Locked tracking method of helicopter in the inspection process of electric power circuits

Abstract

The invention discloses a locked tracking method of a helicopter in the inspection process of inspected electric power circuits, comprising the following steps of: (1) confirming a three-dimensional corner of a nacelle in a distant area according to position coordinates of the helicopter and an inspected target by adopting a position coordinate tracking method and carrying out rapid and primary locking on the inspected target; (2) confirming a three-dimensional corner of a control nacelle according to the position coordinates of the helicopter and the inspected target, a flight attitude of the helicopter confirmed by a flight attitude detector and a current tower number read by using a radio-frequency card reader by adopting the position coordinate tracking method when the helicopter enters into a pre-detection area, and rapidly and accurately locking the inspected target; and (3) locking and tracking the inspected target by adopting the position coordinate tracking method, and locking and tracking local components of the inspected target by adopting an image identification and tracking method when the helicopter enters into a working area. The invention has the advantages of rapidly and accurately locking and tracking the inspected target, lightening workload of inspectors, improving the inspection efficiency and reducing expenses of inspection cost of the helicopter.

Description

[0001] technical field [0002] The invention relates to a power line inspection technology, in particular to a locking and tracking method using a helicopter to inspect a power line. [0003] Background technique [0004] At present, most power line inspections in my country use manual inspections. The inspection rate is low, and there are often missed inspections and wrong inspections. Paper and pen are used to record fault defects. There are many subjective factors, and the description of defect records is different, so it cannot be quickly classified. . The high-voltage power lines to be inspected have reached hundreds of kilovolts or more. Traditional manual inspections use the method of climbing power line towers, which has great potential safety hazards. A large number of power lines pass through uninhabited areas, manual inspections are severely restricted geographically, the range of human activities is restricted by physical fitness, and the detection distance is ...

AI Technical Summary

Problems solved by technology

[0004] At present, most power line inspections in my country use manual inspections. The inspection rate is low, and there are often missed inspections and wrong inspections. Paper and pen are used to record fault defects. There are many subjective factors, and the description of defect records is different, so it cannot be quickly classified.

The high-voltage power lines to be detected have reached hundreds of kilovolts or more. Traditional manual inspections use the method of climbing power line towers, which has great potential safety hazards.

A large number of power lines pass through uninhabited areas, manual inspections are severely restricted geographically, the range of human activities is restricted by physical fitness, and the detection distance is limited

Manually observe the power line and use experience to judge whether the line is faulty, and it is easy to cause mistakes and the accuracy is not high

The use of helicopters to replace manual inspections of power lines in foreign countries has become more popular, and it has also begun to be explored in China. From the experience feedback at home and abroad, completely manual helicopters for power line inspections have poor adaptability and low safety. Disadvantages: The aerial height of the power line is low, and the use of helicopters for inspections requires low-altitude flight alo

Images