CN107102237A - The method for inspecting and cruising inspection system of a kind of transmission line of electricity - Google Patents
The method for inspecting and cruising inspection system of a kind of transmission line of electricity Download PDFInfo
- Publication number
- CN107102237A CN107102237A CN201710288946.6A CN201710288946A CN107102237A CN 107102237 A CN107102237 A CN 107102237A CN 201710288946 A CN201710288946 A CN 201710288946A CN 107102237 A CN107102237 A CN 107102237A
- Authority
- CN
- China
- Prior art keywords
- mrow
- positional information
- unit
- gps positioning
- msup
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/08—Locating faults in cables, transmission lines, or networks
- G01R31/081—Locating faults in cables, transmission lines, or networks according to type of conductors
- G01R31/085—Locating faults in cables, transmission lines, or networks according to type of conductors in power transmission or distribution lines, e.g. overhead
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The method for inspecting and cruising inspection system of a kind of transmission line of electricity, including from walking unit, speed detection unit for detecting the speed slided from walking unit, data acquisition unit, GPS positioning unit, time acquisition unit for carrying out timing in out-of-service time section to GPS positioning unit, for in GPS positioning unit out-of-service time section, according to the integration of speed in time, positional information calculation when positional information and GPS positioning unit when GPS positioning unit fails recover normal obtains the position calculation unit of the positional information of the cruising inspection system, time needed for wherein integrating is to be obtained from time acquisition unit.By installing a GPS positioning unit and position calculation unit on inspection device, it is non-to obtain positional information not in GPS positioning unit normal working hours section and in GPS positioning unit out-of-service time section, gathered data when ensureing inspection is corresponding always with positional information, routing inspection efficiency is high, and does not allow error-prone.
Description
Technical field
The present invention relates to the inspection aspect of electrical network field, more particularly to the transmission line of electricity of power network, more specifically to one
Plant the cruising inspection system and method for inspecting of transmission line of electricity.
Background technology
Extensively, vast in territory, transmission line of electricity spreads all over the world for China region, and the transmission line of electricity intersected in length and breadth ensure that China is each
The electricity consumption on ground.But transmission line of electricity is due to nature or human damage, transmission of electricity may be caused to interrupt even transmission line of electricity permanent
Property damage, thus need periodically to transmission line of electricity carry out inspection, be tested with and be likely to occur location of fault, or detect
Position through failure.At present to transmission line of electricity more universal mode manual inspection, or carried out using inspection device
Semi-artificial inspection, i.e. inspection device are moved along in transmission line of electricity automatically or under artificial operation, are detected and are returned after data,
Data being obtained from it by staff and recording the position of detection, next section of inspection and record are then carried out again.Such a
, it is necessary to which the manual record positional information corresponding with obtaining data, not only bothers but also easily malfunction, especially need in mode
Carry out inspection, it is necessary to be classified as multistage when testing relatively long distance and record.
Therefore, it has been proposed that install a GPS on inspection device, the collection position of data is recorded by GPS, such number
According to corresponding with positional information, the inspection of relatively long distance is suitable for.But, although GPS is powerful, but sometimes
Gps signal is simultaneously not strong enough, especially in waste ridge outside of the city, leads to not obtain positional information, the data for so causing inspection to obtain
Can not corresponding situation with position.
The content of the invention
The technical problem to be solved in the present invention is, for above-mentioned inspection device of the prior art due to gps signal
It is not strong enough, lead to not obtain positional information, so cause the data that inspection is obtained and position can not corresponding situation technology it is scarce
It is sunken that there is provided a kind of cruising inspection system of transmission line of electricity and method for inspecting.
According to the wherein one side of the present invention, the present invention is a kind of solution its technical problem patrolling there is provided transmission line of electricity
Check system, the cruising inspection system includes:
From walking unit, for being slided along transmission line of electricity；
Speed detection unit, for detecting the speed slided from walking unit；
Data acquisition unit, the data for gathering transmission line of electricity；
GPS positioning unit, the positional information for obtaining the cruising inspection system in inspection；
Time acquisition unit, for carrying out timing in out-of-service time section to GPS positioning unit；
Position calculation unit, in GPS positioning unit out-of-service time section, according to the speed in time
Positional information calculation when positional information and GPS positioning unit when integration, GPS positioning unit failure recover normal obtains institute
The positional information of cruising inspection system is stated, wherein the time needed for integrating is to be obtained from time acquisition unit.
