DE102016011511A9 - Inspection of overhead lines using autonomous flying drones (or multicopter, surface aircraft, UAV or UAS) - Google Patents

Abstract

Task and objectives The operators of overhead lines are obliged to carry out inspections on the overhead lines at certain intervals. Various methods are possible during the inspection, limited by the height of the objects and the achievable height of the hoists. The cost of the hoists is significant. The aim of the invention is to carry out a sensor-based aerial survey for measuring size recordings and for the non-destructive testing of masts, insulators, cables and the associated fittings of overhead lines. Solution The inventive step concerns a new method for the inspection of overhead lines of low, medium, high and extra high voltage levels, where the inclusion of relevant quantities (see drawing 1) by the use of acoustic sensors, sensors for measuring electric fields of optical Sensors in different frequency bands, of sensors for measuring electromagnetic fields, various fusions and by an automated aerial survey of the overhead line / objects in high electric and electromagnetic fields takes place. The inspection is cheaper. Areas of application Inspection of overhead lines of low, medium, high and extra high voltage levels.

Description

The invention relates to a novel method for inspection of overhead lines for predetermined / non-specified inspection for detecting damage from environmental influences, electrical or mechanical wear and the detection of necessary safety distances of the vegetation. Some of the already known methods are described in the document " DE 20 2013 010 593 U1 2015.04.16 [0001] The news of the method will be described later in point [0014] of this document.

From the given state of the art, it is necessary to carry out an inspection of the objects in accordance with the operator of overhead lines at certain cyclical intervals. This condition-based maintenance is performed by specially trained, knowledgeable staff, sometimes with the help of helicopters and other equipment, or by walking / climbing. The overhead lines include masts with foundations and structures made of metal, wood or concrete, the insulators (glass, ceramic, polymers), the conductors (steel, aluminum, copper), as well as the fittings (spacers, coupling sleeves, warning balls, fittings, vibration damper, Corona rings, spark gaps), The designs are already partially known, see DE 602 25 614 T2 2009.04.16 [0003].

The following procedures are possible: For the inspection of overhead transmission towers, as a rule, a direct ascent using existing climbing aids takes place. But there are also cranes or lifts used with personnel basket. Above all in the high and extra-high voltage levels, this method is limited by the height of the objects and by the achievable height of the hoists. The cost of the hoists is significant. For the inspection of the ladder ropes, ground inspections or travels are common with the naked eye or with the aid of binoculars and telephoto lenses. In this case, there is the disadvantage that due to the high focal length of the lenses, a blurring and shaking during handling occur and a limited perspective is given from the ground. In rough terrain (mountainous areas, swamps, forests) this method is very difficult and time consuming. Furthermore, an investigation of the entire overhead line by helicopter or surface aircraft is possible. The cost of these manned aircraft is significant. In urban areas, the noise pollution is added. In addition, special permits are required for the aerial survey and pilots must receive special training. Relatively new are robots that drive on the phase or Erdseilen of power lines and there inspections and z. T. can also carry out repairs The designs are already partially known, see DE 602 25 614 T2 2009.04.16 [0004], [0005].

All methods of inspection of the overhead line have the significant disadvantage of causing high costs and time. The disadvantages are already partially known, see DE 602 25 614 T2 2009.04.16 [0004.

The aim of the invention is to carry out a sensor-based aerial inspection for inspection and non-destructive testing of masts, insulators, ropes and the associated fittings of overhead lines. The embodiments are already known, see DE 602 25 614 T2 2009.04.16 [0003], [0004].

The object of the invention is to describe a method for inspection of overhead lines, which ensures an optimal, sensor-controlled monitoring and inspection with a low cost of time and expense. The designs are already partially known, see DE 602 25 614 T2 2009.04.16 [0005].

The object is achieved in that the Hautpanspruch 1 is realized with its subclaims.

• – dass eine Inspektion mit Hilfe einer sensorgestützen Flugdrohne bekannter Bauart ausgeführt wird und dabei in einem geringen Abstand die Objekte optisch erfasst werden und mit einer Datenübertragung zwischen Flugdrohne und einer Basis Station die Auswertung stattfinden kann. Die Ausführungen sind bereits zum Teil bekannt, siehe DE 601 24 224 T2 [0001].,
• – dass der Abstand der Flugdrohne zum Objekt zwischen 1–20 Meter ausgeführt wird,
• – dass bei der Realzeitauswertung der notwendige Abstand zur optischen Erfassung der Schäden zur besseren Erkenntnis so verändert wird, dass eine optimale Auswertung stattfinden kann Die Ausführungen sind bereits zum Teil bekannt, siehe DE 601 24 224 T2 [0042],
• – dass die Flugdrohne mit Video-/Fotokameras und/oder sowie einem oder mehreren Sensoren ausgerüstet wird. Die Ausführung sind bereits zum Teil bekannt, siehe DE 601 24 224 T2 [0042],
• – dass die Flugdrohne mit einer Kombination aus satellitengesteuerter und bildgesteuerter Navigation autonom fliegt, mit der Möglichkeit eines manuellen Eingriffs in die Steuerung. Die Ausführungen sind bereits zum Teil bekannt, siehe DE 601 24 224 T2 [0042], [0046].
• – dass Sensoren verwendet werden, die eine invasive, zerstörungsfreie Prüfung der Materialien und Komponenten einer Freileitung ermöglichen.
• – Diese Sensoren arbeiten im elektromagnetischen, akustischen und multispektralen optischen Bereich.

