192 results about "Power line inspection" patented technology

The invention relates to a high voltage overhead transmission line line-inspection unmanned aerial vehicle photoelectric detection device belonging to the technical field of power line inspection. The invention aims at solving the problem of single technology of the existing overhead transmission line line-inspection. The high voltage overhead transmission line line-inspection unmanned aerial vehicle photoelectric detection device mainly comprises an unmanned aerial vehicle, a GPS (global position system) inertial integrated attitude azimuth detection device, a damping device, a rotation detection nacelle, a ground data receiving processor and a controller. The high voltage overhead transmission line line-inspection unmanned aerial vehicle photoelectric detection device is characterized in that the GPS inertial integrated attitude azimuth detection device is arranged at the inner part of the unmanned aerial vehicle; the rotation detection nacelle is hung below the unmanned aerial vehicle by the damping device; a photoelectric stabilized platform is installed in the rotation detection nacelle; flexible combination of any two or more of a visible light camera, an ultraviolet ray imager and a full-digital dynamic thermal infrared imager and a laser ranging device are borne on the photoelectric stabilized platform; and the rotation detection nacelle is provided with a visible window. With the adoption of the high voltage overhead transmission line line-inspection unmanned aerial vehicle photoelectric detection device, a high voltage transmission line can be monitored, and a comprehensive and precise high voltage overhead transmission line line-inspection task is realized by combining interchange among a plurality of sensors.

The invention discloses an automatic photography control device for a power line inspection unmanned aerial vehicle, and a control method thereof. The automatic photography control device is fixed on metal structure at the front end of an unmanned aerial vehicle body and located above a detection head. The automatic photography control device mainly comprises a control circuit and a battery. The control circuit and the battery are disposed in a box. The control circuit comprises a single-chip microcomputer, a servo steering engine, a wireless receiver, an LCD (liquid crystal display), keys, a camera photography control module, a power management module, and a battery. The single-chip microcomputer is respectively connected with the servo steering engine, the wireless receiver, the LCD, the keys, the camera photography control module, the power management module and the battery. The battery is further connected with the power management module. The automatic photography control device is obtained according to experiments and practical needs in power line inspection with the unmanned aerial vehicle, and allows the unmanned aerial vehicle to take photos efficiently, quickly and simply during power line section.

An unmanned aerial vehicle adapted for hover and short / vertical take-off and landing (S / VTOL) is disclosed. The vehicle comprises: a body having an aspect-ratio less than two and having therein a payload volume, at least one propeller located forward of the body, at least one rudder. The body may have an inverse Zimmerman planform which provides lift as air flows across the body in horizontal flight / fixed wing mode, and further adapted such that during hover and / or short / vertical take-off and landing (S / VTOL) the vehicle operates as a rotorcraft with the body oriented with the at least one propeller substantially above the body. The vehicle is suited to a method of inspection, such as power line inspection where large distances can be analysed efficiently by flying in fixed wing mode, but by transitioning to hover mode allows detailed inspection of selected areas.

The invention provides a power line inspection apparatus comprising a vehicle body to which is mounted a power line traversal means, a power line inspection means to draw power from a power line to which it is attached, in use.

The invention provides an auxiliary control system for a power line inspection unmanned aerial vehicle, which comprises a camera. The auxiliary control system for the power line inspection unmanned aerial vehicle further comprises an electric field intensity detector, a flying sensor, a motor rotational speed controller, a remote controller and a main controller; the electric field intensity detector is installed on the camera and used for detecting the electric field intensity around a power line; the flying sensor is used for controlling the flight direction of the unmanned aerial vehicle under the control of the main controller; the motor rotational speed controller is used for controlling the rotational speed of a motor in the unmanned aerial vehicle under the control of the main controller; the remote controller is communicated with the main controller and sends a control command to the main controller; the main controller is used for calculating the distance value between the unmanned aerial vehicle and the power line according to the electric field intensity detected by the electric field intensity detector, and also used for controlling the work of the flying sensor and the motor rotational speed controller according to the control command sent by the remote controller and the distance value; and the electric field intensity detector, the flying sensor and the motor rotational speed controller are electrically connected with the main controller respectively. By adopting the scheme, the problem that the unmanned aerial vehicle collides with the power line during the process of power line inspection can be effectively solved.