In the cruising inspection system of this transmission line of electricity of the invention, according to integration, the GPS location list of the speed in time
Positional information calculation when positional information and GPS positioning unit during member failure fail obtains the position letter of the cruising inspection system
Cease for position coordinates, the coordinate position (x, y, z) is specially：
Wherein, the coordinate of positional information when GPS positioning unit fails is (x0, y0, z0), and GPS positioning unit is recovered just
Positional information (x1, y1, z1) when often, ∫ vdt integrally represent the integration of the speed in time.
In the cruising inspection system of this transmission line of electricity of the invention, in addition to：
Wireless transceiver unit, for the data and corresponding positional information to be sent out, wherein with the data
Corresponding positional information is specially：It is the position that the GPS positioning unit is obtained in the GPS positioning unit normal work
Information, is that position calculation unit calculates obtained positional information when GPS positioning unit fails.
In the cruising inspection system of this transmission line of electricity of the invention, the Wireless transceiver unit is based on mobile communications network
The unit of communication, the Wireless transceiver unit is connected with Cloud Server, and the Cloud Server is used for according to data analysis event
Barrier situation, and when breaking down or occurring the possibility of failure, fault message is sent to the positional information pair broken down
Answer the mobile communication terminal of personnel.
In the cruising inspection system of the transmission line of electricity of the present invention, in addition to：
Data record unit, for preserving the data and corresponding positional information；
Data outputting unit, for being connected with other equipment, data that data record unit is preserved and right
The positional information answered is transmitted to other equipment；
Positional information corresponding with the data is specially：It is the GPS in the GPS positioning unit normal work
The positional information that positioning unit is obtained, is that position calculation unit calculates obtained positional information when GPS positioning unit fails.
According to another aspect of the present invention, the present invention also provides a kind of transmission line of electricity to solve its technical problem
Method for inspecting, the method for inspecting comprises the following steps:
Speed detecting step：The speed slided from walking unit is detected from walking unit, it is described to be used for edge from walking unit
Transmission line of electricity to be slided；
Data collection steps：Gather the data of transmission line of electricity；
GPS location step：The positional information of the cruising inspection system is obtained by GPS positioning unit in inspection；
Time obtaining step, timing is carried out to GPS positioning unit in out-of-service time section；
Position calculation procedure, in GPS positioning unit out-of-service time section, according to the product of the speed in time
Point, GPS positioning unit failure when positional information calculation when recovering normal of positional information and GPS positioning unit obtain described
The positional information of cruising inspection system, wherein the time needed for integrating is to be obtained from time acquisition unit.
In the method for inspecting of this transmission line of electricity of the invention, according to integration, the GPS location list of the speed in time
Positional information calculation when positional information and GPS positioning unit during member failure fail obtains the position letter of the cruising inspection system
Cease for position coordinates, the coordinate position (x, y, z) is specially：
Wherein, the coordinate of positional information when GPS positioning unit fails is (x0, y0, z0), and GPS positioning unit is recovered just
Positional information (x1, y1, z1) when often, ∫ vdt integrally represent the integration of the speed in time.
In the method for inspecting of this transmission line of electricity of the invention, in addition to：
Wireless transmission step, is sent out the data and corresponding positional information by Wireless transceiver unit, its
In positional information corresponding with the data be specially：It is the GPS location list in the GPS positioning unit normal work
The positional information that member is obtained, is that position calculation unit calculates obtained positional information when the GPS positioning unit fails.
In the method for inspecting of this transmission line of electricity of the invention, the Wireless transceiver unit is based on mobile communications network
The unit of communication, the Wireless transceiver unit is connected with Cloud Server, and the Cloud Server is used for according to data analysis event
Barrier situation, and when breaking down or occurring the possibility of failure, fault message is sent to the positional information pair broken down
Answer the mobile communication terminal of personnel.
In the method for inspecting of this transmission line of electricity of the invention, in addition to：
Sub-data recording step：Preserve the data and corresponding positional information；
Data output step：It is connected with other equipment, data that data record unit is preserved and corresponding
Positional information is transmitted to other equipment；
Positional information corresponding with the data is specially：It is the GPS in the GPS positioning unit normal work
The positional information that positioning unit is obtained, is that position calculation unit calculates obtained positional information when GPS positioning unit fails.
Implement that a GPS positioning unit is installed on the cruising inspection system and method for inspecting of the transmission line of electricity of the present invention, inspection device
And position calculation unit, in GPS positioning unit normal work, the collection position of data, such data are recorded by GPS
It is corresponding with positional information, in GPS positioning unit out-of-service time section, according to the product of the sliding speed from walking in time
Point, GPS positioning unit failure when positional information calculation when recovering normal of positional information and GPS positioning unit obtain described
The positional information of cruising inspection system, such data are also corresponding with positional information, it is ensured that gathered data and positional information during inspection
Corresponding always, routing inspection efficiency is high, and does not allow error-prone.
