A laser-based online monitoring device for preventing external damage to power transmission lines

Abstract

This utility model belongs to the field of transmission line external damage prevention monitoring technology, specifically disclosing a laser-based online monitoring device for transmission lines. The device includes a laser detection module, a main control module, and an alarm module. The laser detection module comprises a first mounting bracket, a second mounting bracket, a first motor, a second motor, a third motor, a first connecting rod, a second connecting rod, a third connecting rod, and a laser ranging sensor. The first and second motors are mounted on the first mounting bracket, and the third motor is mounted on the second mounting bracket. One end of each of the first, second, and third connecting rods is movably connected to the second mounting bracket. Through the cooperation of the first, second, and third motors, and the first, second, and third connecting rods, the laser ranging sensor body can rotate at multiple angles in three-dimensional space, expanding the detection range of the laser detection module within the transmission line protection area.

Description

Technical Field

[0001] This utility model belongs to the field of power transmission line external damage prevention monitoring technology, and specifically relates to a laser-based online monitoring device for power transmission lines to prevent external damage. Background Technology

[0002] As an important component of the power system, transmission lines play a vital role in transmitting electrical energy, and their safe operation is an important prerequisite for maintaining the stability of national production and life.

[0003] Currently, in transmission line tripping accidents, tripping caused by external damage to the line accounts for 70% of all line fault tripping accidents. External damage to the line is mainly caused by large mechanical equipment such as excavators and cranes accidentally colliding with the line or tower when they are working near the transmission line. Timely detection and elimination of potential external damage to power lines can effectively reduce line tripping rates. Existing external damage monitoring devices for transmission lines are mainly divided into three types: video surveillance-based, video surveillance + laser detection-based, and video surveillance + lidar-based. Among them, the video surveillance-based external damage monitoring device suffers from excessive image transmission, requiring manual observation of the transmitted images, resulting in a large workload. The video surveillance + laser detection-based external damage monitoring device uses laser detection sensors (such as grating sensors, laser rangefinders, etc.) to detect foreign objects or personnel entering the line protection area and links with the video surveillance device and alarm. However, since laser detection sensors are usually fixed during installation, the detection angle cannot be adjusted, and the detection range is very limited, which cannot cover the entire line protection area. It can only detect intrusions in fixed areas, making the defense method relatively passive. While the video surveillance + lidar-based external damage monitoring device can dynamically scan and detect the protected area, lidar is expensive and the system structure is complex.

[0004] In view of this, this utility model proposes an online monitoring device for laser-based protection against external damage to power transmission lines. Utility Model Content

[0005] The purpose of this invention is to provide an online monitoring device for laser protection against external damage to power transmission lines, which can dynamically adjust the detection angle of the laser ranging sensor, expand the detection range of the laser ranging sensor in the line protection area, and realize active defense of the line protection area.

[0006] To achieve the above objectives, this utility model provides an online monitoring device for laser-based protection against external damage to power transmission lines, comprising:

[0007] A laser detection module includes a first mounting bracket, a second mounting bracket, a first motor, a second motor, a third motor, a first connecting plate, a second connecting plate, a first connecting rod, a second connecting rod, a third connecting rod, and a laser ranging sensor. The first motor and the second motor are respectively mounted on the first mounting bracket. The shaft of the first motor is connected to one end of the first connecting plate, and the shaft of the second motor is connected to one end of the second connecting plate. The other end of the first connecting plate is movably connected to one end of the first connecting rod, and the other end of the second connecting plate is movably connected to one end of the second connecting rod. The other ends of the first connecting rod and the second connecting rod are respectively movably connected to the upper end face of the second mounting bracket. One end of the third connecting rod is located in the middle of the first mounting bracket, and the other end is movably connected to the upper end face of the second mounting bracket. The third motor is located on the lower end face of the second mounting bracket, and the shaft of the third motor is connected to the laser ranging sensor.

[0008] The system includes a main control module and an alarm module, with the alarm module and laser detection module respectively connected to the main control module.

[0009] Preferably, in the above technical solution, the first connecting rod is connected to the upper end face of the second mounting bracket via a first universal joint; the second connecting rod is connected to the upper end face of the second mounting bracket via a second universal joint; and the third connecting rod is connected to the upper end face of the second mounting bracket via a third universal joint.

[0010] Preferably, in the above technical solution, one end of the first motor, the second motor, and the third connecting rod are arranged in a right-angled triangle, and the rotation axes of the first motor and the second motor are perpendicular to each other.

[0011] Preferably, in the above technical solution, the main control module includes a microcontroller and a motor control circuit, the microcontroller is connected to the motor control circuit, and the first motor, the second motor and the third motor are respectively connected to the motor control circuit.

