43results about How to "Improve line inspection efficiency" patented technology

The invention discloses an intelligent inspection system and an inspection method for an electric transmission line by an unmanned aerial vehicle. The intelligent inspection system comprises an inspection mission planning system, a dispatching system, a monitoring system, an inspection result processing platform and mobile branch stations, wherein the inspection mission planning system communicates with the inspection result processing platform and the dispatching system respectively; the inspection result processing platform and the dispatching system communicates with the monitoring system respectively; the monitoring system is connected and communicate with the mobile branch stations. The inspection method has the benefits that factors of the inspection unmanned aerial vehicle, inspection equipment, an inspector, and the like accessing the dispatching platform through a dispatching terminal can be dispatched effectively to realize equipped configuration of unmanned aerial vehicle inspection resource; the usage rates of personnel and equipment can be improved; the no-load rate and vacancy rate of the inspection equipment are reduced; through centralized monitoring of condition information inspected by the unmanned aerial vehicle, unmanned aerial vehicle inspection dispatching personnel can master unmanned aerial vehicle inspection in the large effectively; the service life of the unmanned aerial vehicle is prolonged.

The invention relates to a UAV (unmanned aerial vehicle) transmission line patrolling system which is composed of a UAV, an image pickup system and a control system, wherein the image pickup system is arranged on a head rack, the head rack is fixedly connected with the UAV, and the image pickup system comprises a gyroscope part and an image pickup part. According to the invention, loading devices such as gyrostabilized visible light detectors and infrared thermal imaging instruments are arranged on the UAV so as to carry out checking, picture recording and image pickup on a transmission line, so that multiple devices are combined to carry out checking and recording on the transmission line in many approaches, thereby greatly improving the technical contents of transmission line patrolling; and the superiorities of the system are shown more obviously in the places such as high and large mountains or extra (ultra) high-tension power transmission lines which are difficult to be patrolled, therefore, the system is a huge leap in line patrolling, has the advantages of advanced technology, high efficiency, and capability of being not affected by geographical regions, has an important practical significance in improving the economy, security and reliability of patrolling devices, and plays a great helping and promoting role in optimizing task devices for UAV transmission line patrolling.

The invention discloses an unmanned aerial vehicle power transmission line patrol flight path planning method and system. The method includes the steps: acquiring image terrain data, pole and tower data and unmanned aerial vehicle and unmanned aerial vehicle carried load data of a power transmission line to be operated; making an operation plan according to the image terrain data, the pole and tower data and the unmanned aerial vehicle and unmanned aerial vehicle carried load data; making a flight path according to the operation plan; detecting the flight path to obtain detection results; editing and correcting unqualified flight path points in the detection results; simulating flight according to the edited flight path to obtain a simulated flight path; deriving the simulated flight path.Unmanned aerial vehicle line patrol task setting and flight path planning are simpler and rapider, line patrol efficiency is greatly improved, and the unmanned aerial vehicle power transmission linepatrol task and flight path intelligent planning system takes environmental factors of the power transmission line and performance requirements of an unmanned aerial vehicle and a load into full consideration, so that the planned flight path not only meets safety performance requirements, but also meets the performance requirements of the unmanned aerial vehicle and the load.

The invention discloses a high-voltage line patrol fault detection system based on a visual attention mechanism. The system comprises an image sensor, an ADC analog-to-digital conversion module, an FPGA module, a DDR storage module, a DSP image processing module, an automatic control module and a communication module. The automatic control module is mainly used for receiving an instruction signal of the communication module and controlling operation of the other modules, and when receiving a fault signal from the DSP, notifying the communication module to send the fault information to a control station; the image sensor is used for carrying out video image acquisition, and after ADC analog-to-digital conversion, video images are subjected to video sampling and image preprocessing by the FPGA module; and the DSP image processing module is used for carrying out fault detection and identification on video data in an RAM based on the visual attention mechanism. The invention also discloses a high-voltage line patrol fault detection method based on the visual attention mechanism. Power transmission line characteristics are extracted through an image identification method, and then, fault detection is carried out, and thus the problems of high intensity, high cost and low efficiency and the like of a conventional patrol mode can be solved.