The invention provides a power line inspection robot and an obstacle surmounting method of the power line inspection robot. The power line inspection robot comprises a first cantilever and a second cantilever, wherein the first cantilever and the second cantilever are hung on a power line through a tail end execution mechanism above the first cantilever and the second cantilever, the first cantilever and the second cantilever are connected to a robot body in a sliding mode through a sliding block below the first cantilever and the second cantilever and can slide relative to the robot body, a balancing weight is connected to the lower portion of the robot body through a supporting frame, the first cantilever and the second cantilever both comprise an upper arm and a front arm, the lower ends of the upper arms are connected with the sliding block through a pitching mechanism, the sliding block is connected with a first sliding rail on the robot body in a sliding mode, and a driving mechanism of the sliding block makes the first cantilever and the second cantilever slide relative to the robot body. The power line inspection robot can better surmount obstacles during power line inspection.

The invention relates to an intelligent infrared thermal imaging device and inspection method for online inspection of power grid equipment, including an infrared temperature measurement back clip for collecting infrared data and an intelligent terminal, and the infrared temperature measurement back clip and the intelligent terminal communicate with each other; Relying on the huge equipment basic ledger system of the power production management system, electronic identification (RFID electronic tags, barcode labels) and location information (GPS, etc.) are used as means to identify the identity information of power grid inspection equipment, and infrared thermal imaging is used as The means of information collection, the inspection results are transmitted to the power production management system. The invention has a reasonable structure, is convenient to use, and improves the working efficiency of the power grid patrol inspection. Through information technology means (automatic identification of tags, automatic upload of inspection results, etc.), the workload of manual records and entry systems of inspection personnel is reduced, the consumption of working hours and the number of personnel are greatly reduced, and work efficiency is improved.

The invention discloses a fully automatic power line inspection unmanned aerial vehicle system, and relates to the technical field of unmanned aerial vehicles. The system comprises a ground centralized command center, a ground movement control station and an intelligent inspection unmanned aerial vehicle. The inspection device provided by the invention adopts an intelligent inspection mode, and has the advantages of high flight accuracy, strong multi-tasking ability, automatic obstacle avoidance, cluster operation and easy operation.

The invention discloses an electric equipment abnormal heating detection method based on infrared inspection video data of power line inspection. The method comprises the following steps: an infrared video is used to capture the electric equipment to get an infrared sequence image frame of the electric equipment; an image is pre-processed; the pre-processed image is classified; an electric tower sequence image undergoes image segmentation so that images of an electric tower body, an insulator, a grounding line and electric tower fittings are segmented from the electric tower sequence image; the electric tower body, the insulator, the grounding line and the electric tower fittings in the image are extracted and positioned; insulator, grounding and the electric tower fittings; the electric tower body, the insulator, the grounding line and the electric tower fittings are diagnosed to obtain a fault diagnosis result; temperature outliers are marked out; and a fault diagnosis result report is generated according to the fault diagnosis results for human auxiliary judgment. The method of the invention does not need too much threshold setting, and is high in automation degree and high in efficiency.

The invention discloses a power line inspection real-time monitoring management system. The system comprises a background real-time monitoring management platform and a mobile inspection terminal, wherein the background real-time monitoring management platform stores basic data corresponding to a plurality of power transmission lines and can perform management and maintenance on the corresponding basic data of each power transmission line according to a received corresponding maintenance and management instruction; and the mobile inspection terminal is used for obtaining a newly created line inspection task from the background real-time monitoring management platform, assisting inspection personnel to perform inspection job filling, line inspection trajectory tracking and risk point data filling tasks in a line inspection task process, and uploading an inspection job, line inspection trajectory tracking, risk point data and the like to the background real-time monitoring management platform. According to the system, on one hand, intelligent real-time monitoring of a power line inspection on-duty situation can be effectively carried out; and on the other hand, the line inspection job process is standardized and the timeliness and convenience of line inspection data record standardization as well as line inspection task sending and result recovery are achieved.