In this case, a method for inspecting overhead lines is carried out in such a way

• - That an inspection is carried out using a sensor-supported aircraft drone known type and thereby the objects are optically detected at a small distance and the evaluation can take place with a data transfer between drone and a base station. The versions are already partially known, see DE 601 24 224 T2 [0001].,
• - that the distance of the flight drone to the object is between 1-20 meters,
• - That in the real-time evaluation of the necessary distance to the optical detection of damage for better knowledge is changed so that an optimal evaluation can take place The versions are already partially known, see DE 601 24 224 T2 [0042]
• - That the aerial drone is equipped with video / photo cameras and / or one or more sensors. The execution is already partly known, see DE 601 24 224 T2 [0042]
• - That the flying drone autonomously flies with a combination of satellite-controlled and image-controlled navigation, with the possibility of manual intervention in the control. The versions are already partially known, see DE 601 24 224 T2 [0042]
• - that sensors are used that enable invasive, nondestructive testing of overhead line materials and components.
• - These sensors operate in the electromagnetic, acoustic and multispectral optical range.

The method according to the invention is carried out so that the inspection of overhead lines at intervals of 1-20 meters is carried out with aircraft drones equipped with optical detection devices and other sensors. The design is already known, see DE 601 24 224 T2 [0042]

It is advantageously useful to carry out a direct remote video transmission from the flying drone during the flight over a screen or video glasses and thus to inspect the object directly on site. The design is already known, see DE 601 24 224 T2 [0042]

Upon detection of a damaged area, a more detailed analysis is initiated. In this case, the distance between the flying drone and the object to best recording option in their distance from each other optimally changed or increases the focus of the optical instruments and other sensors.

The aircraft drone is a carrier platform the size of a model aircraft of known design, with flight characteristics such as climb and descent, forward, backward and sideways flight and hover and long distance flights. For a vertical aerial survey, as z. B. on the power poles is required, a drone with multiple rotors is suitable (multicopter). For horizontal flight, a drone with wings may be more suitable. But there are also known hybrid solutions that represent a combination of the described Befliegungen. The design is already known, see DE 601 24 224 T2 [0042] 1 . 2 . 4 . 5 . 6 . 7 . DE 602 25 614 T2 2009.04.16 [0001], [0003] 2 - 5 .

• – die höhere Qualität der Inspektion, da Bereiche optisch erfassbar sind, die von der Bodenperspektive verborgen bleiben,
• – die höhere optische Auflösung durch den geringeren Abstand zu den Objekten, gegenüber der Boden oder Helikoptersicht.
• – die erweiterten Analysemöglichkeiten durch spezielle Sensoren, die erst durch die unmittelbare Nähe zur Schadensstelle wirksam werden [0014]. Die vorliegende Erfindung betrifft ein neuartiges Verfahren zur Inspektion von Freileitungen, von denen Verfahrensteile – insbesondere die Aufnahme von Bildern – bereits bekannt sind und auf welche oberhalb verwiesen wurde. Das neuartige Verfahren beschäftigt sich mit der Aufnahme von Messdaten an Freileitungen in der Neuartigkeit, dass die Datenaufnahmen (siehe 1 Ausprägung ➀), welche in der ursprünglichen Anmeldung enthalten sind, wie unterhalb beschrieben erfolgen, insbesondere
• – durch den Einsatz von akustischen Sensoren,
• – durch den Einsatz von Sensoren zur Messung elektrischer Felder,
• – durch den Einsatz von optischen Sensoren in verschiedenen Frequenzbändern,
• – durch den Einsatz von Sensoren zur Messung elektro-magnetischer Felder
• – durch den Einsatz verschiedener Fusionen, insbesondere Informations-, Daten- und Sensorfusionen
• – durch eine automatisierte Befliegung der Freileitung/Objekte in hohen elektrischen und elektromagnetischen Feldern (siehe Zeichnung 1 Ausprägung ➁) basierend auf einer Kombination aus satellitengesteuerter und bildgesteuerter Navigation.

