KR102554336B1 - Apparatus and method for monitoring power facilities - Google Patents

Abstract

The present invention relates to a power facility monitoring device, comprising: an autonomous flight path generation unit for generating an autonomous flight path for monitoring power facilities using an unmanned aerial vehicle; an unmanned monitoring and diagnosis unit for diagnosing failures using information on power facilities obtained while the UAV is flying along an autonomous flight path; and an unmanned monitoring control unit configured to control the unmanned aerial vehicle and the unmanned monitoring diagnostic unit based on a result of diagnosis by the unmanned monitoring diagnostic unit to determine a fault location of the diagnosed power facility and determine a fault location, and take a fault action. do.

Description

Power facility monitoring device and method {APPARATUS AND METHOD FOR MONITORING POWER FACILITIES}

The present invention relates to an apparatus and method for monitoring power facilities, and more particularly, to an apparatus and method for monitoring power facilities, which enable monitoring of the state of power facilities using an ultrasonic diagnostic device mounted on an unmanned aerial vehicle.

Recently, due to the development of information communication and its control technology, development of unmanned aerial vehicles (eg, drones) that can perform dangerous or difficult tasks for a person to directly board and perform instead is actively being developed.

The UAV moves at the route, altitude, and speed set by the user based on satellites and inertial navigation devices (eg, GPS, Global Positioning System), or the flight position, attitude, direction, etc. to control

On the other hand, transmission lines among power facilities include high-voltage lines, transmission towers, insulators, and clamps through which ultra-high voltage power is transmitted. Accordingly, the power transmission line is exposed to lightning, heavy rain, typhoon, etc., and the possibility of damage increases, and thus, regular inspection of the transmission line is essential.

Accordingly, in the prior art, a worker directly boarded a pylon bracket to visually inspect the power transmission line, but this method had a problem in that the inspection method was inefficient if the cost was high, such as exposing the operator to danger, and also inspecting the transmission line. Since the inspection work must be performed after power transmission is stopped for this purpose, there is a disadvantage in that the time available for the work (ie, transmission line inspection) is limited.

In addition, in the past, various monitoring facilities were installed on the transmission line, and the status of the transmission line was continuously estimated and monitored through the monitoring facility. However, this method requires the installation of additional monitoring facilities on the transmission line. There was a problem that the cost of monitoring equipment installation also increased.

Accordingly, in recent years, attempts have been actively made to increase the safety of inspection work and improve the reliability of facility diagnosis by replacing visual monitoring by mounting a camera on an UAV and using it for remote inspection through flight.

However, images acquired using unmanned aerial vehicles to replace visual surveillance require post-processing by personnel who analyze the images separately. There is no choice but to rely on subjective judgment through individual additional confirmation work by the patient, and the accuracy of the diagnosis result tends to decrease.

In addition, post-processing using human resources (i.e., image analysis) is expensive, objective monitoring is difficult, and improvement is required through the development of specialized diagnosis, automation, and objectified methods to increase monitoring efficiency.

The background art of the present invention is disclosed in Republic of Korea Patent Publication No. 10-2016-0123551 (published on October 26, 2016, drone system automatic control system based on phase information for power facility inspection and its method).

According to one aspect of the present invention, the present invention was created to solve the above problems, and a power facility monitoring apparatus and method for monitoring the state of the power facility using an ultrasonic diagnostic device mounted on an unmanned aerial vehicle. Its purpose is to provide

An apparatus for monitoring power facilities according to an aspect of the present invention includes: an autonomous flight path generation unit for generating an autonomous flight path for monitoring power facilities using an unmanned aerial vehicle;

an unmanned monitoring and diagnosis unit for diagnosing failures using information on power facilities obtained while the UAV is flying along an autonomous flight path; and

Based on the results diagnosed by the unmanned monitoring diagnosis unit, an unmanned monitoring control unit that controls the unmanned aerial vehicle and the unmanned monitoring diagnostic unit to determine the fault location of the diagnosed power facility and determine the fault location to perform fault action; characterized by

In the present invention, the autonomous flight path generation unit includes a power facility actual location information 3D modeling unit that models information of a region where a power facility monitoring flight service is to be performed as 3D spatial information; a monitoring and diagnosis location information setting unit that presets location information of monitoring and diagnosis targets by applying location-based 3D modeling to real location information of power facilities that require actual monitoring and diagnosis to the modeled 3D spatial information; and an unmanned aerial vehicle safety separation distance generating unit for generating a separation distance for safely monitoring power facilities and measuring diagnostic information.

