arranged adjacent to a lens of the camera and used for enabling a distance measuring point and a framing picture of the laser distance measuring sensor to be the same as a central point and a framing picture of the camera; the angle measuring unit is a gyroscope, and the angle measuring unit, the distance measuring unit and the image acquisition unit synchronously adjust the rotation direction;
the support module comprises a support which is a tripod and is used for supporting the acquisition module;
the main control module comprises a computing unit and a display control unit; the computing unit is a microcomputer and is connected with the acquisition module;
the display control unit is a touch screen, is connected with the calculation unit, and is used for displaying the image, the distance, the angle information and the analysis result of the target point acquired by the acquisition module and controlling the calculation unit.
Furthermore, the acquisition module comprises a connecting plate, and the distance measurement unit and the image acquisition unit are both arranged at the top of the connecting plate.
Furthermore, the support module comprises a rotating unit which is a two-dimensional cradle head and is arranged on the top of the bracket and connected with the top of the connecting plate.
Furthermore, a hanging point is arranged on the support and is used for fixing the main control module.
Furthermore, the two-dimensional cradle head comprises two stepping motors, and the stepping motors are connected with the main control module.
Furthermore, the main control module comprises a storage unit, and the storage unit is connected with the computing unit and used for storing the measurement data and the configuration file.
Furthermore, the main control module comprises a wireless network unit, and the wireless network unit is connected with the computing unit and used for realizing data interaction with the remote management terminal through WiFi, Bluetooth or GSM network.
Furthermore, the main control module comprises a power supply unit, and the power supply unit is connected with the computing unit and is used for realizing power supply-related general management such as electric quantity display, charging management and over-discharge management.
The utility model has the advantages that:
the utility model overcomes traditional measuring method is consuming time and is consuming power and need be near measuring, compares measuring tool such as total powerstation, degree of depth camera, binocular range finding simultaneously, realizes that low cost, small, measuring distance are far away.
The utility model fixes the acquisition module on the top of the bracket through the cradle head and the connecting plate, so as to obtain better visual field and more excellent stability; meanwhile, the rotating angle is stable and controllable by driving the holder to rotate by adopting the stepping motor.
The utility model discloses integrated memory cell, wireless network unit and battery unit, realized integrating and the miniaturization of multiple functions, it is more convenient to make the perception device use.
Drawings
Fig. 1 is a schematic structural view of the overhead transmission line space safety sensing device of the present invention;
fig. 2 is the utility model relates to a connection schematic diagram of each module in overhead transmission line space safety perception device.
101-a ranging unit; 102-an angle measurement unit; 103-an image acquisition unit; 104-a connecting plate; 201-a scaffold; 202-a rotation unit; 301-a calculation unit; 302-display control unit.
Detailed Description
The following describes the present invention with reference to the accompanying drawings 1-2.
As shown in the attached drawing 1, the utility model discloses an overhead transmission line space safety perception device, this perception device include collection module, support module and host system.
The acquisition module comprises a distance measurement unit 101, an angle measurement unit 102 and an image acquisition unit 103; the distance measuring unit 101 adopts a laser distance measuring sensor and is used for acquiring the distance from the sensing device to a target point; the image acquisition unit 103 adopts a camera with a long focal length and a high resolution for acquiring an image of a target point; the angle measuring unit 102 adopts a gyroscope, and the angle measuring unit 102, the distance measuring unit 101 and the image acquisition unit 103 synchronously adjust the rotation direction and are used for acquiring the angle information of a target point relative to the sensing device; the distance measuring lens of the laser distance measuring sensor is arranged adjacent to the lens of the camera, so that the distance measuring point and the framing picture of the laser distance measuring sensor are the same as the central point and the framing picture of the camera.
In one embodiment, the acquisition module further comprises a connection board 104, wherein the connection board 104 is used for supporting the distance measurement unit 101, the angle measurement unit 102 and the image acquisition unit 103; laser rangefinder sensor and camera are adjacent and the camera lens syntropy sets up at connecting plate 104 top, and gyroscope fixed mounting is on connecting plate 104.
The support module comprises a bracket 201 and a rotating unit 202; the support 201 is a tripod and is used for supporting the acquisition module, and the rotating unit 202 is arranged at the top of the support 201, is connected with the acquisition module and provides rotation adjustment and locking functions for the acquisition module.
In one embodiment, the hanging point for fixing the main control module is arranged on the tripod, so that the man-machine interaction operation experience of the sensing device is improved conveniently. The rotating unit 202 adopts a two-dimensional cradle head, which can adjust the angles of the direction angle and the pitch angle, and the two-dimensional cradle head is installed at the top of the tripod head, is connected with the bottom of the connecting plate 104 of the acquisition module, and is used for supporting the acquisition module. Furthermore, the rotating unit 202 may adopt two stepping motors to respectively drive the rotation of the direction angle and the pitch angle in the two-dimensional pan/tilt, and then the main control module operates the stepping motors to automatically control the rotating unit 202.