Brief description of the drawings
Below in conjunction with drawings and Examples, the invention will be further described, in accompanying drawing：
Fig. 1 is the schematic diagram of the first embodiment of the cruising inspection system of the transmission line of electricity of the present invention；
Fig. 2 is the flow chart of the first embodiment of the method for inspecting of the transmission line of electricity of the present invention.
Embodiment
In order to which technical characteristic, purpose and effect to the present invention are more clearly understood from, now compare accompanying drawing and describe in detail
The embodiment of the present invention.
As shown in figure 1, its schematic diagram for the first embodiment of the cruising inspection system of the transmission line of electricity of the present invention.The present embodiment
In, the cruising inspection system 1 of transmission line of electricity, including from walking unit 11, speed detection unit 12, data acquisition unit 13, GPS location
Unit 14, time acquisition unit 15, position calculation unit 16 and Wireless transceiver unit 17.The cruising inspection system is an inspection dress
Put, above addressing following each units can be integrated in inside the inspection device on the either inspection device.The inspection device system 1
It can be connected by Wireless transceiver unit 17 with Cloud Server 2, Cloud Server 2 can be connected with mobile communication terminal 3, mobile communication is whole
End 3 can be mobile phone, intelligent watch etc..
Slided from walking unit 11 along transmission line of electricity, it includes drive device, motor, movable pulley etc..In order to anti-
Only cruising inspection system 1 comes off from transmission line of electricity, can set a ring or hole in cruising inspection system 1, by ring or borehole jack mounted in transmission of electricity
On circuit.
Speed detection unit 12 detects the speed slided from walking unit, and it can be velocity sensor, such as pass through rotating speed
Speed that sensor acquisition is slided etc..
Data acquisition unit 13 gathers the data of transmission line of electricity, and it can be current acquisition unit, voltage acquisition unit, defeated
Electric wire slight crack and ambient condition information (such as analyze surrounding trees whether can contact power transmission line).
GPS positioning unit 14, position in the positional information of cruising inspection system 1, the present embodiment is obtained in 1 inspection of cruising inspection system
Information can be coordinate form.
Time acquisition unit 15, carries out timing, it can be using stopwatch to GPS positioning unit 14 in out-of-service time section
Form, as starting point when just having started to fail such as using GPS positioning unit, timing also might be used up to GPS recovery normal works since 0 second
Using in the form of clock, at the time of when record just has started to fail with GPS positioning unit, to be lost at the time of trailer record with just starting
Difference at the time of during effect is identical with using the form of stopwatch.
Position calculation unit 16, in the out-of-service time of GPS positioning unit 14 section, according to the product of speed in time
Point, GPS positioning unit failure when positional information and GPS positioning unit recover it is normal when positional information calculation obtain inspection
The positional information of system 1, wherein the time needed for integrating is to be obtained from time acquisition unit 15.The specific formula calculated is as follows：
The coordinate position (x, y, z) of calculative cruising inspection system 1 is specially：
Wherein, the coordinate of positional information when GPS positioning unit fails is (x0, y0, z0), and GPS positioning unit is recovered just
Positional information (x1, y1, z1) when often, v represents sliding speed of the cruising inspection system 1 along transmission line of electricity, and ∫ vdt integrally represent institute
State the integration of speed in time.
Wireless transceiver unit 17 is passed by the corresponding positional information of the data and data that gather data acquisition unit 13
See off, wherein positional information corresponding with those data is specially：It is GPS location in 14 normal work of GPS positioning unit
The positional information that unit 14 is obtained, is that position calculation unit 16 calculates obtained position letter when GPS positioning unit 14 fails
Breath.Wireless transceiver unit 17 realizes that it can be 3G communication units, 4G communication units and 5G communications by mobile communications network
Any one in unit.The data and positional information sent out away are received by Cloud Server 2 and obtained, Cloud Server 2
The data analysis trouble situation gathered according to data acquisition unit 13, and when breaking down or occurring the possibility of failure,
Fault message is sent to the mobile communication terminal 3 for the positional information counterpart personnel broken down.In other embodiments, it is wireless to pass
It is bluetooth or Wifi units, the corresponding position of data and data that cruising inspection system gathers data acquisition unit 13 to send unit 17
Confidence breath is preserved, after inspection is finished, and staff can say cruising inspection system 1 by Wireless transceiver unit 17 and computer either
Other equipment is connected, and therefrom reads data and the corresponding positional information of data that data acquisition unit 13 is gathered.It is appreciated that
, the number that the data and the corresponding positional information of data namely data acquisition unit 13 that data acquisition unit 13 is gathered are gathered
According to associated with one-to-one positional information.
