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

technical field [0001] 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. Background technique [0002] 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 limited. Manually ...

AI Technical Summary

Problems solved by technology

[0002] 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 along the line. The air situation is complicated, and the pilot needs to maintain line of sight contact with the line at any time, while performing normal flight operations, which greatly increases the difficulty of operation. There is a rule in the manual that "avoid flying close to high-voltage power lines". Line patrol flying does the opposite, keeping a close distance and parallel flight with high-voltage lines. The flying speed is faster and the danger is greatly increased. Helicopter crash

There are still three major deficiencies in the routine inspection of helicopters: First, the degree of automation of the airborne system operation is relatively low, resulting in the need for at least two people on the aircraft to operate, one person to operate the inspection equipment, and one person to visually inspect the line equipment and record defects, which is easy to miss inspection

Second, the workload of data processing after inspection is heavy

Manual viewing of video data with low pixels is time-consuming and labor-intensive

Third, the inspection cost is high

[0006] Helicopter automatic patrol inspection of power lines is a highly complex inspection environment that requires the use of computers, optical electromechanical, satellite communications, image recognition, large-capacity data communication and navigation technologies. It is very difficult and high-risk comprehensive technology. It is very difficult to completely use robots for inspections. Difficult to complete specific inspection tasks in reality

[0007] The cost of using a helicopter is relatively expensive, and it costs tens of thousands of yuan per hour. Therefore, it is necessary to improve the efficiency of the airborne system to obtain image information of the circuit and save the cost of using the helicopter for inspection.

The spatial position of the helicopter changes dynamically, which seriously affects the acquisition of the image information of the power line by the airborne system. Therefore, it is necessary to design a method for locking and tracking the power line under test to eliminate the influence

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