Power transmission line fault positioning method and device based on inspection unmanned aerial vehicle

Abstract

The application discloses a power transmission line fault positioning method and device based on a patrol unmanned aerial vehicle, a preset current signal is sent to a power transmission line through a signal generator, the preset current signal is used for abnormal detection of the power transmission line, a signal collector on the unmanned aerial vehicle is used for collecting current signals on the power transmission line along a line direction of the power transmission line, the collected current signals are analyzed, and whether the power transmission line has a fault is determined by combining the preset current signal and the signal collector on the unmanned aerial vehicle; if the signal collector collects the preset current signal, a signal locator on the unmanned aerial vehicle is used for positioning a fault of the power transmission line according to the current signals on the power transmission line, fault positioning information is obtained, the fault positioning information is returned to a ground terminal, a fault position is determined by combining the signal locator and the signal collector, and therefore, manual patrol of a user is not needed, and the fault positioning efficiency is improved.

Description

Technical Field

[0001] This application relates to the field of power transmission line fault inspection technology, and in particular to a method and device for locating power transmission line faults based on inspection drones. Background Technology

[0002] Transmission lines are high-voltage lines used to transmit electrical energy. Their overhead lines are widely distributed, and the line equipment operates in the natural environment for a long time, making them susceptible to various climatic conditions (such as storms, floods, ice and snow, clouds and fog, lightning strikes, etc.) and other external damage (such as trees and bamboo falling and hitting the conductors, grounding short circuits caused by birds and animals, etc.). Therefore, it is necessary to strengthen the inspection and patrol of the lines during operation, to discover equipment defects and factors that endanger the safe operation of the lines at any time, so as to carry out timely maintenance and eliminate hidden dangers.

[0003] Currently, transmission line inspections primarily involve personnel visually inspecting, checking, and measuring various components of the transmission lines using the naked eye or with the aid of telescopes and other equipment to understand their operational status and promptly identify potential safety hazards. However, in severe weather conditions, manual inspections are affected by strong winds, heavy rain, or heavy snow, leading to slow fault location and impacting inspection efficiency. Summary of the Invention

[0004] This application provides a method and device for locating faults in power transmission lines based on inspection drones, in order to solve the technical problem of slow fault location in current power transmission line fault inspection methods.

[0005] To address the aforementioned technical problems, firstly, this application provides a method for locating power transmission line faults based on an inspection drone, comprising:

[0006] A preset current signal is sent to the transmission line through a signal generator. The preset current signal is used to detect abnormalities in the transmission line.

[0007] The signal acquisition device on the drone collects the current signal along the direction of the power transmission line.

[0008] The current signal acquired by the signal acquisition device is analyzed;

[0009] If the signal acquisition device acquires the preset current signal, then the signal locator on the UAV will locate the fault in the power transmission line based on the current signal on the power transmission line, and obtain the fault location information.

[0010] The fault location information is returned to the ground terminal.

[0011] In some implementations, the signal acquisition device is a current sensing sensor, and the step of acquiring the current signal on the power transmission line along the line direction using the signal acquisition device on the UAV includes:

[0012] The current signal on the three-phase cable of the transmission line is collected by the current sensing sensor.

[0013] In some implementations, the step of locating the fault in the power transmission line using a signal locator on the drone based on the current signal on the power transmission line, and obtaining fault location information, includes:

[0014] Using the signal locator on the UAV, a binary search algorithm is used to sample the current signal collected by the signal collector based on the abnormal current phase of the three-phase cable to obtain a target current array. The target current array is a set of current signals ordered by the line direction and includes the preset current signal.

[0015] Based on the target current array, determine the fault direction of the transmission line;

[0016] Based on the multiple fault directions obtained by repeatedly executing the binary search algorithm, the fault location information of the transmission line is determined.

[0017] In some implementations, determining the fault direction of the transmission line based on the target current array includes:

[0018] Determine whether the middle element of the target current array is the preset current signal;

[0019] If the intermediate element is not the preset current signal, then the positional relationship between the intermediate element and the preset current signal is determined to obtain the fault direction.

[0020] In some implementations, the analysis of the current signal acquired by the signal acquisition device includes:

[0021] Based on the current signal acquired by the signal acquisition device, the grounding resistance of the transmission line is calculated;

[0022] If the grounding resistance of the transmission line increases, it is determined that the signal acquisition device has acquired the preset current signal.