In another embodiment of the invention, cruising inspection system 1 includes data record unit and data outputting unit, data
Recording unit preserves the data and corresponding positional information, and data outputting unit is connected with other equipment, data are remembered
The data and corresponding positional information that record unit is preserved are transmitted to other equipment.Typical data outputting unit is USB
Interface.Positional information corresponding with the data is specially：It is the GPS location in the GPS positioning unit normal work
The positional information that unit is obtained, is that position calculation unit calculates obtained positional information when GPS positioning unit fails.
With reference to Fig. 2, Fig. 2 is the flow chart of the first embodiment of the method for inspecting of the transmission line of electricity of the present invention.The present embodiment
In, the method for inspecting of transmission line of electricity comprises the following steps:
Speed detecting step：The speed slided from walking unit is detected from walking unit, it is described to be used for edge from walking unit
Transmission line of electricity to be slided；
Data collection steps：Gather the data of transmission line of electricity；
GPS location step：The positional information of the cruising inspection system is obtained by GPS positioning unit in inspection；
Time obtaining step, timing is carried out to GPS positioning unit in out-of-service time section；
Position calculation procedure, in GPS positioning unit out-of-service time section, according to the product of the speed in time
Point, GPS positioning unit failure when positional information calculation when recovering normal of positional information and GPS positioning unit obtain described
The positional information of cruising inspection system, wherein the time needed for integrating is to be obtained from time acquisition unit.
In the present embodiment, positional information when being failed according to speed integration in time, GPS positioning unit with
And positional information calculation during GPS positioning unit failure obtains the positional information of the cruising inspection system for position coordinates, the coordinate
(x, y, z) is specially for position：
Wherein, the coordinate of positional information when GPS positioning unit fails is (x0, y0, z0), and GPS positioning unit is recovered just
Positional information (x1, y1, z1) when often, ∫ vdt integrally represent the integration of the speed in time.
In the present embodiment, method for inspecting also include wireless transmission step, by Wireless transceiver unit by the data with
And corresponding positional information is sent out, wherein positional information corresponding with the data is specially：In the GPS positioning unit
It is the positional information that the GPS positioning unit is obtained during normal work, is that position is calculated when the GPS positioning unit fails
Unit calculates obtained positional information.Wireless transceiver unit is the unit of the communication based on mobile communications network, the wireless biography
Send unit to be connected with Cloud Server, the Cloud Server be used for according to the data analysis trouble situation, and break down or
When person occurs the possibility of failure, fault message is sent to the mobile communication terminal for the positional information counterpart personnel broken down.
In another embodiment of the invention, method for inspecting also includes：
Sub-data recording step：Preserve the data and corresponding positional information；
Data output step：It is connected with other equipment, data that data record unit is preserved and corresponding
Positional information is transmitted to other equipment；
Positional information corresponding with the data is specially：It is the GPS in the GPS positioning unit normal work
The positional information that positioning unit is obtained, is that position calculation unit calculates obtained positional information when GPS positioning unit fails.
Embodiments of the invention are described above in conjunction with accompanying drawing, but the invention is not limited in above-mentioned specific
Embodiment, above-mentioned embodiment is only schematical, rather than restricted, one of ordinary skill in the art
Under the enlightenment of the present invention, in the case of present inventive concept and scope of the claimed protection is not departed from, it can also make a lot
Form, these are belonged within the protection of the present invention.
Claims (10)
1. a kind of cruising inspection system of transmission line of electricity, it is characterised in that including:
From walking unit, for being slided along transmission line of electricity；
Speed detection unit, for detecting the speed slided from walking unit；
Data acquisition unit, the data for gathering transmission line of electricity；
GPS positioning unit, the positional information for obtaining the cruising inspection system in inspection；
Time acquisition unit, for carrying out timing in out-of-service time section to GPS positioning unit；
Position calculation unit, in GPS positioning unit out-of-service time section, according to the product of the speed in time
Point, GPS positioning unit failure when positional information calculation when recovering normal of positional information and GPS positioning unit obtain described
The positional information of cruising inspection system, wherein the time needed for integrating is to be obtained from time acquisition unit.