In the present invention, the 3D spatial information is information that enables not only the distance on a plane but also spatial positioning to be determined by adding a satellite photograph to a 3D digital map of an area where the monitoring flight service of power facilities is to be performed, It is characterized in that a 3D model of a transmission structure based on a blueprint of an actual transmission tower is applied to the 3D spatial information.

In the present invention, the unmanned monitoring diagnosis unit, a first wireless transmission and reception unit for receiving coordinate information from the unmanned monitoring control unit; A sensor unit including sensors for acquiring overheating information, partial discharge information, and physical damage information of power facilities; an acquisition signal processing unit for processing information or signals acquired by the sensor unit; And while controlling the UAV to perform hovering, controlling the sensor unit to acquire state information of the power facility, and detecting a failure of the power facility based on the information or signal processed by the acquisition signal processing unit It is characterized in that it includes; diagnosis control unit.

In the present invention, the diagnosis control unit compares the ultrasonic signal waveform during arc discharge, the ultrasonic signal waveform during corona discharge, and the ultrasonic signal waveform during tracking to the normal ultrasonic signal waveform to determine the fault location. It is characterized by detecting.

In the present invention, the diagnosis control unit, when a failure of a power facility is detected, acquires a high-resolution image of the power facility detected as the failure through a camera sensor of the sensor unit, analyzes the acquired high-resolution image, and identifies the failure. It is characterized by doing.

In the present invention, when the diagnosis control unit detects a failure of a power facility, an acquisition signal storage unit for storing location information of the power facility detected as the failure and image information, thermal image information, and ultrasonic information obtained from the power facility. It is characterized in that it further includes;

In the present invention, the acquisition signal storage unit is characterized in that it additionally stores state information of the UAV itself.

The present invention further includes a control unit for controlling the UAV to maintain a separation distance to power facilities in real time by comparing real-time self-location information of the UAV with coordinate information transmitted from the UAV monitoring control unit, and the UAV control unit is characterized in that it is implemented so that it can be automatically adjusted by default or manually adjusted by a user.

In the present invention, the unmanned monitoring and diagnosis unit further includes a signal collection tube for improving signal acquisition performance by increasing the directivity of the sensor unit, and the signal collection tube is in the form of a cone-shaped ultrasonic signal collection tube or dish antenna. Characterized in that it is formed as an ultrasonic signal collection tube of.

In the present invention, the unmanned monitoring control unit comprises: a second wireless transceiver for receiving information transmitted through the first wireless transceiver of the unmanned monitoring diagnosis unit; and a fault location determiner for determining a fault location based on the information received through the second wireless transceiver, wherein the fault location determiner includes ultrasonic wave information provided from the first wireless transceiver and prohibits overheating. It is characterized in that the temperature information is compared with preset reference information, a failure detection result for the failure location is confirmed, and information on whether or not the confirmed failure occurs is transmitted to the failure handling unit through the main control unit.

In the present invention, the failure handling unit is a kind of warning device notifying the user that a failure has occurred, and includes a display unit, a sound output unit, a ground control unit for an unmanned aerial vehicle, and a ground control unit for mounted equipment corresponding to a sensor unit; Including, and also an interface device for controlling the unattended monitoring diagnostic unit by switching from automatic to manual; characterized in that it is implemented by including.

In the present invention, the unmanned monitoring control unit, when the failure location or failure location of the power facility is determined through the failure location determination unit, displays the failure location or failure location so that the user can know the failure location under the control of the main control unit It further includes a failure location display unit, wherein the failure location display unit sprays or fires a failure location display device mounted on the UAV to the failure location, and the failure location display device is among a paint sprayer, a flag, a wireless transmitter, and a light emitter. Characterized in that it includes at least one.

In the present invention, the main control unit determines a failure location display device suitable for attachment according to the characteristics or shape of the failure location or failure location, and the failure location or failure location characteristics or shape suitable for attachment. The location display device is characterized in that it is stored in the internal memory in advance in the form of a look-up table.

In the present invention, the main control unit, when the UAV is not equipped with a failure location display device suitable for attachment according to the characteristics or shape of the determined failure location or failure point, the UAV equipped with the corresponding failure location display device It is characterized by requesting.