As shown in fig. 2, the main control module includes a computing unit 301, a display control unit 302, a storage unit, a wireless network unit, and a power supply unit. The computing unit 301 is connected with the acquisition module and used for analyzing the space safety of the overhead transmission line according to the information acquired by the acquisition module; the display control unit 302 is connected with the calculation unit 301 and is used for displaying the image, distance, angle information and analysis result of the target point acquired by the acquisition module and controlling the calculation unit 301 to realize the human-computer interaction function; the storage unit is connected with the calculation unit 301 and used for storing the measurement data and the configuration file; the wireless network unit is connected with the computing unit 301 and is used for realizing data interaction with the remote management terminal through a WiFi, Bluetooth or GSM network; the power supply unit is connected with the computing unit 301 and is used for realizing general power supply management such as electric quantity display, charging management and over-discharge management.
In an embodiment, the computing unit 301 is a microcomputer, and may adopt a computer such as a notebook computer, a tablet computer, a Raspberry Pi (Raspberry Pi), etc. for loading a security computing program to perform coordinate computation; and meanwhile, the information acquired by the acquisition module is acquired through the data interface, and the mouse, the keyboard and other peripherals are connected. The display control unit 302 is a touch screen, and the touch screen is used for displaying the image acquired by the image acquisition unit 103, the distance measurement point cross cursor and the distance measurement result of the distance measurement unit 101, the angle information acquired by the angle measurement unit 102, and a virtual button for controlling the sensing device. The storage unit is a memory of a microcomputer, and can be expanded through a USB interface, a card reader and the like. The wireless network unit is a wireless network card carried by the microcomputer, and can also adopt an external wireless network card for the remote communication between the microcomputer and the server. The power supply unit comprises a charger and a lithium battery and is used for supplying power to the microcomputer and managing the electric quantity.
The utility model discloses well overhead transmission line space safety perception device's theory of operation does:
step 1, fixing the support 201, adjusting the direction angle and the pitch angle of the rotating unit 202, aligning a cross cursor to a target object by observing the position of the cross cursor in the picture of the display control unit 302, and adjusting the size of the picture by operating the sliding screen through gestures, so as to ensure that an image can meet the purposes of wide-angle target searching and accurate target alignment of the ranging unit 101.
Step 2, after the distance measurement unit 101 is aligned with a hanging point target of a tower A1 line, standing for a time T, wherein the calculation unit 301 continuously reads the distance of the distance measurement unit 101 and the three-axis angle of the angle measurement unit 102, and calculates the average value of the distance and angle data in the time T, wherein the two purposes are achieved, 1) after the standing device can read static data, the precision of the angle and the distance is high, 2) the influence of Gaussian white noise is reduced, and the precision is further improved.
And 3, rotating the rotating unit 202 to enable the distance measuring unit 101 to be aligned to the hanging point target of the adjacent tower A2 line, standing for time T, and similarly acquiring the average value of distance and angle data in the time T.
Step 4, the calculating unit 301 calculates three-dimensional coordinates of hanging points of the lines of the towers a1 and a2, respectively, and constructs a three-dimensional coordinate system with the sensing device as an origin, where the coordinates of the hanging points are (Xn, Yn, Zn), the three-axis angles are α n, γ n, β n, the distance measured by the laser distance measuring sensor is Ln, Zn is Ln — sin α n, Yn is Ln — sin γ n, Xn is Ln — sin β n, (where n is 1,2), and a straight line formed by the hanging points is S.
And step 5, generating a line parallel to the ground in the picture of the display control unit 302 by the calculation unit 301, moving the line through the touch screen of the display control unit 302, and controlling the line to intersect with the lowest point of the line, wherein when there is only one intersection point, the lowest point C is found. Because the sensing device is fixed on the tripod and cannot ensure that the sensing device is always parallel to the ground, if the straight line generated by taking the edge of the picture as the reference is not parallel to the ground, the roll angle parameter in the angle measuring unit 102 is read, and the straight line is corrected by utilizing the trigonometric function relationship to be parallel to the ground.
Step 6, assuming that a plane is perpendicular to the ground and a straight line composed of two hanging points is in the plane, the computing unit 301 projects the point C on S as C ', and coordinates of the two points satisfy Xc ═ Xc', Zc ═ Zc ', Yc ≠ Yc'. Based on the above theory, the rotation unit 202 is rotated to move the cross cursor in the image of the display control unit 302 to the lowest point C, the three-axis angle values are read, and the coordinates of the line point C' can be calculated according to the formula in step 4.