2. the cruising inspection system of transmission line of electricity according to claim 1, it is characterised in that according to the speed in time
Positional information calculation when positional information and GPS positioning unit when integration, GPS positioning unit failure fail obtains described patrol
The positional information of check system is position coordinates, and the coordinate position (x, y, z) is specially：
<mrow>
<mi>x</mi>
<mo>=</mo>
<mi>x</mi>
<mn>0</mn>
<mo>+</mo>
<mfrac>
<mrow>
<mo>(</mo>
<mi>x</mi>
<mn>1</mn>
<mo>-</mo>
<mi>x</mi>
<mn>0</mn>
<mo>)</mo>
<mo>&Integral;</mo>
<mi>v</mi>
<mi>d</mi>
<mi>t</mi>
</mrow>
<msqrt>
<mrow>
<msup>
<mrow>
<mo>(</mo>
<mi>x</mi>
<mn>1</mn>
<mo>-</mo>
<mi>x</mi>
<mn>0</mn>
<mo>)</mo>
</mrow>
<mn>2</mn>
</msup>
<mo>+</mo>
<msup>
<mrow>
<mo>(</mo>
<mi>y</mi>
<mn>1</mn>
<mo>-</mo>
<mi>y</mi>
<mn>0</mn>
<mo>)</mo>
</mrow>
<mn>2</mn>
</msup>
<mo>+</mo>
<msup>
<mrow>
<mo>(</mo>
<mi>z</mi>
<mn>1</mn>
<mo>-</mo>
<mi>z</mi>
<mn>0</mn>
<mo>)</mo>
</mrow>
<mn>2</mn>
</msup>
</mrow>
</msqrt>
</mfrac>
<mo>,</mo>
</mrow>
<mrow>
<mi>y</mi>
<mo>=</mo>
<mi>y</mi>
<mn>0</mn>
<mo>+</mo>
<mfrac>
<mrow>
<mo>(</mo>
<mi>y</mi>
<mn>1</mn>
<mo>-</mo>
<mi>y</mi>
<mn>0</mn>
<mo>)</mo>
<mo>&Integral;</mo>
<mi>v</mi>
<mi>d</mi>
<mi>t</mi>
</mrow>
<msqrt>
<mrow>
<msup>
<mrow>
<mo>(</mo>
<mi>x</mi>
<mn>1</mn>
<mo>-</mo>
<mi>x</mi>
<mn>0</mn>
<mo>)</mo>
</mrow>
<mn>2</mn>
</msup>
<mo>+</mo>
<msup>
<mrow>
<mo>(</mo>
<mi>y</mi>
<mn>1</mn>
<mo>-</mo>
<mi>y</mi>
<mn>0</mn>
<mo>)</mo>
</mrow>
<mn>2</mn>
</msup>
<mo>+</mo>
<msup>
<mrow>
<mo>(</mo>
<mi>z</mi>
<mn>1</mn>
<mo>-</mo>
<mi>z</mi>
<mn>0</mn>
<mo>)</mo>
</mrow>
<mn>2</mn>
</msup>
</mrow>
</msqrt>
</mfrac>
<mo>,</mo>
</mrow>
<mrow>
<mi>z</mi>
<mo>=</mo>
<mi>z</mi>
<mn>0</mn>
<mo>+</mo>
<mfrac>
<mrow>
<mo>(</mo>
<mi>z</mi>
<mn>1</mn>
<mo>-</mo>
<mi>z</mi>
<mn>0</mn>
<mo>)</mo>
<mo>&Integral;</mo>
<mi>v</mi>
<mi>d</mi>
<mi>t</mi>
</mrow>
<msqrt>
<mrow>
<msup>
<mrow>
<mo>(</mo>
<mi>x</mi>
<mn>1</mn>
<mo>-</mo>
<mi>x</mi>
<mn>0</mn>
<mo>)</mo>
</mrow>
<mn>2</mn>
</msup>
<mo>+</mo>
<msup>
<mrow>
<mo>(</mo>
<mi>y</mi>
<mn>1</mn>
<mo>-</mo>
<mi>y</mi>
<mn>0</mn>
<mo>)</mo>
</mrow>
<mn>2</mn>
</msup>
<mo>+</mo>
<msup>
<mrow>
<mo>(</mo>
<mi>z</mi>
<mn>1</mn>
<mo>-</mo>
<mi>z</mi>
<mn>0</mn>
<mo>)</mo>
</mrow>
<mn>2</mn>
</msup>
</mrow>
</msqrt>
</mfrac>
<mo>;</mo>
</mrow>
Wherein, the coordinate of positional information when GPS positioning unit fails is (x0, y0, z0), when GPS positioning unit recovers normal
Positional information (x1, y1, z1), ∫ vdt integrally represent the integration of the speed in time.
3. the cruising inspection system of transmission line of electricity according to claim 1, it is characterised in that also include：
Wireless transceiver unit, for the data and corresponding positional information to be sent out, wherein corresponding with the data
Positional information be specially：It is the positional information that the GPS positioning unit is obtained in the GPS positioning unit normal work,
It is that position calculation unit calculates obtained positional information when GPS positioning unit fails.