[0023] In some implementations, calculating the grounding resistance of the transmission line based on the current signal acquired by the signal acquisition device includes:

[0024] Using a preset resistance calculation formula, the grounding resistance of the transmission line is calculated based on the current signal acquired by the signal acquisition device. The preset resistance calculation formula is as follows:

[0025]

[0026] Where R is the grounding resistance, I is the current signal, U1 is the measured voltage of the abnormal current phase, and U2 is the measured voltage of the non-abnormal current phase.

[0027] In some implementations, returning the fault location information to the ground terminal includes:

[0028] The fault location information is wirelessly transmitted to the ground terminal via a wireless transmitter on the UAV. The wireless transmission includes any one or more of 4G DTU, GPRS, 5G DTU, Lora, and Zigbee.

[0029] Secondly, this application also provides a power transmission line fault location device based on an inspection drone, comprising:

[0030] The transmitting module is used to send a preset current signal to the transmission line via a signal generator, the preset current signal being used for anomaly detection of the transmission line;

[0031] The acquisition module is used to acquire the current signal on the power transmission line along the line direction using a signal acquisition device on the UAV;

[0032] The analysis module is used to analyze the current signal acquired by the signal acquisition device;

[0033] The positioning module is used to locate the power transmission line based on the current signal on the power transmission line by means of the signal locator on the UAV if the signal collector collects the preset current signal, and to obtain fault location information.

[0034] The return module is used to return the fault location information to the ground terminal.

[0035] Thirdly, this application also provides a drone device, including a processor and a memory, wherein the memory is used to store a computer program, and the computer program, when executed by the processor, implements the power line fault location method based on the inspection drone as described in the first aspect.

[0036] Fourthly, this application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the power line fault location method based on an inspection drone as described in the first aspect.

[0037] Compared with the prior art, this application has at least the following beneficial effects:

[0038] This application transmits a preset current signal to the transmission line via a signal generator. This preset current signal is used to detect anomalies in the transmission line. A signal collector on a drone collects the current signal along the transmission line's direction. The collected current signal is analyzed, and the preset current signal is combined with the signal collector on the drone to determine if a fault exists in the transmission line. If the signal collector detects the preset current signal, a signal locator on the drone locates the fault in the transmission line based on the current signal, obtaining fault location information. This fault location information is then returned to a ground terminal. The signal locator and signal collector are then combined to determine the fault location, eliminating the need for manual inspection by the user. This effectively overcomes the inconvenience of traditional fault location equipment, which requires handheld detection devices and traversing each tower and section. It allows maintenance personnel to operate a drone in a suitable environment to locate line faults, improving fault location efficiency. Attached Figure Description

[0039] Figure 1 This is a flowchart illustrating a method for locating power line faults based on an inspection drone, as shown in an embodiment of this application.

[0040] Figure 2 This is a schematic diagram of the structure of a power transmission line fault location device based on an inspection drone, as shown in an embodiment of this application.

[0041] Figure 3 This is a schematic diagram of the structure of a computer device shown in an embodiment of this application. Detailed Implementation

[0042] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0043] Please refer to Figure 1 , Figure 1 This is a flowchart illustrating a method for locating power line faults based on an inspection drone, as provided in an embodiment of this application. The method for locating power line faults based on an inspection drone, as described in this application, can be applied to computer equipment, including but not limited to smartphones, laptops, tablets, desktop computers, physical servers, and cloud servers. Figure 1As shown, the power line fault location method based on inspection drones in this embodiment includes steps S101 to S105, which are detailed below:

[0044] Step S101: A preset current signal is sent to the transmission line through a signal generator. The preset current signal is used to detect abnormalities in the transmission line.

[0045] In this step, the preset current signal is an S signal. This is used when a single-phase ground fault occurs, and the primary side of the grounded phase PT (potential transformer) is short-circuited and temporarily inactive, injecting a special current signal (i.e., the S signal) into the system. The ground fault location is achieved by detecting and tracking the path of this signal using a tracing principle. Optionally, the signal generator periodically sends the preset current signal to the transmission line.

[0046] Step S102: The current signal on the power transmission line is collected by the signal acquisition device on the UAV along the line direction.

[0047] In this step, the signal acquisition device can be a current sensing sensor. The drone moves along the direction of the power transmission line and collects the current signal on the power transmission line through the signal acquisition device, thus eliminating the need for users to climb the cable for manual fault detection. It is understood that the current signal collected by the signal acquisition device includes the aforementioned preset current signal and the normal transmission current signal.

[0048] In some embodiments, step S102 includes: acquiring current signals on the three-phase cables of the transmission line using the current sensing sensor.

