System, method and control terminal for collecting high-voltage power line tree-barrier defects

Abstract

The invention relates to a system for collecting high-voltage power line tree-barrier defects, which comprises a control terminal and a flight platform. The flight platform comprises an unmanned aerial vehicle and a camera mounted on the unmanned aerial vehicle. The control terminal comprises a path selecting module for selecting the starting and ending towers and navigating flight routes, a parameter setting module for setting flight height, forward overlaps and side overlaps, a navigation control module for controlling the unmanned aerial vehicle according to the set path and the parameters; a point cloud data acquisition module for obtaining point cloud data of the towers and the lines; a tree barrier defect analysis module for calculating a tree barrier defect from the point cloud data; and the camera collecting images on the flight path. In addition, the invention also provides a method and a control terminal for collecting the high-voltage power line tree-barrier defects.

Description

technical field [0001] The invention relates to the field of unmanned aerial vehicle control, in particular to a system, method and control terminal for collecting tree barrier defects of high-voltage power lines. Background technique [0002] Most of the overhead transmission lines run in the wilderness, there are mountainous areas, and there are fields. It covers a wide area and the ecological environment is volatile. It is often affected by severe weather such as strong winds, heavy fog, heavy rain, ice and snow. Or man-made damage such as flying a kite near the line, building roads and houses near the wire, digging soil next to the foundation of the tower, etc., will cause various failures in the operation of the power transmission line. In order to ensure the safe and reliable operation of transmission lines, the power industry has formulated strict inspection work specifications, requiring mandatory monthly inspection and maintenance of equipment. [0003] Power line ...

AI Technical Summary

Problems solved by technology

[0007] (1) Manual inspections along the route, crossing mountains and ridges, and the places with trees are basically distributed in mountainous areas. Trees often grow rapidly in mountainous areas. After a month, many intersections are difficult to identify, causing inspectors to often go the wrong way. Therefore, every working day It can only patrol about 2-3 kilometers, which is inefficient

[0008] (2) Manual inspection along the line often walks in the woods, and it is difficult to accurately judge the tree height, resulting in the omission of many tree barrier defects, and the inspection quality cannot be guaranteed

[0011] However, the second solution still has the following defects:

[0012] (1) Helicopter flight platform is used, and the inspection cost is high

[0013] Transmission line operation and maintenance units need to purchase helicopters, which can only be afforded by large transmission line operation and maintenance units such as China Southern Power Grid, State Grid, and EHV companies, and often only a small amount is purchased, and most rely on leasing, so it is difficult to operate in most provinces and regions. Promotion and application of municipal line operation and maintenance units

[0014] (2) Helicopter flight platform is used, and patrol operation is difficult

[0016] Helicopter flight platform inspections require the operation and maintenance unit to be equipped with professional pilots, professional aircraft operation and maintenance support operations teams, hangars, aircraft transportation vehicles and a large number of logistical support, making the inspection operation difficult

[0017] (3) Manually use the ranging telescope to check, the operation is poor in standardization, and the quality is difficult to guarantee

[0021] However, the third scheme still has the following defects:

Transmission line operation and maintenance units need to purchase these flying platforms, which can only be afforded by large transmission line operation and maintenance units such as China Southern Power Grid, State Grid, and EHV companies, and they often purchase only a small amount, and most rely on leasing. , Promotion and application of city-level line operation and maintenance units

[0024] (2) Airborne laser equipment is expensive and basically relies on rental services, making it difficult to popularize and apply

[0025] The airborne laser equipment used at this stage is basically more than 10 million, so only a few inspection units can afford the equipment cost, and it is difficult to popularize and apply it in most provincial and prefecture-level line operation and maintenance units

[0026] (3) The airborne laser equipment is complex and requires a professional operation team

[0027] The structure of the airborne laser equipment is complex. The installation of equipment before the inspection, the operation of the equipment during the inspection, and the maintenance of the equipment after the inspection require a professional operation team. Generally, the operation and maintenance inspection units of power transmission lines do not have such a professional team and require a lot of time for training.

[0028] (4) Manned flying platform operation, patrol operation is difficult

[0030] Manned flight platform inspections require the operation and maintenance unit to be equipped with professional pilots, professional aircraft operation and maintenance support operations teams, hangars, aircraft transportation vehicles and a large number of logistical support, making the inspection operation difficult

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