4. the cruising inspection system of transmission line of electricity according to claim 3, it is characterised in that the Wireless transceiver unit be based on
The unit of the communication of mobile communications network, the Wireless transceiver unit is connected with Cloud Server, and the Cloud Server is used for basis
The data analysis trouble situation, and when breaking down or occurring the possibility of failure, send fault message former to occurring
The mobile communication terminal of the positional information counterpart personnel of barrier.
5. the cruising inspection system of transmission line of electricity according to claim 1, it is characterised in that also include：
Data record unit, for preserving the data and corresponding positional information；
Data outputting unit, for being connected with other equipment, data that data record unit is preserved and corresponding
Positional information is transmitted to other equipment；
Positional information corresponding with the data is specially：It is the GPS location in the GPS positioning unit normal work
The positional information that unit is obtained, is that position calculation unit calculates obtained positional information when GPS positioning unit fails.
6. a kind of method for inspecting of transmission line of electricity, it is characterised in that comprise the following steps:
Speed detecting step：The speed slided from walking unit is detected from walking unit, it is described to be used for from walking unit along defeated
Electric line is slided；
Data collection steps：Gather the data of transmission line of electricity；
GPS location step：The positional information of the cruising inspection system is obtained by GPS positioning unit in inspection；
Time obtaining step, timing is carried out to GPS positioning unit in out-of-service time section；
Position calculation procedure, in GPS positioning unit out-of-service time section, according to integration, the GPS of the speed in time
Positional information calculation when positional information and GPS positioning unit when positioning unit fails recover normal obtains the inspection system
The positional information of system, wherein the time needed for integrating is to be obtained from time acquisition unit.
7. the method for inspecting of transmission line of electricity according to claim 6, it is characterised in that according to the speed in time
Positional information calculation when positional information and GPS positioning unit when integration, GPS positioning unit failure fail obtains described patrol
The positional information of check system is position coordinates, and the coordinate position (x, y, z) is specially：
<mrow>
<mi>x</mi>
<mo>=</mo>
<mi>x</mi>
<mn>0</mn>
<mo>+</mo>
<mfrac>
<mrow>
<mo>(</mo>
<mi>x</mi>
<mn>1</mn>
<mo>-</mo>
<mi>x</mi>
<mn>0</mn>
<mo>)</mo>
<mo>&Integral;</mo>
<mi>v</mi>
<mi>d</mi>
<mi>t</mi>
</mrow>
<msqrt>
<mrow>
<msup>
<mrow>
<mo>(</mo>
<mi>x</mi>
<mn>1</mn>
<mo>-</mo>
<mi>x</mi>
<mn>0</mn>
<mo>)</mo>
</mrow>
<mn>2</mn>
</msup>
<mo>+</mo>
<msup>
<mrow>
<mo>(</mo>
<mi>y</mi>
<mn>1</mn>
<mo>-</mo>
<mi>y</mi>
<mn>0</mn>
<mo>)</mo>
</mrow>
<mn>2</mn>
</msup>
<mo>+</mo>
<msup>
<mrow>
<mo>(</mo>
<mi>z</mi>
<mn>1</mn>
<mo>-</mo>
<mi>z</mi>
<mn>0</mn>
<mo>)</mo>
</mrow>
<mn>2</mn>
</msup>
</mrow>
</msqrt>
</mfrac>
<mo>,</mo>
</mrow>
<mrow>
<mi>y</mi>
<mo>=</mo>
<mi>y</mi>
<mn>0</mn>
<mo>+</mo>
<mfrac>
<mrow>
<mo>(</mo>
<mi>y</mi>
<mn>1</mn>
<mo>-</mo>
<mi>y</mi>
<mn>0</mn>
<mo>)</mo>
<mo>&Integral;</mo>
<mi>v</mi>
<mi>d</mi>
<mi>t</mi>
</mrow>
<msqrt>
<mrow>
<msup>
<mrow>
<mo>(</mo>
<mi>x</mi>
<mn>1</mn>
<mo>-</mo>
<mi>x</mi>
<mn>0</mn>
<mo>)</mo>
</mrow>
<mn>2</mn>
</msup>
<mo>+</mo>
<msup>
<mrow>
<mo>(</mo>
<mi>y</mi>
<mn>1</mn>
<mo>-</mo>
<mi>y</mi>
<mn>0</mn>
<mo>)</mo>
</mrow>
<mn>2</mn>
</msup>
<mo>+</mo>
<msup>
<mrow>
<mo>(</mo>
<mi>z</mi>
<mn>1</mn>
<mo>-</mo>
<mi>z</mi>
<mn>0</mn>
<mo>)</mo>
</mrow>
<mn>2</mn>
</msup>
</mrow>
</msqrt>
</mfrac>
<mo>,</mo>
</mrow>
<mrow>
<mi>z</mi>
<mo>=</mo>
<mi>z</mi>
<mn>0</mn>
<mo>+</mo>
<mfrac>
<mrow>
<mo>(</mo>
<mi>z</mi>
<mn>1</mn>
<mo>-</mo>
<mi>z</mi>
<mn>0</mn>
<mo>)</mo>
<mo>&Integral;</mo>
<mi>v</mi>
<mi>d</mi>
<mi>t</mi>
</mrow>
<msqrt>
<mrow>
<msup>
<mrow>
<mo>(</mo>
<mi>x</mi>
<mn>1</mn>
<mo>-</mo>
<mi>x</mi>
<mn>0</mn>
<mo>)</mo>
</mrow>
<mn>2</mn>
</msup>
<mo>+</mo>
<msup>
<mrow>
<mo>(</mo>
<mi>y</mi>
<mn>1</mn>
<mo>-</mo>
<mi>y</mi>
<mn>0</mn>
