RU2794393C1 - Method for technical diagnostics of buried cable power lines using an unmanned aerial vehicle - Google Patents

Abstract

FIELD: unmanned aerial vehicles.

SUBSTANCE: invention relates to a method for technical diagnostics of cable lines (CL) of power transmission using an unmanned aerial vehicle (UAV). To diagnose CL, a high-frequency current of 1024 Hz is applied to the disabled CL core, at the starting point, using induction equipment installed on the UAV, the value of the induction induced field at flight altitude is measured and entered into the UAV motion control program. During the movement of the UAV along the route of the cable line, the parameters of the induced induction field are fixed, the induction induced field is sequentially evaluated at the flight altitude in the direction of travel, it is compared with the value recorded at the starting stage, while a sharp increase in the magnetic field strength means the place of the break. After identifying the fault location, the coordinate of the fault location is fixed and marked on the ground with a tag device.

EFFECT: increased speed and quality of determination of the fault location coordinate on the CL in various operating conditions, as well as visual localization of the fault location.

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Description

The invention relates to the electric power industry and can be used for topographic determination of the location of damage to cable transmission lines (CL).

Under normal conditions, a method based on the principle of induction is widely used to search for a damaged CL. The induction method is intended for topographic (route) determination of the location of CL. For cable lines laid in the ground, the induction method also allows you to specify the location of the cable route, determine the depth of the cable and the location of the mounted couplings [Shalyt G.M. Determination of damage locations in electrical networks. - M .: Energoatomizdat, 1982]. This is of particular importance in the current conditions of a special military operation, when it is necessary to carry out repair work under special conditions (at night, etc.) in order to restore the operability of facilities. Based on this, it is expedient to use an unmanned aerial vehicle (UAV) that searches for a fault location on the cable line, including in special conditions.

The objective of the present invention is to create a method that allows using the UAV to determine the location of the fault on the cable line in various operating conditions.

The essence of the induction method is to fix changes in the nature of the magnetic field over a damaged cable, through the veins of which a current (10–25A) of an increased frequency of 1024 Hz flows.

The fixation of the magnetic field is carried out with the help of a cable finder (route finder), which has a receiving antenna, an amplifier, and headphones.

A known method for determining the location of damage to cable lines, implemented in the patent for the invention [RU 2110075 C1 (Method of determining the location of damage to a cable line)].

The essence of the method lies in the fact that when a damaged cable core is connected to an electrostatic machine of sufficient power, the current flowing through the cable creates a magnetic field, which is captured along the route using an induction sensor or other device for measuring magnetic quantities, and the location of the damage is determined by the disappearance of the magnetic field for both multi-phase and single-phase faults.

The disadvantages of this method are: significant troubleshooting time (3-5 hours); the difficulty of determining the location of damage to the cable line; the complexity of measuring the magnetic field; impossibility or increased danger of its implementation in special conditions.

The closest analogue is a method for remotely searching for the location of underground utilities and determining their transverse size and depth in the ground, which are described in the patent [RU 2664253 C1 Method for remotely searching for the location of underground utilities and determining the transverse size and depth in the ground].

The essence of the method lies in the fact that at one end of the underground structure, a low-frequency generator is connected to its "conductor-ground" circuit, a receiver with a magnetic antenna is moved above the earth's surface above the area within which the underground structure is supposed to be laid, the level of the magnetic field is measured at fixed values of the coordinates of the location of the receiver with a magnetic antenna, according to the measurement data, the distribution of magnetic field levels over the surface above the underground structure is built, and a three-coordinate magnetic antenna is connected to the receiver, the receiver with a three-coordinate magnetic antenna is placed on the UAV, the position of the three-coordinate magnetic antenna stabilizes relative to the earth's surface, control The UAV from the central station through a separate communication channel, controlled from the central station, the UAV is moved along a given trajectory at given heights above the earth's surface above the site within which the underground structure is supposedly laid, the coordinates of the UAV are determined using navigation devices and, at known coordinates, using a receiver with the levels of the magnetic field components are measured with a three-coordinate magnetic antenna, the data with the measurement results are transmitted via a separate communication channel to the central station, where they are processed and the distributions of the levels of the magnetic field components over the surfaces above the underground structure are plotted, the distributions of the levels of the magnetic field components over the surfaces above the underground structures are obtained , while the distributions are obtained for at least two heights above the ground, then, according to these distributions, the location of the underground utility, its transverse size and depth in the ground are determined.