The invention discloses an overhead power line inspection data collection method based on a flying robot and belongs to the field of power line inspection data collection. The method includes that the multi-rotor flying robot is used as a collection tool for collecting data of power transmission lines and towers and can realize switching between autonomous flying and manual remote control, and the manual remote control is adopted for layered detection, especially in tower inspection. Data of static images and video images are respectively stored in the flying robot and a ground base station, and hierarchical indexed storage is adopted to store the data for the convenience of retrieval inquiry. The overhead power line inspection data collection method based on the flying robot has the advantages that problems of low efficiency and inconvenience in data recording and retrieving of manual inspection, high safety risk and strict personnel requirement of manned helicopter inspection and the like are solved, the inspection collection process is flexible, the body is high in stability, and inspection effect is good especially for towers with complex wire arrangement.

The invention discloses a multi-sensor data fusion obstacle detection method for a power line inspection unmanned aerial vehicle, which comprises a multi-sensor combined detection device connected with a flight controller in an unmanned aerial vehicle system, wherein the multi-sensor combined detection device comprises millimeter wave radar, a binocular vision sensor, an electromagnetic field sensor, an infrared sensor, a differential GPS and a data fusion processor, the millimeter wave radar, the binocular vision sensor, the electromagnetic field sensor, the infrared sensor and the differential GPS are connected with the data fusion processor, and fusion processing is performed on data collected by the sensors through the data fusion processor so as to obtain the accurate obstacle position, orientation and type and perform effective obstacle avoidance, thereby being capable of preventing an unmanned aerial vehicle from colliding with transmission lines and towers in operation and detecting obstacles such as hills, trees and buildings in the environment around the transmission lines so as to avoid property losses or casualties.

The invention discloses a power line inspection protection screen intelligent identification system construction method comprising the following steps: 1, loading a gathered protection screen equipment image, and identifying a label area in the image; 2, rectifying image rotation and zooming; 3, preprocessing the image: cutting the image so as to obtain a new image; 4, forming a Gauss distributionrandomized number for a to-be-identified pixel area in the image obtained in step3, classifying sampling test areas, and keeping positive example pixel areas; 5, using a binary image column accumulation histogram to search proper line segmentation points, thus obtaining images segmented by lines; 6, obtaining a thresholding image of a single to-be-identified pressure plate switch; 7, obtaining position information of each part of the pressure plate switch; 8, calculating relative position relations between the parts so as to determine the switch states, and returning the identified state to auser.

The invention discloses a power line inspection method of an unmanned helicopter. The power line inspection method of the unmanned helicopter includes the steps that a power line is segmented according to poles and towers, and a line inspection course of the unmanned helicopter is distributed according to the segmented power line; if the unmanned helicopter needs to hover around all the poles and towers, the intersections of all the course segments of the line inspection course are taken as hovering spots; according to the overlapping degree required when pictures are taken by a camera on the unmanned helicopter and the line inspection course, the coordinates of exposure points of the camera in the line inspection process of the unmanned helicopter are calculated; the azimuth angle and the pitch angle of a stable platform on the unmanned helicopter are calculated according to the coordinates of the exposure points of the camera; the power line is inspected. With the power line inspection method of the unmanned helicopter, the inspection preparation work of the unmanned helicopter can be completed fast and reasonably for different inspection tasks, and thus it can be guaranteed that the unmanned helicopter flies safely and reliably in the line inspection process and all sensors can effectively acquire data relevant to power transmission line equipment, and the power line inspection work can be carried out quietly conveniently by the unmanned helicopter with the power line inspection method.

The invention discloses a geographic information system (GSI)-based unmanned aerial vehicle power line inspection scheduling terminal which comprises a master control board, a man-machine interaction module, a global position system (GPS) module, a meteorological monitor, an radio frequency identification (RFID) scanner, an identity card reader and a short message receiving / transmitting module. The device is matched with a GSI-based unmanned aerial vehicle power line inspection scheduling method, the inspection field state information, equipment information, personnel information and other elements are considered, the inspection equipment, personnel, time and routes are scheduled through the scheduling terminal, more inspection tasks can be finished under limited resource conditions as much as possible, the inspection efficiency of the unmanned aerial vehicle is improved, the inspection reliability and safety of the unmanned aerial vehicle are improved, and the inspection cost of the unmanned aerial vehicle is reduced.