<mo>)</mo>
</mrow>
<mn>2</mn>
</msup>
<mo>+</mo>
<msup>
<mrow>
<mo>(</mo>
<mi>z</mi>
<mn>1</mn>
<mo>-</mo>
<mi>z</mi>
<mn>0</mn>
<mo>)</mo>
</mrow>
<mn>2</mn>
</msup>
</mrow>
</msqrt>
</mfrac>
<mo>;</mo>
</mrow>
Wherein, the coordinate of positional information when GPS positioning unit fails is (x0, y0, z0), when GPS positioning unit recovers normal
Positional information (x1, y1, z1), ∫ vdt integrally represent the integration of the speed in time.
8. the method for inspecting of transmission line of electricity according to claim 6, it is characterised in that also include：
Wireless transmission step, is sent out the data and corresponding positional information by Wireless transceiver unit, wherein with
The corresponding positional information of the data is specially：It is that the GPS positioning unit is obtained in the GPS positioning unit normal work
The positional information taken, is that position calculation unit calculates obtained positional information when the GPS positioning unit fails.
9. the method for inspecting of transmission line of electricity according to claim 8, it is characterised in that the Wireless transceiver unit be based on
The unit of the communication of mobile communications network, the Wireless transceiver unit is connected with Cloud Server, and the Cloud Server is used for basis
The data analysis trouble situation, and when breaking down or occurring the possibility of failure, send fault message former to occurring
The mobile communication terminal of the positional information counterpart personnel of barrier.
10. the method for inspecting of transmission line of electricity according to claim 6, it is characterised in that also include：
Sub-data recording step：Preserve the data and corresponding positional information；
Data output step：It is connected with other equipment, the data that data record unit is preserved and corresponding position
Information transfer is to other equipment；
Positional information corresponding with the data is specially：It is the GPS location in the GPS positioning unit normal work
The positional information that unit is obtained, is that position calculation unit calculates obtained positional information when GPS positioning unit fails.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710288946.6A CN107102237A (en) | 2017-04-27 | 2017-04-27 | The method for inspecting and cruising inspection system of a kind of transmission line of electricity |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710288946.6A CN107102237A (en) | 2017-04-27 | 2017-04-27 | The method for inspecting and cruising inspection system of a kind of transmission line of electricity |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107102237A true CN107102237A (en) | 2017-08-29 |
Family
ID=59656347
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710288946.6A Pending CN107102237A (en) | 2017-04-27 | 2017-04-27 | The method for inspecting and cruising inspection system of a kind of transmission line of electricity |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107102237A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108600372A (en) * | 2018-04-26 | 2018-09-28 | 泗水圣源电气工程有限公司 | A kind of information interaction system based on more transmission facility inspection devices and control terminal |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101141820A (en) * | 2007-10-22 | 2008-03-12 | 中兴通讯股份有限公司 | 3G network card location implementing method, device and system |
| CN102116625A (en) * | 2009-12-31 | 2011-07-06 | 武汉大学 | GIS (geographic information system)-GPS (global position system) navigation method of inspection robot |
| CN102280826A (en) * | 2011-07-30 | 2011-12-14 | 山东鲁能智能技术有限公司 | Intelligent robot inspection system and intelligent robot inspection method for transformer station |
| CN102700570A (en) * | 2012-05-22 | 2012-10-03 | 西南交通大学 | Anti-collision and early-warning system of railway vehicles |
| CN102941920A (en) * | 2012-12-05 | 2013-02-27 | 南京理工大学 | High-tension transmission line inspection robot based on multi-rotor aircraft and method using robot |
| CN103812052A (en) * | 2014-03-07 | 2014-05-21 | 国家电网公司 | Centralized monitoring system for power transmission line routing inspection of unmanned aerial vehicles and monitoring method |
| CN103855644A (en) * | 2014-03-14 | 2014-06-11 | 刘凯 | Multi-rotary-wing intelligent inspection robot for overhead line |