A power facility monitoring method according to another aspect of the present invention includes the steps of setting, by a control unit of a power facility monitoring device, an unmanned aerial vehicle flight path reflecting coordinate information of power facilities to be monitored and a safe separation distance; The control unit allows the UAV to automatically fly based on the flight path of the UAV, and while the UAV flies along a predetermined flight path, thermal images and ultrasonic waves for power facilities are obtained through a thermal image sensor and an ultrasonic sensor among sensor units. acquiring information; detecting, by the control unit, a failure point by analyzing the acquired thermal image and ultrasound information; acquiring, by the controller, a high-resolution image of the detected failure point through a camera sensor among the sensor units when the failure point is detected; The control unit confirming whether or not there is a failure through analysis of the acquired high-resolution image; and outputting, by the control unit, a warning about the failure location and performing a preset countermeasure if it is confirmed whether or not the failure location is out of order.

In the present invention, in the step of analyzing the acquired thermal image and ultrasonic information to detect a failure point, the control unit detects the failure point through comparison between the acquired thermal image and ultrasound information and preset reference information. to be

In the present invention, in the step of confirming whether there is a failure through analysis of the acquired high-resolution image, the analysis of the high-resolution image is performed by the user visually, or through image processing and comparison with a pre-photographed reference image. It is characterized by automatic analysis.

In the present invention, when the failure location or failure point of the power equipment is detected, the step of determining, by the control unit, a failure location display device attachable according to the nature or shape of the failure location or failure point; preparing, by the control unit, the determined failure location display device among failure location display devices mounted on the UAV or requesting the UAV equipped with the determined failure location display device; and attaching, by the control unit, the failure location display device to a corresponding failure location or location when the failure location display device is prepared.

In the present invention, in the step of determining the failure location display device that can be attached according to the characteristics or shape of the failure location or failure location, the control unit may be attached according to the characteristics or shape of the failure location or failure location. It is characterized in that the failure location display device is stored in the internal memory in advance in the form of a look-up table.

According to one aspect of the present invention, the present invention enables monitoring of the state of a power facility using an ultrasonic diagnostic device mounted on an unmanned aerial vehicle.

According to another aspect of the present invention, it is possible to accurately determine the presence or absence of a failure or defect of a transmission and distribution line in a remote location using an unmanned aerial vehicle based on objective data.

1 is an exemplary view showing a schematic configuration of a power facility monitoring apparatus according to an embodiment of the present invention.
2 is an exemplary view showing a more specific configuration of the autonomous flight path generation unit in FIG. 1;
3 is an exemplary view showing a more specific configuration of the unmanned monitoring diagnosis unit in FIG. 1;
4 is an exemplary view showing a more specific configuration of the unmanned monitoring control unit in FIG. 1;
FIG. 5 is an exemplary view for explaining a signal collection pipe that can be additionally attached to improve the signal acquisition performance of the sensor unit in FIG. 3;
FIG. 6 is an exemplary diagram for explaining a method of modeling 3D spatial information and setting an autonomous flight path of an unmanned aerial vehicle in FIG. 2;
7 is a flowchart illustrating a power facility monitoring method according to an embodiment of the present invention.
8 is a flowchart for explaining a method of displaying a failure location when determining a failure location in FIG. 7;

Hereinafter, an embodiment of a power facility monitoring apparatus and method according to the present invention will be described with reference to the accompanying drawings.

In this process, the thickness of lines or the size of components shown in the drawings may be exaggerated for clarity and convenience of description. In addition, terms to be described later are terms defined in consideration of functions in the present invention, which may vary according to the intention or custom of a user or operator. Therefore, definitions of these terms will have to be made based on the content throughout this specification.

Hereinafter, the power facility monitoring device according to the present embodiment includes a high-resolution camera sensor (e.g., CCD, CMOS) for replacing the visual monitoring of power facilities, a thermal image sensor for measuring heat generated when deterioration progresses in power facilities, and power An ultrasonic sensor that receives ultrasonic waves emitted by partial discharge generated when the facility deteriorates is mounted on an unmanned aerial vehicle to comprehensively monitor and diagnose failures or defects in power facilities (e.g., transmission and distribution lines).

In addition, the power facility monitoring device according to this embodiment moves through autonomous flight based on the data of the route, altitude, and speed set in advance by the supervisor based on the GPS location, and the thermal image of the power facility and the ultrasonic partial discharge are the reference values. When an abnormality is detected, a high-resolution image corresponding to the location is transmitted to the user (ie, supervisor), so that the user (ie, supervisor) can obtain objective data to determine whether or not the power facility (eg, transmission and distribution line) is faulty or defective. It helps to make an accurate decision based on the criteria.