The disadvantages of this method are: the need for multiple (at least 2 times) determination of the level of the magnetic field component; insufficient accuracy in determining the location of a cable line fault due to low maneuverability and high speed of an aircraft-type UAV; the impossibility of troubleshooting CL over long distances due to the weight and size indicators of a three-coordinate antenna; lack of visual localization of the fault site, leading to a large error in correlating the calculated data with the actual location of the buried communication.

The technical result, which the proposed method is aimed at, is the possibility of autonomous use of the UAV in order to increase the speed and quality of determining the coordinates of the location of the fault on the CL in various operating conditions, as well as the visual localization of the fault location by dropping a special device (tag).

The claimed technical result is achieved by the fact that in the known method of technical diagnostics of cable lines (CL) of power transmission using an unmanned aerial vehicle (UAV), in which a high-frequency current of 1024 Hz is supplied to the disabled conductor of the cable, at the starting point using induction equipment, installed on the UAV, the value of the induction induced field at the flight altitude is measured and entered into the UAV motion control program, while the UAV moves along the cable line route, the parameters of the induced induction field are recorded, until a sharp increase in the magnetic field strength, indicating the place of the break, according to the claimed invention for automatic UAV controls use the software loaded on it, while sequentially assessing the induction induced field at the flight altitude in the direction of travel, comparing it with the value recorded at the starting stage, and directing the UAV to the coordinate of the cable line route, where the value of the induction induced field corresponds to the initial ; after identifying the fault location, the coordinate of the fault location is fixed and marked on the ground with a device-tag.

To eliminate errors of the first and second kind, when the moment of a sharp increase in the magnetic field strength is detected, the UAV continues to move, if the magnetic field strength decreases or is lost, the UAV is returned to the point with a sharp increase in the magnetic field, the coordinates are fixed, and the tag device is reset.

The tag device can be equipped with a device that constantly glows due to the induced current in the break zone.

The essence of the method for technical diagnostics of buried cable power lines using UAVs is that a current of 25A of increased frequency (1024 Hz) is supplied to the disabled CL core using an audio frequency generator (GZCH), then the UAV with a receiver frame installed on it is launched from an open switchgear, where, with the help of a control program, for example, using a software product (Computer program "Automated program for diagnosing cable power lines using UAVs" No. magnetic field strength, after which the UAV moves forward by 1 step of its control program (continuing the direction of movement), in order to eliminate errors of the first and second kind, when the magnetic field strength decreases or is lost, it returns to the point with a sharp increase in the magnetic field, fixes the coordinates and resets a special device (tag), which is constantly illuminated due to the induced current in the break zone, which achieves a visual localization of the fault site, then the UAV returns to its starting point.

Comparative analysis showed that the proposed method differs from the method closest in technical essence to remote search for the location of underground utilities and determining their transverse size and depth in the ground, primarily in that a UAV with a induction equipment, secondly, the UAV movement along the cable line route is controlled using pre-loaded software that takes into account the induction induced field, thirdly, when a cable line break is detected, the UAV, in addition to fixing the coordinate, resets the device (tag), which is highlighted due to the induced field at the site of damage to the cable line, which together leads to the possibility, under special conditions, to identify and localize the place of a cable line break with minimal participation of personnel.