| CN106356765A (en) * | 2016-11-11 | 2017-01-25 | 广东电网有限责任公司电力科学研究院 | Multitask load transmission line patrol robot and system |
-
2017
- 2017-04-27 CN CN201710288946.6A patent/CN107102237A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101141820A (en) * | 2007-10-22 | 2008-03-12 | 中兴通讯股份有限公司 | 3G network card location implementing method, device and system |
| CN102116625A (en) * | 2009-12-31 | 2011-07-06 | 武汉大学 | GIS (geographic information system)-GPS (global position system) navigation method of inspection robot |
| CN102280826A (en) * | 2011-07-30 | 2011-12-14 | 山东鲁能智能技术有限公司 | Intelligent robot inspection system and intelligent robot inspection method for transformer station |
| CN102700570A (en) * | 2012-05-22 | 2012-10-03 | 西南交通大学 | Anti-collision and early-warning system of railway vehicles |
| CN102941920A (en) * | 2012-12-05 | 2013-02-27 | 南京理工大学 | High-tension transmission line inspection robot based on multi-rotor aircraft and method using robot |
| CN103812052A (en) * | 2014-03-07 | 2014-05-21 | 国家电网公司 | Centralized monitoring system for power transmission line routing inspection of unmanned aerial vehicles and monitoring method |
| CN103855644A (en) * | 2014-03-14 | 2014-06-11 | 刘凯 | Multi-rotary-wing intelligent inspection robot for overhead line |
| CN106356765A (en) * | 2016-11-11 | 2017-01-25 | 广东电网有限责任公司电力科学研究院 | Multitask load transmission line patrol robot and system |
Non-Patent Citations (1)
| Title |
|---|
| 董倩等: "输电线路智能巡检系统中GPS技术的研究与应用", 《微型机与应用》 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108600372A (en) * | 2018-04-26 | 2018-09-28 | 泗水圣源电气工程有限公司 | A kind of information interaction system based on more transmission facility inspection devices and control terminal |
| CN108600372B (en) * | 2018-04-26 | 2021-01-05 | 国网山东省电力公司泗水县供电公司 | Information interaction system based on multiple power transmission equipment inspection devices and control terminal |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102184625B (en) | Third generation (3G) communication network-based transmission line fault area positioning system | |
| CN206420991U (en) | A kind of transmission open acess system | |
| CN105738775A (en) | Power distribution network fault analyzing and positioning system and power distribution network fault analyzing and positioning method | |
| CN206658205U (en) | A kind of Unmanned Aerial Vehicle Data Transmission system | |
| CN111624394A (en) | Intelligent short circuit grounding monitoring device and use method thereof | |
| CN107884713A (en) | A kind of generator failure detector | |
| CN104574749A (en) | Wireless remote-monitoring anti-theft system | |
| CN115774166A (en) | Line fault diagnosis positioning system and method based on distributed fault and unmanned aerial vehicle | |
| CN107102237A (en) | The method for inspecting and cruising inspection system of a kind of transmission line of electricity | |
| CN107316351A (en) | The method for inspecting and cruising inspection system of a kind of transmission line of electricity | |
| CN213023314U (en) | Intelligent short circuit grounding monitoring device | |
| CN102982587A (en) | Electric power equipment on-site inspection method and apparatus thereof | |
| CN113466606A (en) | Cable fault positioning system and method based on voiceprint recognition | |
| CN106814281A (en) | A kind of ground wire information detector based on GSM | |
| CN107255771A (en) | The method for inspecting and cruising inspection system of a kind of transmission line of electricity | |
| CN201724751U (en) | Temperature monitoring device of capacitor and reactor | |
| CN206725730U (en) | A kind of AGV power supplies on-line monitoring system | |
| CN201984133U (en) | Power transmission line fault section locating system based on 3G communication network | |
| CN204595150U (en) | A kind of direct-current insulation monitoring device | |
| CN210488276U (en) | Track interval ponding detection alarm device | |
| CN115265762A (en) | Portable wireless vibration test and high-precision positioning equipment | |
| CN110784847B (en) | Crossing early warning equipment and method for decoding receiving early warning information thereof | |
| CN209085668U (en) | Traction substation comprehensive monitor system | |
| CN103267027B (en) | Offshore wind turbine safety monitoring system | |
| CN101384021A (en) | Down-hole water pump information collecting system and method based on sensor network |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170829 |