[0049] In this embodiment, the current status of the three phases of the transmission line is collected by a current sensing sensor. By utilizing the characteristic that the S signal does not flow in the normally grounded phase but flows in the faulty grounded phase, fault detection of the transmission line can be achieved.

[0050] Step S103: Analyze the current signal acquired by the signal acquisition device.

[0051] In this step, the current signal is analyzed to determine whether the current signal acquired by the signal acquisition device is the preset current signal, thereby enabling fault diagnosis.

[0052] In some embodiments, step S103 includes:

[0053] Based on the current signal acquired by the signal acquisition device, the grounding resistance of the transmission line is calculated;

[0054] If the grounding resistance of the transmission line increases, it is determined that the signal acquisition device has acquired the preset current signal.

[0055] In this embodiment, when the S signal passes through the faulty grounded phase, the grounding resistance increases and the current value gradually decreases. Therefore, the grounding resistance is calculated to determine whether the current signal collected by the signal collector is a preset current signal, thereby realizing fault detection.

[0056] Optionally, the grounding resistance of the transmission line is calculated based on the current signal acquired by the signal acquisition device using a preset resistance calculation formula. The preset resistance calculation formula is as follows:

[0057]

[0058] Where R is the grounding resistance, I is the current signal, U1 is the measured voltage of the abnormal current phase, and U2 is the measured voltage of the non-abnormal current phase.

[0059] In this optional embodiment, the abnormal current phase is the fault-grounded phase in the three-phase power of the transmission line, and the non-abnormal current phase is any phase in the three-phase power of the transmission line other than the fault-grounded phase.

[0060] Step S104: If the signal acquisition device acquires the preset current signal, the signal locator on the UAV will locate the fault in the power transmission line based on the current signal on the power transmission line to obtain fault location information.

[0061] In this step, based on the binary search algorithm, current signals at different locations on the transmission line are collected with the same sampling period as the signal generator's generation period, and the fault location is determined based on the current signals at different locations.

[0062] In some embodiments, step S104 includes:

[0063] Using the signal locator on the UAV, a binary search algorithm is used to sample the current signal collected by the signal collector based on the abnormal current phase of the three-phase cable to obtain a target current array. The target current array is a set of current signals ordered by the line direction and includes the preset current signal.

[0064] Based on the target current array, determine the fault direction of the transmission line;

[0065] Based on the multiple fault directions obtained by repeatedly executing the binary search algorithm, the fault location information of the transmission line is determined.

[0066] In this embodiment, the abnormal current phase is the fault-grounded phase. Using a binary search algorithm, current signals are collected at different locations on the transmission line with the same sampling period as the signal generator's transmission period to obtain a current array and determine the fault direction. Based on the fault direction, the binary search algorithm is executed again until the fault location information of the transmission line is determined.

[0067] Optionally, determining the fault direction of the transmission line based on the target current array includes:

[0068] Determine whether the middle element of the target current array is the preset current signal;

[0069] If the intermediate element is not the preset current signal, then the positional relationship between the intermediate element and the preset current signal is determined to obtain the fault direction.

[0070] In this optional embodiment, for example, if the transmission line includes sections A to D, the first execution of the binary search algorithm is as follows: current signals are collected from sections A to D of the transmission line to obtain target current array 1. It is determined whether the middle element of target current array 1 is a preset current signal. If not, it means that the fault location is between (B+C) / 2 and D. Then, the second binary search algorithm is executed between (B+C) / 2 and D. If yes, it means that the fault location is between A and (B+C) / 2. Then, the second binary search algorithm is executed between A and (B+C) / 2. This process is repeated until the fault location is determined, and the fault location information is obtained.

[0071] Step S105: Return the fault location information to the ground terminal.

[0072] Optionally, in this step, the fault location information is wirelessly transmitted to the ground terminal via a wireless transmitter on the drone. The wireless transmission includes any one or more of 4G DTU, GPRS, 5G DTU, LoRa, and Zigbee. The ground terminal includes, but is not limited to, smartphones, tablets, laptops, and desktop computers.

[0073] To implement the power line fault location method based on inspection drones corresponding to the above method embodiments, and to achieve the corresponding functions and technical effects. See also Figure 2 , Figure 2 This diagram illustrates a structural block diagram of a power transmission line fault location device based on an inspection drone, according to an embodiment of this application. For ease of explanation, only the parts relevant to this embodiment are shown. The power transmission line fault location device based on an inspection drone provided in this embodiment includes:

[0074] The transmitting module 201 is used to send a preset current signal to the transmission line through a signal generator. The preset current signal is used to detect abnormalities in the transmission line.