[0012] Preferably, in the above technical solution, the laser detection module includes an angle and acceleration monitoring sensor, which is mounted on the laser rangefinder and connected to the microcontroller.

[0013] Preferably, in the above technical solution, the main control module includes a data storage circuit, which is connected to the microcontroller.

[0014] Preferably, in the above technical solution, the main control module includes a wireless communication module, which is connected to the microcontroller.

[0015] Preferably, the above technical solution also includes a camera module, which is connected to the main control module.

[0016] Preferably, the above technical solution further includes a solar panel and a battery, wherein the solar panel and the battery are respectively connected to the main control module.

[0017] Compared with existing technologies, this utility model has the following beneficial effects:

[0018] 1. This utility model uses a third motor to drive the laser ranging sensor to rotate on a second mounting bracket. A first motor drives a first connecting rod, and a second motor drives a second connecting rod. The first and second connecting rods are movably connected to the upper surface of the second mounting bracket. One end of the third connecting rod is located in the middle of the first mounting bracket, and the other end is movably connected to the upper surface of the second mounting bracket. The main control module controls the rotation angle of the first and second motors. Under the action of the first, second, and third connecting rods, the second mounting bracket can be tilted at multiple angles in space, ultimately enabling the laser ranging sensor to rotate at multiple angles in space. This expands the detection range of the laser ranging sensor within the line protection area. The laser ranging sensor detects the location of personnel, vehicles, and equipment entering the line protection area and triggers an alarm through the alarm module, achieving active defense of the line protection area.

[0019] 2. This utility model collects the spatial angle of the laser rangefinder through angle and acceleration monitoring sensors. The microcontroller adjusts the rotation angles of the first motor, the second motor, and the third motor based on the data from the angle and acceleration monitoring sensors. Through closed-loop control, the accuracy of angle and position control of the laser rangefinder is improved.

[0020] 3. This utility model is equipped with a camera module and a wireless communication module. The camera module captures images of the scene, and the wireless communication module transmits the images back to the scene. Combined with the data from the laser detection module, alarm information is sent to the maintenance personnel in the monitoring backend. The maintenance personnel in the backend can retrieve the scene images based on the alarm information, which reduces the workload of the maintenance personnel in the backend. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the overall circuit structure of this utility model.

[0022] Figure 2 This is a partial circuit structure diagram of the laser detection module of this utility model.

[0023] Figure 3 This is a schematic diagram of the structure of the laser detection module of this utility model.

[0024] In the diagram: 100—Main control module, 200—Laser detection module, 301—Solar panel, 302—Battery, 401—Camera module, 402—Alarm module, 101—Microcontroller, 102—Wireless communication module, 103—Motor control circuit, 104—Data storage circuit, 201—Laser rangefinder sensor, 202—First mounting bracket, 203—First motor, 204—Second motor, 205—Second connecting rod, 206—First connecting rod, 207—First universal joint, 208—Second universal joint, 209—Third connecting rod, 210—Third universal joint, 211—Second mounting bracket, 212—Third motor, 213—Angle and acceleration monitoring sensor. Detailed Implementation

[0025] The specific embodiments of this utility model will be described in detail below with reference to the accompanying drawings, but it should be understood that the scope of protection of the invention is not limited to the specific embodiments.

[0026] refer to Figures 1 to 3 A laser-based online monitoring device for preventing external damage to power transmission lines includes: a main control module 100, a laser detection module 200, a solar panel 301, a battery 302, a camera module 401, and an alarm module 402. The laser detection module 200, solar panel 301, battery 302, camera module 401, and alarm module 402 are all connected to the main control module 100. The main control module 100 includes a microcontroller 101, a wireless communication module 102, a motor control circuit 103, and a data storage circuit 104. The laser detection module 200 includes a laser ranging sensor 201, a first motor 203, a second motor 204, a third motor 212, a first connecting plate, a second connecting plate, a first connecting rod 206, a second connecting rod 205, a third connecting rod 209, a first universal joint 207, a second universal joint 208, a third universal joint 210, a first mounting bracket 202, a second mounting bracket 211, and an angle and acceleration monitoring sensor 213.

[0027] The first motor 203 and the second motor 204 are respectively mounted on the first mounting bracket 202. One end of the first motor 203, the second motor 204 and the third connecting rod 209 are arranged in a right-angled triangle. The rotation axes of the first motor 203 and the second motor 204 are perpendicular to each other.