The invention discloses a flying electric power circuit patrolling robot and a method of the flying electric power circuit patrolling robot, wherein the robot comprises a robot body, an electric control box is fixedly connected below the robot body and is internally provided with a central processing unit, the robot body comprises a walking mechanism which comprises a mechanical arm drive module and a mechanical arm, the mechanical arm drive module is connected with the central processing unit, a tail end executor or a manipulator is arranged at the tail end of the mechanical arm, and the central processing unit is used for controlling the mechanical arm drive module to drive the mechanical arm to move, so that the patrolling work of the flying electric power circuit patrolling robot is realized. Rotor wing arms are further connected onto the robot body and are connected with rotor wings, the rotor wings are connected with rotor wing drive modules, and the rotor wing drive modules are connected with the central processing unit.

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 relates to a fault recording device based on a voltage traveling wave principle and a range finding method. The fault recording device based on a voltage traveling wave principle comprises a recording criterion unit, a traveling wave unit, a time synchronization unit, and a management unit which are all installed in a wave recorder simulating cabinet. The management unit is connected with the traveling wave unit and the recording criterion unit. The recording criterion unit determines recording activation and computes various characteristic parameters. The traveling wave unit determines the coming time of the head of a traveling wave in combination with software and hardware. The time synchronization unit is connected with a required time module and provides reliable and accurate system time for the device. The management unit performs communication management, recording management, comprehensive criterion management, and system task management. A bus voltage travelling wave is integrated into the fault recording device so as to increase power transmission line fault point positioning accuracy in the fault recording device and greatly shorten fault line inspection and fault repair time.

The present invention provides an intelligent tower connected graph construction method for planning the inspection route of an unmanned aerial vehicle (UAV). The method comprises the steps of A, predicting the distribution of transmission line towers according to the single-element nonlinear regression prediction method to generate a plurality of tower lines, wherein each tower line is composed of a plurality of towers; B, based on the critical conditions of tower distribution, connecting the plurality of tower lines to form a line connection graph, wherein the critical conditions are composed of crossed crossing condition, parallel distribution situation of multiple tower lines at a relatively near distance relative to one another, tower steering condition and tower branch condition; C, constructing a storage structure of the line connection graph. According to the technical scheme of the invention, power transmission lines are intelligently planned based on the above algorithm, so that the planning efficiency is improved. Meanwhile, an entire patrol scheme is provided. In this way, not only the patrol can be conducted on going and returning paths, but also the line inspection is conducted on going and returning paths. Therefore, the line inspection efficiency is greatly improved. Based on the intelligent traversal algorithm, an optimal inspection route for a line network can be planned. In this way, all towers can be traversed within a region at a shortest inspection distance.

The invention relates to a rotor unmanned aerial vehicle power line inspection system and belongs to the power tower inspection equipment and facility field. The system comprises an unmanned aerial vehicle flight control system, a real-time telemetry and remote sensing system, a data processing system and a database; the unmanned aerial vehicle flight control system comprises a rotor unmanned aerial vehicle, a flight control module arranged in the rotor unmanned aerial vehicle, an information transmission module arranged in the rotor unmanned aerial vehicle, a data acquisition module arranged in the rotor unmanned aerial vehicle and a gyroscope stabilization pod located on the rotor unmanned aerial vehicle; the real-time telemetry and remote sensing system comprises a high-definition camera mounted on the rotor unmanned aerial vehicle and a high-definition aerial digital camera mounted on the rotor unmanned aerial vehicle; and the data processing system comprises a deformation judgment module and a tower state time axis module. Since the unmanned aerial vehicle just has low requirements for take-off and landing environments, so that the rotor unmanned aerial vehicle power line inspection system can be applied to mountainous line inspection. Compared with manned helicopter line inspection, the rotor unmanned aerial vehicle power line inspection system can improve the safety of operators and reduce costs.

The invention relates to an intelligent processing method for infrared inspection data of a power transmission line. The method comprises the following steps: S1, inputting an infrared inspection picture; S2, renaming an input picture; S3, performing component identification and regional temperature detection analysis on a renamed picture; S4, manually auditing defects; S5, generating defect information by using a defect generator; and S6, recording defects by using an RPA robot and notifying team managers. According to the invention, infrared inspection photos are automatically analyzed, whether related parts emit heat is detected, and the defects are automatically recorded into the system, so that a lot of manpower and material resources can be saved, the workload of personnel is reduced, the working time is shortened, and the working efficiency is improved; the pertinence and accuracy of intelligent processing of the infrared inspection data of the power transmission line are improved through renaming; the infrared inspection data processing efficiency of the power transmission line can be effectively improved.