The invention discloses a three-dimensional route planning method for power line inspection of a multi-rotor unmanned aerial vehicle. The method comprises the following steps: establishing a route drawing board; establishing an iron tower top view drawing board coordinate system; determining a horizontal longitude-latitude position of a waypoint (X, Y) and platform-lens orientation of the waypoint; determining height information H of the waypoint; carrying out task attribute configuration on the waypoint with determined three-dimensional position information, so as to obtain route data; and finally inputting the obtained route data into a map. By taking an iron tower as an object, the three-dimensional position information of the waypoint can be rapidly obtained through calculation, so that the problems that the planning of the three-dimensional route for the power line inspection cannot be effectively finished by virtue of a conventional ground station and is complicated and the like are solved. The three-dimensional route planning method is suitable for being popularized and applied in the technical field of unmanned aerial vehicles.

The invention discloses a classification method for airborne LIDAR power inspection point cloud data. After the airborne LIDAR power inspection point cloud data is acquired and denoising preprocessing is performed on an original point cloud, a classification algorithm for different ground object types based on the airborne LIDAR power inspection point cloud data is constructed; first, separation of a ground point and a non-ground point is realized according to a designed point cloud filtering algorithm; and then high-precision automatic extraction of ground objects such as power towers, power lines and vegetation in original point cloud data is performed in sequence. Through the method, the classification precision and automation degree of the power inspection point cloud data can be greatly improved, and a guarantee is provided for power line inspection failure checking.

The invention discloses an unmanned aerial vehicle power line inspection hybrid communication system, which comprises an unmanned aerial vehicle, a relay station, a measurement and control vehicle, a portable communication station and an optical fiber composite overhead ground wire, wherein the relay station comprises an optical fiber wireless relay station and a pure wireless relay station; the optical fiber wireless relay station comprises a relay module integrating a wireless relay module and optical transmission equipment; the wireless relay station comprises the wireless relay module; optical fiber transmission is adopted between the portable communication station and the optical fiber wireless relay station; the portable communication station can establish connection with a wireless module of the measurement and control vehicle by a wireless communication link; and transmission can be performed among the unmanned aerial vehicle, the wireless relay station, the optical fiber wireless relay station and the measurement and control vehicle by the wireless communication link. The unmanned aerial vehicle power line inspection hybrid communication system has the advantages that: the measurement and control distance of the unmanned aerial vehicle can be prolonged to satisfy the needs of unmanned aerial vehicle power line inspection in an over-the-horizon complex environment; and the measurement and control vehicle can finish communication with the unmanned aerial vehicle in a substation without starting for a scene when applied.

The invention relates to a centralized monitoring system for unmanned aerial vehicle transmission power line inspection. The centralized monitoring system comprises a centralized monitoring subsystem,mobile substations and unmanned aerial vehicle flight platforms, wherein the centralized monitoring subsystem is in one-to-many connection with the mobile substations, and the mobile substations arein one-to-one connection with the unmanned aerial vehicle flight platforms; based on a remote centralized monitoring and local monitoring combined mode, the flight states of more than one unmanned aerial vehicle connected into the system, pod states, power transmission lines, inspection results and other information are monitored in a centralized manner; personnel, equipment and inspection lines involved in an unmanned aerial vehicle inspection task are planned and managed; centralized management and defect diagnosis are performed on inspection results; and therefore, the informatization and automation degree of an unmanned aerial vehicle inspection process and inspection result processing can be improved, the efficiency of unmanned aerial vehicle inspection can be improved, and technicalsupport is provided for the safe and reliable operation of the unmanned aerial vehicle line inspection.

The invention provides a power line inspection method utilizing a portable multifunctional intelligent line inspection instrument. The power line inspection method comprises the following steps: shooting an image of a related power line by a shooting unit in response to a user instruction; measuring the distance between the power line and a related object by a distance measurement unit; recording a related power line inspection discovery by a text recording unit; collecting information from the shooting unit, the distance measurement unit and the text recording unit by a control unit through a communication unit, and storing the information from the shooting unit, the distance measurement unit and the text recording unit in an associated manner.