[0075] The acquisition module 202 is used to acquire the current signal on the power transmission line along the line direction using a signal acquisition device on the UAV.

[0076] The analysis module 203 is used to analyze the current signal acquired by the signal acquisition device.

[0077] The positioning module 204 is used to locate the fault in the power transmission line by means of the signal locator on the UAV based on the current signal on the power transmission line if the signal collector collects the preset current signal, and to obtain fault location information.

[0078] The return module 205 is used to return the fault location information to the ground terminal.

[0079] In some embodiments, the signal acquisition device is a current sensing sensor, and the acquisition module 202 is used for:

[0080] The current signal on the three-phase cable of the transmission line is collected by the current sensing sensor.

[0081] In some embodiments, the positioning module 204 includes:

[0082] The sampling unit is used to sample the current signal collected by the signal collector through the signal locator on the UAV using a binary search algorithm based on the abnormal current phase of the three-phase cable, and obtain a target current array. The target current array is a set of current signals ordered by the line direction and includes the preset current signal.

[0083] The first determining unit is used to determine the fault direction of the transmission line based on the target current array;

[0084] The second determining unit is used to determine the fault location information of the transmission line based on the multiple fault directions obtained by executing the binary search algorithm multiple times.

[0085] In some embodiments, the first determining unit is configured to:

[0086] Determine whether the middle element of the target current array is the preset current signal;

[0087] If the intermediate element is not the preset current signal, then the positional relationship between the intermediate element and the preset current signal is determined to obtain the fault direction.

[0088] In some embodiments, the analysis module 203 includes:

[0089] The calculation unit is used to calculate the grounding resistance of the transmission line based on the current signal collected by the signal collector;

[0090] The determination unit is used to determine that the signal acquisition device has acquired the preset current signal if the grounding resistance of the transmission line increases.

[0091] In some embodiments, the computing unit is configured to:

[0092] Using a preset resistance calculation formula, the grounding resistance of the transmission line is calculated based on the current signal acquired by the signal acquisition device. The preset resistance calculation formula is as follows:

[0093]

[0094] Where R is the grounding resistance, I is the current signal, U1 is the measured voltage of the abnormal current phase, and U2 is the measured voltage of the non-abnormal current phase.

[0095] In some embodiments, the return module 205 is configured to:

[0096] The fault location information is wirelessly transmitted to the ground terminal via a wireless transmitter on the UAV. The wireless transmission includes any one or more of 4G DTU, GPRS, 5G DTU, Lora, and Zigbee.

[0097] The aforementioned transmission line fault location device based on inspection drones can implement the transmission line fault location method based on inspection drones described in the above method embodiments. The options in the above method embodiments are also applicable to this embodiment, and will not be detailed here. The remaining content of this application's embodiments can be referred to the content of the above method embodiments, and will not be repeated in this embodiment.

[0098] Figure 3 This is a schematic diagram of the structure of a drone device provided in one embodiment of this application. Figure 3 As shown, the drone device 3 in this embodiment includes: at least one processor 30 ( Figure 3 (Only one is shown in the diagram) a processor, a memory 31, and a computer program 32 stored in the memory 31 and executable on the at least one processor 30, wherein the processor 30 executes the computer program 32 to implement the steps in any of the above method embodiments.

[0099] The drone device 3 can be a computing device such as a smartphone, tablet, desktop computer, or cloud server. This drone device may include, but is not limited to, a processor 30 and a memory 31. Those skilled in the art will understand that... Figure 3 This is merely an example of drone device 3 and does not constitute a limitation on drone device 3. It may include more or fewer components than shown in the figure, or combine certain components, or different components, such as input / output devices, network access devices, etc.

[0100] The processor 30 may be a Central Processing Unit (CPU), or it may be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor.

[0101] In some embodiments, the memory 31 may be an internal storage unit of the drone device 3, such as a hard drive or memory of the drone device 3. In other embodiments, the memory 31 may be an external storage device of the drone device 3, such as a plug-in hard drive, smart media card (SMC), secure digital (SD) card, flash card, etc., equipped on the drone device 3. Furthermore, the memory 31 may include both internal and external storage units of the drone device 3. The memory 31 is used to store the operating system, applications, bootloader, data, and other programs, such as the program code of the computer program. The memory 31 can also be used to temporarily store data that has been output or will be output.

[0102] In addition, embodiments of this application also provide a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the steps in any of the above method embodiments.

[0103] This application provides a computer program product that, when run on a drone device, enables the drone device to execute the steps described in the various method embodiments above.