The invention discloses an obstacle avoidance system of a UAV field intensity meter based on power transmission and transformation equipment and a method of the system. The system comprises a multiple-rotor UAV, a UAV body is provided with a flight control system, a movable holder is mounted on a UAV support, and the field intensity meter is mounted on the holder; data of the field intensity meter is transmitted to the flight control system via a data reading interface of the UAV, the flight control system is connected with a picture and video processing system, and the picture and video processing system transmits the data to a ground reception system via a wireless transmission system; and the flight control system is controlled by a ground remote control system. According to the system and method, tour inspection can be carried out on power transmission lines as well as on a transformer station, the working area of the UAV can be broadened substantially, the probability of out-of-control accidents caused by that flight control of the UAV is interfered by an electric field, the safety of the UAV itself as well as power facilities is protected, and the tour inspection efficiency of the power transmission and transformation equipment can be improved substantially.

The invention relates to a tree obstacle information collection method for an overhead transmission line. The method comprises the following steps that: obtaining the unmanned aerial vehicle-line distance and the unmanned aerial vehicle-line angle of an unmanned aerial vehicle and the overhead transmission line, and also obtaining the unmanned aerial vehicle-tree distance and the unmanned aerial vehicle-tree angle of the unmanned aerial vehicle and the tree obstacle; according to the unmanned aerial vehicle-line distance and the unmanned aerial vehicle-line angle, controlling the unmanned aerial vehicle to fly along with the overhead transmission line; and according to the unmanned aerial vehicle-line distance, the unmanned aerial vehicle-line angle, the unmanned aerial vehicle-tree distance and the unmanned aerial vehicle-tree angle, carrying out calculation to obtain a line-tree distance between the overhead transmission line and the tree obstacle. The tree obstacle information collection method for the overhead transmission line has the advantages of high line patrol efficiency and high reliability.

The present invention discloses a fault positioning method of a complicated distribution line. The method comprises a step 1 of carrying out the mathematical modeling on the distribution line, and establishing the T nodes, wherein the T nodes comprise the actual T nodes established by the connection points of the actual branch lines and the virtual T nodes established by the parameter segments of different lines; a step 2 utilizing a database to store the mode information of the plant-stations of a power grid, the system equivalent impedance and the parameter information of the distribution network lines; a step 3 determining the possible positions of the fault points in a main line according to a fault current, a system parameter and the electrical circle of each T node; deciding the branch line in which the fault concretely and possibly occurs according to the branch line impedance. The fault positioning method of the present invention realizes the distribution line fault accurate positioning just by the system equivalent impedance and a line virtual T node model, enables the distribution line patrol efficiency to be improved greatly, the distribution network scheduling instructions to be enriched and the fault patrol time to be shortened, and has the important significance for improving the distribution network power supply reliability and reducing the distribution network potential safety hazards.

The invention belongs to the field of unmanned aerial vehicle detection, and in particular relates to an oil pipeline inspection system, including a sensing optical cable, an unmanned aerial vehicle, a ground inspection vehicle, and a monitoring center; wherein, the sensing optical cable is installed outside the oil pipeline, and The monitoring center is connected by communication; the UAV and the ground patrol vehicle, and between the ground patrol vehicle and the monitoring center are connected wirelessly; the present invention adopts sensing optical cable and UAV remote sensing technology to observe through the camera , quickly locate the location of the event, and transmit the monitoring video to the rear site in real time through the data link, which can avoid the impact of terrain on the line inspection, make up for the lack of manual inspection due to terrain reasons that cannot be approached in time, improve the efficiency of line inspection, and are widely applicable to Pipeline routine inspections, large-scale regional inspections, and then with the help of ultra-narrowband video remote transmission technology, the cruise video is transmitted in real time to consoles or mobile terminals located in any geographic location, providing effective protection for pipeline protection.