[0028] The shaft of the first motor 203 is connected to one end of the first connecting plate, the shaft of the second motor 204 is connected to one end of the second connecting plate, and the other end of the first connecting plate is movably connected to one end of the first connecting rod 206 so that the first connecting rod 206 can be rotated by the rotation of the first motor 203. The other end of the second connecting plate is movably connected to one end of the second connecting rod 205. The other ends of the first connecting rod 206 and the second connecting rod 205 are respectively movably connected to the upper end face of the second mounting bracket 211. The rotation of the second motor 204 drives the second connecting rod 205 to rotate. One end of the third connecting rod 209 is located in the middle of the first mounting bracket 202, and the other end is movably connected to the upper end face of the second mounting bracket 211. The third motor 212 is located on the lower end face of the second mounting bracket 211, and the shaft of the third motor 212 is connected to the laser rangefinder sensor 201. In specific implementation, the first mounting bracket 202 is installed on the transmission tower by bolts or angle iron. The first connecting rod 206 is connected to the upper end face of the second mounting bracket 211 by the first universal joint 207. The second connecting rod 205 is connected to the upper end face of the second mounting bracket 211 by the second universal joint 208. The third connecting rod 209 is connected to the second mounting bracket 211 by the third universal joint 210. The third universal joint 210 at the connection between the third connecting rod 209 and the second mounting bracket 211 acts as a rotation fulcrum for the second mounting bracket 211. The first motor 2... Motor 203 drives the first connecting rod 206 to rotate, and the second motor 204 drives the second connecting rod 205 to rotate. The second mounting bracket 211 tilts around the third universal joint 210 at multiple angles, and then the third motor 212 drives the laser range sensor 201 to rotate on the second mounting bracket 211. By controlling the rotation angles of the first motor 203, the second motor 204 and the third motor 212, the laser range sensor 201 can rotate at multiple angles in three-dimensional space, thereby expanding the detection range of the laser range sensor 201 within the line protection area.

[0029] Specifically, in this embodiment, the multi-angle rotation control of the laser rangefinder 201 in space is equivalent to a ball control system. When the first motor 203 rotates forward or backward and the second motor 204 is fixed, the second mounting bracket 211 tilts up and down. When the first motor 203 is fixed and the second motor 204 rotates forward or backward, the second mounting bracket 211 tilts left and right. When the first motor 203 rotates forward and the second motor 204 rotates backward, the second mounting bracket 211 tilts to the lower left corner, and vice versa. It is easy to understand that the laser detection module 200 of this utility model can be regarded as a "neck and head of a person standing upside down". The laser rangefinder 201 is equivalent to the "head", and the third connecting rod 209, the first mounting bracket 202, and the second mounting bracket 211 constitute the "neck". The first motor 203, the second motor 204, the third motor 212, the first connecting rod 206, the second connecting rod 205, the first universal joint 207, the second universal joint 208, and the third universal joint 210 constitute the joint of the "neck".

[0030] The microcontroller 101 is connected to the motor control circuit 103. The first motor 203, the second motor 204, and the third motor 212 are respectively connected to the motor control circuit 103. In this embodiment, both the first motor 203 and the second motor 204 are servo motors with encoders. The motor control circuit 103 is a three-way motor drive circuit based on the DRV8841WP (motor driver) and L9110 chip, used to generate three PWM control signals to control the rotation angle of the first motor 203 and the second motor 204. The angle and acceleration monitoring sensor 213 is mounted on the laser rangefinder 201. The angle and acceleration monitoring sensor 213 and the laser rangefinder are respectively connected to the microcontroller 101. The angle and acceleration monitoring sensor 213 and the laser rangefinder 201 are respectively connected to the microcontroller 101. The sensor 213 collects the angle and acceleration data of the laser rangefinder 201 in space. The microcontroller 101 controls the output of the motor control circuit 103 by receiving the signals from the angle and acceleration monitoring sensor 213, thereby adjusting the rotation angles of the first motor 203, the second motor 204, and the third motor 212, thus realizing closed-loop control of the angle and position of the laser rangefinder 201, improving the accuracy of the angle and position control of the laser rangefinder 201. An MPU6050 gyroscope sensor can be used, the microcontroller 101 can be an STM32F103C8T6 chip, and the laser rangefinder 201 can be a Benawalk TF103-100 laser rangefinder module.

[0031] The camera module 401 is used to collect image data within the protection area of ​​the power transmission line, and the alarm module 402 is used to output voice alarm. The camera module 401 and the alarm module 402 are respectively connected to the main control module 100. In this embodiment, the alarm module 402 is a speaker.

[0032] refer to Figure 3 Specifically, the laser ranging sensor 201 collects the distances between personnel, vehicles, and large construction machinery entering the line protection area and the transmission lines and towers. The data output port of the laser ranging sensor 201 is connected to the PA4 port of the microcontroller 101 to read the distance data from the laser ranging sensor 201. When the distance data collected by the laser ranging sensor 201 reaches or exceeds a set threshold, the microcontroller 101 of the main control module 100 drives the alarm module 402 to output a voice alarm. The microcontroller 101 is connected to the wireless communication module 102 to send alarm information to the maintenance personnel in the background, reminding them to pay attention to the on-site images. This achieves active protection of the line protection area, avoiding the problem that maintenance personnel need to keep an eye on the background monitoring screen for a long time, and that the camera module 401 sends too many on-site images, resulting in a large workload for investigation and easy omissions, thus improving work efficiency. In this embodiment, the wireless communication module 102 can be a 4G wireless DTU communication module of model YED-720, which is connected to the serial ports PA8 and PA9 of the microcontroller 101.