The invention relates to a geocoding-free rapid image splicing method of a low-altitude unmanned plane. A key frame image is extracted from a video to carry out geocoding-free rapid image splicing to generate a panoramic image. The method comprises the following steps: extracting a key frame image from a video stream to obtain all to-be-spliced images; carrying out feature point extraction including establishing a multi-dimensional space unit, constructing a pyramid image, determining a key point position, and removing an unstable point on all to-be-spliced images and carrying out screening on the key point by using a SUSAN algorithm to obtain a final feature point; carrying out feature matching according to respective feature points of a corresponding reference image and a to-be-matched image; and carrying out smoothening on the to-be-spliced images by using a gain compensation method, carrying out weighted average fusion on spliced overlapped areas to eliminate seams and sawteeth, and carrying out splicing to generate a panoramic image. According to the technical scheme, the method can be applied to fields of emergency surveying and mapping, disaster prevention and mitigation, land monitoring, emergency monitoring, pipeline layout and inspection of the oil sector, and circuit layout and power line inspection of the power sector and the like.

The invention discloses a wireless charging relay system for a power line inspection drone and a charging method. The wireless charging relay system for the power line inspection drone is characterized in that the wireless charging relay system comprises a ground monitoring module, a charging station network and a power line inspection drone; the ground monitoring module comprises a wireless communication module and a ground monitoring computer; the charging station network consists of multiple charging stations; each charging station comprises a wireless communication module, a charging module and a landing beacon, wherein the wireless communication module adopts a bluetooth module, and the charging module comprises a power-supply module, a main control module and an energy emission module to realize the transmission of electric energy to a drone; the drone comprises a battery management module, a flight master navigation module, a visual navigation docking module and multiple wireless communication modules. The wireless charging relay system for the power line inspection drone has the advantages of realizing real-time monitoring of remaining battery power of the drone during thepower line inspection process, achieving accurate docking of the flight master navigation module and the visual navigation docking module with a relay charging station when charging is required, realizing long distance normal communication, and being easy to charge and unaffected by geographical conditions.

The invention discloses a helicopter power line inspection realization method and realization system. The method comprises the following steps: sequentially obtaining multiple line inspection pictures according to a prestored power transmission line and a pole shooting sequence through a long-focal-length single lens reflex camera arranged on a helicopter; transmitting the line inspection pictures to a flat computer through a helicopter line inspection shooting control used for transmitting picture data; and the flat computer, according to pole numbers corresponding to the multiple line inspection pictures, classifying the line inspection pictures according to the pole numbers and storing the pictures in a table taking base poles as columns, corresponding to the pole numbers. According to the invention, the line inspection pictures are automatically obtained and automatically classified and stored, pictures with power transmission line defects can be identified, the line inspection efficiency is greatly improved, and the intensity of manual operation is reduced.

Te invention discloses an unmanned aerial vehicle charging method based on power line inspection. The method comprises the steps as follows: real-time battery capacity of an unmanned aerial vehicle is monitored in real time; when the real-time battery capacity reaches alarm capacity, a wireless charging receiver transmits a first charging request command to a wireless charging transmitter; the wireless charging transmitter collects and recognizes the first charging request command in real time, and generates and sends a feedback command to the wireless charging receiver; the wireless charging receiver generates a drive command; the unmanned aerial vehicle flies to a charging area of an outdoor transmission line tower; the wireless charging receiver sends a second charging request command to the wireless charging transmitter; and the wireless charging transmitter collects and recognizes the second charging request command in real time, generates a charging command and charges the wireless charging receiver connected with the wireless charging transmitter. According to the method provided by the invention, the outdoor transmission line tower is used and combined with a wireless charging technology, so that cruising ability of the unmanned aerial vehicle is effectively improved.

The invention discloses a power line inspection image automatic recognition and analysis system and an analysis method thereof and relates to the field of power line inspection. The system comprises an unmanned aerial vehicle and a surface station, the unmanned aerial vehicle is connected with the surface station by wireless communications, the unmanned aerial vehicle is provided with a visible light load and an infrared load, the surface station is provided with an image automatic recognition module, an image automatic filing system, a filing information display module, an anomaly module, a pole position analysis module and a human-machine interaction module, both the visible light load and the infrared load are connected with the image automatic recognition module by means of wireless communications, and the image automatic recognition module is connected with the image automatic filing module, the filing information display module, the anomaly module, the pole position analysis module and the human-machine interaction module through the surface station; the system and the analysis method save a lot of time for a user, free the user from the tedious photo filing and may provide automatic recognition of anomalies, with operating efficiency greatly improved.