The invention relates to a power transmission line multi-rotor airship inspection system. The system includes an airship and a rotorcraft carried on the airship, a camera, a camera control unit, a GPS unit and an ODS airborne module are arranged on the rotorcraft, the system also includes a ground controller, the ground controller includes a navigation calculation unit, a ground instruction transmission unit, a ground demodulator, a holder and an antenna and airship alignment control unit, the GPS unit is connected with the ODS airborne module, the ODS airborne module is connected with the ground demodulator through a wireless network, and the ground demodulator is connected with the holder. Compared with the prior art, the inspection system utilizes the airship to carry the rotorcraft, abandons the defect that the time of endurance of a separate multi-rotor unmanned aerial vehicle is relatively short, and adopts GPS positioning control to solve the problems of falling due to improper operation beyond a visual range and disappearance of the unmanned aerial vehicle out of control; and the ground controller can accurately control the shooting angle and shooting frequency of airborne equipment and airship flight speed and distance, thereby greatly improving efficiency of line inspection of the unmanned aerial vehicle.

The invention discloses a flexible grounding mode power distribution network grounding fault direction algorithm. The direction of a detection point relative to a grounding fault point is judged by utilizing the ratio of a zero-sequence measurement admittance module value before parallel resistor input to a zero-sequence measurement admittance module value after parallel resistor input at a detection point. According to the method, the fault information of the whole process before and after parallel resistor input is utilized, and when the transition resistance is relatively high, a method ofgiving the zero sequence voltage is adopted, so that the reliability of a judgment result during high-resistance grounding is improved; the method has self-ownership; the device can judge the fault direction only by utilizing the information of the position of the device; for a line with a distribution automation system, terminals simply need to upload the fault direction information; the communication pressure is small, and the matching is convenient; the terminals do not need to be subjected to accurate synchronous time synchronization; and for a distribution line without a communication condition, a fault can be removed or a fault indicator can be installed in a multistage protection time-delay cooperation mode so that line patrol efficiency is improved.

The invention provides a pipeline routing inspection method and server, and relates to the technical field of pipeline routing inspection. The pipeline routing inspection method comprises the following steps that: firstly, a pipeline routing inspection server receives an activation request sent from terminal equipment, wherein the activation request contains the positioning information of the terminal equipment; then, on the basis of the positioning information, judging whether a distance between the terminal equipment and a pipeline to be subjected to routing inspection is smaller than a threshold value or not; when the distance between the terminal equipment and the line to be subjected to routing inspection is smaller than the threshold value, controlling the pipeline routing inspectiondata uploading permission of the terminal equipment to be under a starting state, wherein the pipeline routing inspection data comprises an accident discovery place and time and / or accident site pictures; and when the distance between the terminal equipment and the line to be subjected to routing inspection is not smaller than the threshold value, controlling the pipeline routing inspection datauploading permission of the terminal equipment to be under a closing state. By use of the pipeline routing inspection method, on the basis of the positioning information, the pipeline routing inspection data uploading permission of a user is confirmed, pipeline routing inspection information is quickly and accurately obtained, bonus points or other rewards are issued to the user, the method is more favorable for managing pipeline routing inspection users and data, pipeline routing inspection efficiency is improved, and the labor cost of pipeline network companies can be lowered.

The invention provides an automatic charging apparatus and charging control method for an unmanned aerial vehicle. The automatic charging apparatus comprises a shell, a first solar battery panel and a second solar battery panel, an energy storage module, a wireless charging module, and a control module, wherein the unmanned aerial vehicle is placed in the interior of the shell; the first solar battery panel and the second solar battery panel are arranged on the top of the shell and used for converting solar energy into electric energy; the energy storage module is used for storing the converted electric energy; the wireless charging module is connected with the energy storage module and used for charging the unmanned aerial vehicle; and the control module is used for obtaining charging request information sent from the unmanned aerial vehicle and generating a charging control signal according to the charging request information; and the charging control signal is used for controlling the wireless charging module to charge the unmanned aerial vehicle. By adoption of the apparatus and the method, guarantee is provided for electric power inspection of the unmanned aerial vehicle.