[0033] The microcontroller 101 is connected to the data storage circuit 104. The microcontroller 101 collects distance data between personnel, vehicles, and large construction machinery entering the line protection area and the transmission line and transmission towers through the laser ranging sensor 201, and stores the data in the data storage circuit 104 in the form of data points. The microcontroller 101 retrieves these data points, connects them, and uses trigonometric functions to calculate the distance of each data point, thereby converting the data points into the height and width of objects. This allows the microcontroller 101 to exclude small animals (such as cows and sheep) entering the line protection area without triggering an alarm, thus reducing the false alarm rate of the online monitoring device for laser protection against external damage to transmission lines. In this embodiment, the data storage circuit 104 can be a memory of model AT24C02.

[0034] The solar panel 301 and the battery 302 are connected to the main control module 100 respectively, and the dual power supply method ensures the power supply stability of the entire device.

[0035] The foregoing description of specific exemplary embodiments of the present invention is for illustrative and explanatory purposes. These descriptions are not intended to limit the invention to the precise forms disclosed, and it will be apparent that many changes and variations can be made in accordance with the foregoing teachings. The exemplary embodiments were chosen and described in order to explain the specific principles of the present invention and its practical application, thereby enabling those skilled in the art to implement and utilize various different exemplary embodiments of the present invention, as well as various different choices and variations. The scope of the present invention is intended to be defined by the claims and their equivalents.

Claims

1. A laser-based online monitoring device for preventing external damage to power transmission lines, characterized in that, include: A laser detection module includes a first mounting bracket, a second mounting bracket, a first motor, a second motor, a third motor, a first connecting plate, a second connecting plate, a first connecting rod, a second connecting rod, a third connecting rod, and a laser ranging sensor. The first motor and the second motor are respectively mounted on the first mounting bracket. The shaft of the first motor is connected to one end of the first connecting plate, and the shaft of the second motor is connected to one end of the second connecting plate. The other end of the first connecting plate is movably connected to one end of the first connecting rod, and the other end of the second connecting plate is movably connected to one end of the second connecting rod. The other ends of the first connecting rod and the second connecting rod are respectively movably connected to the upper end face of the second mounting bracket. One end of the third connecting rod is located in the middle of the first mounting bracket, and the other end is movably connected to the upper end face of the second mounting bracket. The third motor is located on the lower end face of the second mounting bracket, and the shaft of the third motor is connected to the laser ranging sensor. The system includes a main control module and an alarm module, with the alarm module and laser detection module respectively connected to the main control module.

2. The online monitoring device for laser-based external damage prevention of transmission lines according to claim 1, characterized in that, The first connecting rod is connected to the upper end face of the second mounting bracket via a first universal joint; the second connecting rod is connected to the upper end face of the second mounting bracket via a second universal joint; and the third connecting rod is connected to the upper end face of the second mounting bracket via a third universal joint.

3. In the online monitoring device for laser protection against external damage to transmission lines according to claim 1, one end of the first motor, the second motor, and the third connecting rod is arranged in a right-angled triangle, and the rotation axes of the first motor and the second motor are perpendicular to each other.

4. The online monitoring device for laser-based external damage prevention of transmission lines according to claim 1, characterized in that, The main control module includes a microcontroller and a motor control circuit. The microcontroller is connected to the motor control circuit, and the first motor, the second motor, and the third motor are respectively connected to the motor control circuit.

5. The online monitoring device for laser-based external damage prevention of transmission lines according to claim 4, characterized in that, The laser detection module includes angle and acceleration monitoring sensors, which are mounted on the laser rangefinder and connected to the microcontroller.

6. The online monitoring device for laser-based external damage prevention of transmission lines according to claim 4, characterized in that, The main control module includes a data storage circuit, which is connected to the microcontroller.

7. The online monitoring device for laser-based external damage prevention of transmission lines according to claim 4, characterized in that, The main control module includes a wireless communication module, which is connected to the microcontroller.

8. The online monitoring device for laser-based external damage prevention of transmission lines according to claim 1, characterized in that, It also includes a camera module, which is connected to the main control module.

9. The online monitoring device for laser-based external damage prevention of transmission lines according to claim 1, characterized in that, It also includes a solar panel and a battery, which are respectively connected to the main control module.

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