The invention discloses an automatic extraction method of a power tower in random laser point cloud data. The method includes the steps of : (1) an airborne light detection and ranging system is used to take an aerial photo of power line inspection; laser point cloud data of the power line inspection are obtained; the obtained laser point cloud data are meshed; an elevation value image of the power line inspection is generated; the power line inspection comprises inspection of a power tower, a power line and a potentially dangerous object; (2) the elevation value image is binarized; (3) the elevation value image is corroded; (4) the elevation value image is expanded; (5) the elevation value image is then scanned, and all dark spots are processed by a K-means clustering to get clustering of different ground objects, wherein the ground objects include potentially dangerous / non-dangerous ground objects, and the value of K is obtained by visual estimation of a quantity of the power tower and the ground objects and is inputted manually; and (6) the clustering result obtained in step (5) performs statistics of a quantity of image points. If the quantity of the image points is greater than a threshold value, the corresponding image is considered as the power tower; otherwise, the corresponding image is considered as the potentially dangerous object; and accordingly the automatic extraction of the power tower is realized.

The invention provides a system and a method for power line inspection. The system comprises a laser radar system mounted on an unmanned aerial vehicle. Real point cloud data is obtained and processedby the laser radar system mounted on unmanned aerial vehicle so as to provide a data foundation for power line monitoring personnel. The system further comprises a three-dimensional measurement and analysis module. The three-dimensional measurement and analysis module is used for realizing distance measurement and area measurement of any point on the line; measuring coordinate and elevation of each point of the power line, spatial distance between any two points and elevation of any point directly and accurately; and measuring interphase distance of power lines accurately, so as to provide aprecise scale for the manufacturing and mounting of spacer. According to the system and the method for power line inspection, the invention has the advantages that the high-precision laser point cloudand the high-resolution digital image can be rapidly acquired, the operation mode and technical advantages that are not possessed by the traditional mapping approaches are brought to whether the design selecting of the trend of the to-be-built line or the dangerous point inspection of the existing line, line asset management and various professional analysis.

The invention discloses a four-rotor aircraft system of autonomous navigation power line inspection fault detection. The four-rotor aircraft system is composed of a ground upper computer, a flight control module, an ultrasonic ranging module, a transfer control module, a serial port expansion board, a GPRS communication module, a Beidou navigation module, a battery monitoring module, a camera and an image detection module. According to the system, the obstacles are avoided by using ultrasonic waves in line inspection of an aircraft, the power line fault is detected by using the camera and the image detection module, the detection result and the flight data are transmitted to the ground upper computer in real time through the GPRS communication module, the ground upper computer can also control the aircraft, the battery monitoring module monitors the electric quantity of the battery in real time in line inspection, whether the current aircraft requires to return to the charging point is predicted through calculation, and the aircraft can autonomously return to the charging point when the electric quantity is insufficient.

The invention discloses a high-efficiency unmanned aerial vehicle group power inspection system which is particularly applied to power line inspection in a complex ground environment. The system comprises a light manned helicopter and multi-rotor-ring unmanned aerial vehicle groups. The manned helicopter is provided with an inspection data processing platform, a multi-rotor-ring unmanned aerial vehicle control platform and a multi-rotor-ring unmanned aerial vehicle group state monitoring platform. Each multi-rotor-ring unmanned aerial vehicle is provided with a high-definition monitoring camera and an infrared thermal imager. The light manned helicopter serving as an aerial mobile control command platform communicates with the multi-rotor-ring unmanned aerial vehicle groups in a one-to-many mode. The aerial mobile control command platform issues orders, and the multi-rotor-ring unmanned aerial vehicle groups execute inspection tasks according to received instructions respectively, and send acquired data to the aerial mobile control command platform in real time. The inspection data processing platform located on the aerial mobile control command platform analyzes and processes the data which is fed back, classification is conducted according to different areas, and geographical positions of data acquisition are marked.

The invention discloses a power line inspection system and method based on an unmanned aerial vehicle, and the system comprises the unmanned aerial vehicle, a holder which is carried on the unmanned aerial vehicle, imaging equipment which is connected with the holder, and an operation end which is used for controlling the flight of the unmanned aerial vehicle, and obtaining the image information of an electric power target through controlling the action of the imaging equipment. According to the invention, various holders and corresponding imaging equipment can be mounted according to task requirements, the inspection requirements of different tasks are met, the accuracy of anomaly judgment and the inspection efficiency can be improved through image analysis, and the inspection cost is greatly reduced.