The invention discloses a power transmission cable video line patrol method and a terminal. The method comprises the following steps: acquiring a plurality of calibration preset positions of a power transmission cable; respectively obtaining the horizontal rotation angle, the vertical rotation angle and the lens multiplying power of the dome camera at the plurality of calibration preset positions;fitting the change relationship between the horizontal rotation angle and the vertical rotation angle by adopting a spline function to obtain a first fitting function; fitting the change relationshipbetween the calibration preset position and the lens magnification by adopting a spline function to obtain a second fitting function; calculating according to the first fitting function and the second fitting function to obtain line patrol parameters of a plurality of new preset positions; and enabling the dome camera to perform automatic line patrol on the power transmission cable according to the line patrol parameters of the plurality of new preset positions. The whole moving process and the zooming process are smooth during line patrol, line patrol can be automatically carried out, manualcalibration is not needed, and the line patrol efficiency is high.

The invention relates to a line patrolling robot taking a wire in a power transmission line as a channel. The line patrolling robot comprises a body, telescopic arms and a gripper, wherein the top ends of the telescopic arms are connected with the gripper, the bottom ends of the telescopic arms are movably connected with the body; a signal acquisition device is arranged on the body and connected with the telescopic arms; a wireless communication module for data transmission is arranged on the signal acquisition device; a power supply source is further arranged on the body; an electromagnetic induction charging system is arranged on the body; the electromagnetic induction charging system comprises an electric energy receiving device arranged on the body and an electric energy transmitting device arranged on a pole. The line patrolling robot disclosed by the invention has the advantages that the charging of the power supply source is realized through the electromagnetic induction charging system so as to realize the all-weather stable running of the body; the electromagnetic induction charging system comprises the electric energy receiving device arranged on the body and the electric energy transmitting device arranged on the pole; the size and the weight of the body are effectively reduced, the cost required for line patrolling will be reduced, and the economic benefit of the line running is improved.

The invention relates to the field of unmanned aerial vehicle flight control, in particular to an unmanned aerial vehicle line patrol route planning method and system. The method comprises the following steps: S1, dividing a target line patrol area for an unmanned aerial vehicle; S2, acquiring a map of the target line patrol area of the current unmanned aerial vehicle, and querying position coordinates of all electric power facilities and an unmanned aerial vehicle battery swap station contained in the map; S3, generating a first track point containing all the electric power facilities in the target line patrol area; S4, generating a second track point containing all the electric power facilities in the target line patrol area; S5, generating a supply point including the unmanned aerial vehicle battery swap station in the target line patrol area; S6, generating a preset path containing all the first track points in the current target line patrol area; S7, judging whether the unmanned aerial vehicle needs power supply or not so as to adjust the preset path. The problems that when an existing unmanned aerial vehicle executes an electric power line patrol task, manual flight control needs to be carried out, the control process of the unmanned aerial vehicle is tedious, and the line patrol efficiency is not high are solved.

The invention discloses an overhead transmission line inspection robot track system. The system comprises a transfer track and an auxiliary device. The width of the transfer track is set according tothe size of a pulley of a line patrol robot, and the transfer track comprises a first along-line rail, a corner rail, a slideway and a second along-line rail, which are connected in sequence; the first along-line rail is arranged along a wire at one side of a corner tower, extends to the corner tower and is connected with the semi-arc-shaped corner rail; the other end of the corner rail is connected with the slidingway; and the other end of the slidingway extends to a wire at the other side of the corner tower and is fixed to the second along-line rail. The auxiliary device is detachably arranged on angle steel of the corner tower, and the line patrol robot is controlled by the auxiliary device to move along the transfer track so as to cross the corner tower to continue line patrol. The process does not need manual assistance, the line patrol robot automatically passes through the corner tower, and the line patrol efficiency is improved.

The embodiment of the invention discloses a line patrol method, system and device for a fixed-wing unmanned aerial vehicle in a complex geographical environment. The method comprises the steps of acquiring an aerial image of the fixed-wing unmanned aerial vehicle along the direction of a power line; acquiring three-dimensional images of the aerial image by adopting an aerial triangulation method,wherein the three-dimensional images of the aerial image comprise a power line channel three-dimensional image and a ground surface three-dimensional image; establishing a three-dimensional model of the power line channel according to the three-dimensional images of the aerial image; and generating an obstacle analysis report and a line patrol report based on the three-dimensional model of the power line channel. According to the technical scheme provided by the embodiment of the invention, a fixed-wing unmanned aerial vehicle line patrol mode is adopted; long-time endurance can be realized; the line patrol efficiency can be improved; and the method has the characteristics of low cost and high operability.