[0104] In the several embodiments provided in this application, it will be understood that each block in the flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than those shown in the figures. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved.

[0105] If the aforementioned functions are implemented as software functional modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a drone device to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0106] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of this application. It should be understood that the above descriptions are merely specific embodiments of this application and are not intended to limit the scope of protection of this application. In particular, it should be noted that any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application for those skilled in the art.

Claims

1. A method for locating a fault on a power transmission line based on a patrol unmanned aerial vehicle, characterized in that, include: A preset current signal is sent to the transmission line through a signal generator. The preset current signal is used to detect abnormalities in the transmission line. The signal acquisition device on the drone collects the current signal along the direction of the power transmission line. The current signal acquired by the signal acquisition device is analyzed; If the signal acquisition device acquires the preset current signal, then the signal locator on the UAV, based on the current signal on the transmission line, performs fault location on the transmission line to obtain fault location information. This includes: using the signal locator on the UAV, employing a binary search algorithm, sampling the current signal acquired by the signal acquisition device based on the abnormal current phase of the three-phase cable to obtain a target current array. The target current array is a set of current signals ordered by the line direction, and includes the preset current signal; determining the fault direction of the transmission line based on the target current array; and determining the fault location information of the transmission line based on the multiple fault directions obtained by repeatedly executing the binary search algorithm. Determining the fault direction of the transmission line includes: determining whether the middle element of the target current array is the preset current signal; if the middle element is not the preset current signal, determining the positional relationship between the middle element and the preset current signal to obtain the fault direction. The fault location information is returned to the ground terminal.

2. The method of claim 1, wherein, The signal acquisition device is a current sensing sensor. The process of acquiring the current signal on the power transmission line along its direction using the signal acquisition device on the drone includes: The current signal on the three-phase cable of the transmission line is collected by the current sensing sensor.

3. The method of claim 1, wherein the method further comprises: The analysis of the current signal acquired by the signal acquisition device includes: Based on the current signal acquired by the signal acquisition device, the grounding resistance of the transmission line is calculated; If the grounding resistance of the transmission line increases, it is determined that the signal acquisition device has acquired the preset current signal.

4. The method of claim 3, wherein the method further comprises: The calculation of the grounding resistance of the transmission line based on the current signal acquired by the signal acquisition device includes: Using a preset resistance calculation formula, the grounding resistance of the transmission line is calculated based on the current signal acquired by the signal acquisition device. The preset resistance calculation formula is as follows: ； wherein, is a ground resistance, is a current signal, is a measurement voltage of the current abnormal phase, is a measurement voltage of the non-current abnormal phase.

5. The method of claim 1, wherein, The step of returning the fault location information to the ground terminal includes: The fault location information is wirelessly transmitted to the ground terminal via a wireless transmitter on the UAV. The wireless transmission includes any one or more of 4G DTU, GPRS, 5G DTU, Lora, and Zigbee.

6. A power transmission line fault location device based on inspection unmanned aerial vehicle, characterized in that, include: The transmitting module is used to send a preset current signal to the transmission line via a signal generator, the preset current signal being used for anomaly detection of the transmission line; The acquisition module is used to acquire the current signal on the power transmission line along the line direction using a signal acquisition device on the UAV; The analysis module is used to analyze the current signal acquired by the signal acquisition device; The positioning module is used to locate the fault in the power transmission line based on the current signal on the power transmission line, using the signal locator on the UAV, if the signal collector acquires the preset current signal, and to obtain fault location information. This includes: using the signal locator on the UAV, sampling the current signal acquired by the signal collector based on the abnormal current phase of the three-phase cable using a binary search algorithm to obtain a target current array, where the target current array is a set of current signals ordered by the line direction and includes the preset current signal; determining the fault direction of the power transmission line based on the target current array; and determining the fault location information of the power transmission line based on multiple fault directions obtained by executing the binary search algorithm multiple times. Determining the fault direction of the power transmission line includes: determining whether the middle element of the target current array is the preset current signal; if the middle element is not the preset current signal, determining the positional relationship between the middle element and the preset current signal to obtain the fault direction. The return module is used to return the fault location information to the ground terminal.

7. An unmanned aerial vehicle apparatus, comprising: It includes a processor and a memory, the memory being used to store a computer program, which, when executed by the processor, implements the power line fault location method based on an inspection drone as described in any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that, It stores a computer program, which, when executed by a processor, implements the power line fault location method based on an inspection drone as described in any one of claims 1 to 5.

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