1 is an exemplary view showing a schematic configuration of a power facility monitoring apparatus according to an embodiment of the present invention.

As shown in FIG. 1 , the apparatus for monitoring power facilities according to the present embodiment includes an autonomous flight path generating unit 100, an unmanned monitoring diagnosis unit 200, and an unmanned monitoring control unit 300.

The autonomous flight path creation unit 100 establishes an autonomous flight plan before performing a diagnosis of the power facility through on-site monitoring using an unmanned aerial vehicle when the target power facility to be monitored is an extra-high voltage transmission tower. That is, the autonomous flight path generating unit 100 creates an autonomous flight path for monitoring power facilities using an unmanned aerial vehicle.

FIG. 2 is an exemplary view showing a more specific configuration of the autonomous flight path generation unit in FIG. 1, and FIG. 6 is an exemplary view for explaining a method of modeling 3D spatial information and setting an autonomous flight path of an unmanned aerial vehicle in FIG. 2. am.

Referring to FIG. 2 , the autonomous flight path generation unit 100 includes a power facility real location information 3D modeling unit 110, a monitoring and diagnosis location information setting unit 120, and an unmanned aerial vehicle safety separation distance generation unit 130 includes

The power facility actual location information 3D modeling unit 110 converts information of the area where power facility monitoring flight work will be performed into 3D spatial information so that a GPS-based unmanned aerial vehicle capable of automatic navigation can automatically generate flight route points. It is modeled as (see (a) in FIG. 6).

The monitoring and diagnosis location information setting unit 120 applies real location information of facilities requiring actual monitoring and diagnosis, such as steel towers and wires, to the modeled 3D space information based on location 3D modeling, that is, transmission pylons and The location information of the monitoring and diagnosis target is set in advance by enabling three-dimensional determination of the connection information, geography, and spatial positional relationship of the transmission line.

The UAV safety separation distance generation unit 130 generates a separation distance for safe measurement of power facilities (eg, left and right sides of ultra-high voltage transmission towers) (ie, adds the separation distance from each point of the power facility). Accordingly, an autonomous flight path of the UAV can be set (see (b) of FIG. 6).

Here, the 3D spatial information can determine spatial positioning as well as distance on a plane by overlaying a satellite image on a 3D digital map of an area where flight monitoring of transmission lines is to be performed. In the 3D spatial information, a 3D model of a transmission structure based on a blueprint of an actual transmission tower is applied.

Accordingly, by determining the connection information, geography, and spatial positional relationship of transmission towers and transmission lines in three dimensions, flight path points can be automatically generated, thereby efficiently controlling the UAV for ultrasonic partial discharge diagnosis of power facilities using an UAV. can do.

FIG. 3 is an exemplary view showing a more specific configuration of the unmanned monitoring diagnosis unit in FIG. 1, wherein the unmanned monitoring diagnosis unit 200 obtains information on the power facility while flying along the autonomous flight route and determines whether or not there is a failure. to diagnose

Referring to FIG. 3 , the unmanned monitoring diagnosis unit 200 includes sensor units 201, 202, and 203 (eg, a camera sensor, a thermal image sensor, and an ultrasonic sensor), an acquisition signal processing unit 210, and a position detection unit 220. ), a diagnosis control unit 230, an UAV control unit 240, a mounted equipment control unit 250, an acquisition signal storage unit 260, and a first wireless transmission/reception unit 270.

The first wireless transmission/reception unit 270 receives information (eg coordinate information) from the unmanned monitoring control unit 300, and the location information and the location detection unit (eg position detection unit using GPS and IMU) ( 220), the UAV can autonomously fly to a site for fault detection (ie, a site with power facilities) by itself.

When the UAV arrives at the site (ie, the site where the power facility is located), the diagnosis control unit 230 causes the UAV to hover in place through the UAV control unit 240, and also controls the mounted equipment control unit 250. Through this, the sensor unit 201, 202, 203 (or monitoring information acquisition device) acquires information (eg, image information, thermal image information, ultrasonic information, etc.) . Here, the mounted equipment is a monitoring information acquisition device mounted on the UAV, and means the sensor units 201, 202, and 203.