The essence of the proposed method for determining the location of a fault on cable power lines using UAVs is illustrated by diagrams that show:

in fig. 1 - scheme of the initial position when implementing the method of technical diagnostics of buried cable power lines using an unmanned aerial vehicle;

in fig. 2 - algorithm for troubleshooting on CL;

in fig. 3 - an example of a special device (tag) for visualizing the location of a cable line break.

The method is implemented as follows (Fig. 1).

1. With the help of GZCH 1, a current of 25A of increased frequency (1024 Hz) is supplied to the termination of cable 2 in the area of transformer substation 3.

2. Unmanned aerial vehicle 4 with induction equipment installed on it rises to the height set by the operator (from 1 to 3 meters), fixes the parameters of the induction induced field at this height and moves along the cable line, while the UAV flight is controlled using any software , preferably implemented on the basis of the CL troubleshooting algorithm shown in FIG. 2, which is based on a consistent assessment and comparison of the induction induced field at flight altitude, the choice of the parameter of the induction induced field equal to the fixed one and the guidance of the UAV to the coordinate with the corresponding parameter of the induction induced field.

3. Upon reaching the short circuit location 5, which will be characterized by a sharp increase in the magnetic field strength, the UAV performs a programmed action to eliminate errors of the first and second kind when a short circuit location is detected. Returning to the point where a sharp increase in the magnetic field strength is observed, the UAV drops a special device (tag), preferably an LED pointer 6 (Fig. be illuminated by built-in LEDs, providing a visual localization of the fault location on the ground.

An example of an LED pointer is shown in Fig. 3. The housing 10 is made of high-impact polystyrene, in the upper part of which there are LEDs 11 (in sufficient quantity) connected to an inductor 12 located in the middle part of the structure. The lower part of the structure is made in the form of a ferromagnetic counterweight 13, which stabilizes the LED pointer 6 when it falls so that the pointer 6 lands on the counterweight 13, and the LEDs 11 are directed upwards. The pointer 6 is attached to the UAV using a gripping device 14. When it enters the short circuit zone, the induced field will create an electrical signal on the LEDs, which will glow autonomously. A similar principle of operation of the LED pointer is used in the wireless charger described in the patent [RU 216104111 A Wireless charger].

4. Next, the UAV returns to the home (specified end) point, where it transmits to the operator the coordinates of the detected short circuit location on the cable line. In the event that its battery charge is not enough for a safe return, the UAV will remain at the site of the malfunction.

The proposed method allows, using a UAV with pre-installed software and special induction equipment, to solve the problem of autonomously determining the coordinate of the location of a fault on buried cable lines, as well as visually localize the coordinate of a short circuit on the earth's surface by highlighting the area with a special device (label).

Claims (3)

1. A method for technical diagnostics of cable lines (CL) of power transmission using an unmanned aerial vehicle (UAV), in which a high-frequency current of 1024 Hz is supplied to the disabled conductor of the cable, at the starting point using induction equipment installed on the UAV, they measure and introduce the value of the inductive induced field at the flight altitude into the UAV motion control program, in the process of the UAV movement along the cable line route, the parameters of the induced induction field are fixed until a sharp increase in the magnetic field strength, which means the place of the break, characterized in that for automatic control of the UAV, the software loaded on it is used providing, at the same time carrying out a consistent assessment of the induction induced field at the flight altitude in the direction of travel, comparing it with the value fixed at the starting stage, and directing the UAV to the coordinate of the cable line route, where the value of the induction induced field corresponds to the initial one; after identifying the fault location, the coordinate of the fault location is fixed and marked on the ground with a device-tag. 2. The method according to claim 1, characterized in that in order to eliminate errors of the first and second kind, when a moment of a sharp increase in the magnetic field strength is detected, the UAV continues to move, with a decrease or loss of the magnetic field strength, the UAV is returned to a point with a sharp increase in the magnetic field, fix the coordinates and reset the tag device. 3. The method according to claim 1, characterized in that the tag device is equipped with a device that constantly glows due to the induced current in the break zone.

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