The advantages of the method lie in the fact that the inspection is inexpensive and can be carried out in a short time. Due to the sensor-based inspection of the objects, it is possible to determine the state of the respective object with respect to aging, degree of wear ... etc. It is also possible to make a first assessment of the condition of the object (hazard) and a first classification without great financial and time expenditure and to decide on possible measures (repair, replacement). The design is already known, see DE 602 25 614 T2 2009.04.16 [0001]. Further advantages are:

• - the higher quality of the inspection, as areas are optically detectable, which remain hidden from the ground perspective,
• - The higher optical resolution due to the smaller distance to the objects, compared to the ground or helicopter view.
• - The extended analysis options by special sensors, which only become effective through the immediate proximity to the point of damage [0014]. The present invention relates to a novel method for the inspection of overhead lines, of which process parts - in particular the recording of images - are already known and to which reference was made above. The novel method deals with the recording of measurement data on overhead lines in the novelty that the data recordings (see 1 Expression ➀), which are included in the original application, as described below, in particular
• - through the use of acoustic sensors,
• - through the use of sensors to measure electric fields,
• - through the use of optical sensors in different frequency bands,
• - through the use of sensors for the measurement of electromagnetic fields
• - through the use of various mergers, in particular information, data and sensor mergers
• - by an automated aerial survey of the overhead line / objects in high electrical and electromagnetic fields (see drawing 1 Expression ➁) based on a combination of satellite-controlled and image-controlled navigation.

Through the data acquisition using optical sensors in different frequency bands and their evaluation, the identification and location of defects and foreign bodies on the overhead line takes place. The inventive step lies in the correlation of different sensors and the autonomous detection / localization of defects in high electric and electromagnetic fields (see 1 Characteristic ➂ / ➃).

By the data acquisition using acoustic sensors and their evaluation, the identification and location of defects is carried out in particular by electrical partial discharges. The inventive step lies in the correlation of different sensors and the autonomous detection of defects in high electric and electromagnetic fields (see drawing 1 Characteristic ➂ / ➃).

Through the data acquisition using sensors for recording electric fields and their evaluation, the identification and location of defects is carried out in particular by non-linear voltage distribution. The inventive step lies in the correlation of different sensors and the autonomous detection of defects in high electric and electromagnetic fields (see 1 Characteristic ➂ / ➃).

By the data acquisition using sensors for receiving electro-magnetic pulse fields, the identification and location of external and internal imperfections of the insulator takes place. The inventive step lies in the correlation of different sensors and the autonomous detection of defects in high electric and electromagnetic fields (see 1 Characteristic ➂ / ➃).

The sequence of the individual functions within the business process can be found in the document "Business Process Description".

QUOTES INCLUDE IN THE DESCRIPTION

This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Cited patent literature

• DE 202013010593 U1 [0001]
• DE 60225614 T2 [0002, 0003, 0004, 0005, 0006, 0012, 0013]
• DE 60124224 T2 [0008, 0008, 0008, 0008, 0009, 0010, 0012]

Claims (7)

Method for recording and evaluating measured data / quantities for the inspection of overhead lines of the low, medium, high and very high voltage levels, wherein the data recorded by an optical and sensor-based automated aerial survey is characterized in that a flying drone at a short distance the objects visually and metrologically recorded and analyzed. The evaluation, storage and documentation of the measured variables can be carried out optionally with a data transmission between drone and base station or on board the drone. Method according to claim 1, characterized in that the flying drone is equipped with acoustic and optical sensors in different frequency bands, with sensors for receiving electric and electromagnetic fields for use in high magnetic and electric fields and the evaluation by data, information and sensor fusions done. A method according to claim 1, characterized in that the aircraft drone can be controlled automatically or manually in the manner in high magnetic and electric fields that objects and damaged areas can be detected and examined targeted. The method of claim 1 and the associated dependent claims is characterized in that the aircraft navigates automatically in a combination of optical, satellite-controlled and acoustic sensors in high magnetic and electric fields. A method according to claim 1, characterized in that measurement data are taken by acoustic and optical sensors in different frequency bands, by sensors for receiving electrical and electro-magnetic fields and their data, information and sensor fusion. A method according to claim 1, characterized in that the Befliegung and the recording of the measured data in high magnetic and electric fields. A method according to claim 5-6, characterized in that the identification and location of defects and foreign bodies on the overhead line by the correlation of different acoustic and optical sensors in different frequency bands, sensors for receiving electrical and electro-magnetic fields and their data, information and Sensor fusion occurs by processing non-linear voltage distributions and partial discharges in high magnetic and electric fields.

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