And 7, in the case that the camera shooting picture at a specific focal length in the pre-use calibration image acquisition unit 103 is displayed in a specific scale in the display control unit 302, the relationship between the focal length and the number of pixels. The focal length of the camera of the image acquisition unit 103 is F, the distance from the camera to the target point is Z, the pixel size of CC is P, the length of CC is H, the length of CC' can be calculated according to the formula H × P × D/F, the calculated H is different from the actual length due to the fact that elevation angle shooting is performed, but the elevation angle can be obtained through the angle measurement unit 102, and the actual length H can be corrected through a trigonometric function relationship. The C' coordinate can be obtained by Yc ═ Yc-H.
And 8, repeating the steps 3 and 4 to calculate the coordinates of any target point D (because the reflecting surface of an object around the wire is large enough, the coordinates of the point can be calculated by directly adopting laser ranging and inclination angle measurement), and calculating the coordinates of any point on the power transmission line through the steps 3, 4, 6 and 7 in the same way.
And 9, calculating the linear distance between any point on the wire and the surrounding objects and the single distance in three dimensions of horizontal dimension, vertical dimension and depth according to a distance formula between the two points.
Although the present invention has been described in connection with the preferred embodiments, the embodiments are not intended to limit the present invention. Any equivalent changes or modifications made without departing from the spirit and scope of the present invention also belong to the protection scope of the present invention. The scope of protection of the invention should therefore be determined with reference to the claims that follow.
Claims (8)
1. The space safety sensing device for the overhead transmission line is characterized by comprising an acquisition module, a support module and a main control module;
the acquisition module comprises a distance measurement unit (101), an angle measurement unit (102) and an image acquisition unit (103);
the distance measuring unit (101) is a laser distance measuring sensor, the image acquisition unit (103) is a camera, and a distance measuring lens of the laser distance measuring sensor is arranged adjacent to a lens of the camera and is used for enabling a distance measuring point and a framing picture of the laser distance measuring sensor to be the same as a central point and a framing picture of the camera; the angle measuring unit (102) is a gyroscope, and the angle measuring unit (102), the distance measuring unit (101) and the image acquisition unit (103) synchronously adjust the rotation direction;
the support module comprises a support (201), and the support (201) is a tripod and is used for supporting the acquisition module;
the main control module comprises a computing unit (301) and a display control unit (302); the computing unit (301) is a microcomputer and is connected with the acquisition module;
the display control unit (302) is a touch screen, is connected with the calculation unit (301), and is used for displaying the image, distance, angle information and analysis result of the target point acquired by the acquisition module and controlling the calculation unit (301).
2. The sensing device according to claim 1, wherein the acquisition module comprises a connection board (104), and the distance measurement unit (101) and the image acquisition unit (103) are both arranged on top of the connection board (104).
3. The sensing device according to claim 2, wherein the support module comprises a rotation unit (202), which is a two-dimensional pan-tilt, disposed on top of the support (201) and connected to top of the connection plate (104).
4. The sensing device as claimed in claim 1, wherein the bracket (201) is provided with a hanging point, and the hanging point fixes the main control module.
5. The sensing device as claimed in claim 3, wherein the two-dimensional pan/tilt head comprises two stepping motors, and the stepping motors are connected with the main control module.
6. The sensing apparatus according to claim 1, wherein the master control module comprises a storage unit, the storage unit being connected to the computing unit (301) for storing measurement data and configuration files.
7. The sensing device according to claim 1, wherein the main control module comprises a wireless network unit, and the wireless network unit is connected with the computing unit (301) and is used for realizing data interaction with a remote management terminal through a WiFi, Bluetooth or GSM network.
8. The sensing device according to claim 1, wherein the main control module comprises a power supply unit, and the power supply unit is connected with the computing unit (301) and is used for realizing electric quantity display, charging management and over-discharge management.
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| CN202023268970.XU CN214200100U (en) | 2020-12-30 | 2020-12-30 | Overhead transmission line space safety perception device |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113983992A (en) * | 2021-10-29 | 2022-01-28 | 广东电网有限责任公司 | Anti-touch power transmission line early warning device and method |
| CN116761079A (en) * | 2023-08-21 | 2023-09-15 | 国网山西省电力公司电力科学研究院 | Fine tracking method, system and device for moving target of power transmission line |
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2020
- 2020-12-30 CN CN202023268970.XU patent/CN214200100U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113983992A (en) * | 2021-10-29 | 2022-01-28 | 广东电网有限责任公司 | Anti-touch power transmission line early warning device and method |
| CN113983992B (en) * | 2021-10-29 | 2023-09-08 | 广东电网有限责任公司 | Anti-touch power transmission line early warning device and method |
| CN116761079A (en) * | 2023-08-21 | 2023-09-15 | 国网山西省电力公司电力科学研究院 | Fine tracking method, system and device for moving target of power transmission line |
| CN116761079B (en) * | 2023-08-21 | 2023-11-03 | 国网山西省电力公司电力科学研究院 | Fine tracking method, system and device for moving target of power transmission line |
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