The information (i.e., the acquisition signal) acquired through the sensor units 201, 202, and 203 (or the monitoring information acquisition device) is processed through the acquisition signal processing unit 210 and processed through the diagnosis control unit 230. It is possible to determine the overheating part of the power facility, the ultrasonic partial discharge signal, and the physical damage part.

For example, the diagnosis control unit 230 compares the ultrasonic signal waveform during arc discharge, the ultrasonic signal waveform during corona discharge, and the ultrasonic signal waveform when tracking occurs to detect a faulty area with respect to a normal ultrasonic signal waveform. (Judgment) can.

To process the acquisition signal, the acquisition signal processing unit 210 amplifies the signal of the ultrasonic sensor 203 and performs signal processing to determine the maximum value of a specific ultrasonic frequency through FFT (Fast Fourier Transform) conversion. can In the process of performing this processing, the noise generated according to the number of rotations of the UAV's rotor is filtered to increase the diagnostic accuracy. Also, the acquisition signal processing unit 210 provides temperature information of the overheated point obtained from the thermal image sensor 202 and temperature information around the overheated point together. Accordingly, the diagnosis control unit 230 supports to more accurately determine whether or not the overheating point is overheated. For example, the diagnosis control unit 230 detects a failure by comparing it with overheat limit temperature (relative temperature) information secured in advance through a test.

The diagnosis control unit 230 analyzes the information received from the acquisition signal processing unit 210 (i.e., the information obtained by processing the acquisition signal), and analyzes the faulty area or faulty area (eg, overheating area of power equipment, ultrasonic partial discharge). signals, and physical damage sites) are detected.

When the diagnosis controller 230 detects a specific location (ie, power facility) as a failure, the diagnosis controller 230 outputs a high-resolution image of the specific location (ie, power facility) through the camera sensor 201. Acquire And after detecting the exact location information of the specific point (ie, power facility) through the location detection unit 220, the accurate location information of the specific location (ie, power facility) and a corresponding acquisition signal (eg: image information, thermal image information, ultrasound information, etc.) are stored in the acquisition signal storage unit 260.

The information stored in the acquisition signal storage unit 260 is used when the donation of the first wireless transmission/reception unit 270 is restricted, for example, when it is difficult to transmit and receive high-capacity original data due to wireless communication disruption and data wireless transmission and reception bandwidth limitations. It is a means to prepare.

In addition, when the acquisition signal storage unit 260 stores the exact location information of the specific point (ie, power facility) and the corresponding acquisition signal (eg, image information, thermal image information, ultrasonic information, etc.), the UAV itself State information can also be stored. At this time, the state information of the UAV itself may be continuously stored in normal times, even if a faulty area or faulty area is not detected.

The UAV controller 240 compares the real-time self-position information of the UAV with the coordinate information transmitted from the unmanned monitoring controller 300, and the separation distance to power facilities (eg, transmission lines, distribution lines, and transmission towers) in real time. control to maintain

The onboard equipment controller 250 receives the coordinate information of the power facility to be monitored received from the unmanned monitoring controller 300, and rotates the sensor unit (or monitoring information acquisition device) 201, 202, 203 in three axes (roll, Pitch, yaw, roll, pitch, yaw) method. At this time, the sensor units 201, 202, and 203 may include a gimbal device for absorbing vibration generated from the UAV.

In addition, the UAV control unit 240 and the onboard equipment control unit 250 are set to automatically adjust by default, but the settings may be changed to manual adjustment by the user to more accurately confirm the location of the failure.

4 is an exemplary diagram showing a more specific configuration of the unmanned monitoring control unit in FIG. 1, wherein the unmanned monitoring control unit 300 diagnoses the unmanned aircraft and the unmanned monitoring based on the diagnosis result from the unmanned monitoring diagnosis unit. By controlling the unit, the diagnosis of the failure is confirmed and the location of the failure is determined to take action against the failure.

Referring to FIG. 4, the unmanned monitoring control unit 300 includes a second wireless transmission/reception unit 301, a failure location determining unit 302, a main control unit 303, a failure handling unit 304, and a data storage unit 305. ), and a failure location display unit 306.

The failure location determining unit 302 determines the failure location based on information (data) transmitted through the first wireless transceiver 270 of the unmanned monitoring diagnosis unit 200 .

In addition, the fault location determination unit 302 compares the information (data) provided from the first wireless transceiver 270 with preset reference information (eg, ultrasonic wave information, overheat prohibition temperature information), After the failure detection result for the failure location is compared again, it is transmitted to the failure handling unit 304 through the main control unit 303.

The failure handling unit 304 is a kind of alarm device notifying the user that a failure has occurred, and may include a display means or a sound output means, and may include a UAV ground control device (not shown) and a mounted equipment ground control device (not shown). Si), etc., an interface device (not shown) for controlling the UAV and the mounted equipment (ie, the sensor unit) by switching from automatic to manual. For example, the failure handling unit 304 outputs the failure detection result along with location information of the failure point, high-resolution image information, and warning sound so that the user can be notified and confirmed. Accordingly, the user can manually control the unmanned aerial vehicle and the mounted equipment (ie, the sensor unit) in order to check the failure by changing the manual operation.

On the other hand, when automatically controlling the UAV and the mounted equipment (i.e., the sensor unit), information (eg, image information, thermal image information, ultrasound information, etc.) obtained from the faulty area is received and stored in the data storage unit 305. so that you can take action on the follow-up response.

The data storage unit 305 includes data modeled with 3D space information generated by the autonomous flight path generation unit 100 and autonomous flight path information including separation distance, and the detection result of the faulty point is stored in the 3D space It is stored so that it can be displayed at the position modeled as information.

For reference, FIG. 5 is an exemplary view for explaining a signal collection tube that can be additionally attached to improve the signal acquisition performance of the sensor unit in FIG. 3, and in this embodiment, the signal acquisition of the ultrasonic sensor 203 In order to improve performance, for example, as shown in FIG. 5, a cone-shaped ultrasonic signal collecting pipe (a) or a dish antenna-shaped ultrasonic signal collecting pipe (b) may be additionally attached.

Directivity can be increased through the ultrasonic signal collection pipe, or an ultrasonic signal can be obtained by accurately aiming at a diagnosis target based on previously set location information of the diagnosis target. Similarly, an effect of acquiring a thermal image signal by accurately aiming at a diagnosis target for thermal image diagnosis can be obtained.

On the other hand, although not specifically shown in the drawing, the unmanned monitoring control unit 300 additionally mounts a distance measurement unit composed of an ultrasonic sensor or the like to the UAV, determines in advance whether there is an obstacle in the flight direction of the UAV, and determines a preset safe separation distance. It can be controlled to avoid while maintaining (eg: 5m), and at the same time, it can be configured to warn the user that there is an obstacle in the UAV's flight direction.

Also, since the sensor units 201, 202, and 203 are detachable, more sensors may be additionally attached or unnecessary sensors may be detached.

When the failure location (or failure point) of the power facility is determined through the failure location determination unit 302, the failure location display unit 306 displays the failure location (or failure location) to the user (eg, a person who repairs the failure). manager) to be aware of.

In order to display the location of the failure, the failure location display unit 306 sprays or fires a failure location display device (eg, paint sprayer, flag, wireless transmitter, light emitter, etc.) (not shown) mounted on the UAV. At this time, all of the failure location display devices (eg, paint sprayer, flag, wireless emitter, light emitter, etc.) (not shown) may be mounted on the UAV, but only some devices may be mounted in consideration of weight.

Therefore, the main controller 303 determines an appropriate failure location display device according to the characteristics or shape of the failure location (or failure location). According to the nature or form of the failure location (or failure location), a suitable failure location display device may be previously stored in an internal memory (not shown) in the form of a lookup table.

Accordingly, the main controller 303 prepares a failure location display device and attaches (or sprays or launches) it to the failure location (or failure location) through the failure location display unit 306 . If the current UAV is not equipped with a failure location display device suitable for the characteristics or shape of the determined failure location (or failure point), the main control unit 303 sends the UAV equipped with the corresponding failure location display device. you can also request

7 is a flowchart illustrating a power facility monitoring method according to an embodiment of the present invention.

As shown in FIG. 7, the control unit (ie, the main control unit) 303 of the power facility monitoring device is equipped with a plurality of sensors (eg, a camera sensor, a thermal image sensor, an ultrasonic sensor) for monitoring the power facility. By controlling the UAV and the UAV, the state of the power facility is monitored and diagnosed.

To this end, the controller (ie, the main controller) 303 sets the UAV flight path reflecting the coordinate information of the power facility to be monitored and the safe separation distance (S101).

The control unit 303 causes the UAV to fly based on the UAV flight path, and the thermal image sensor 202 and the ultrasonic sensor among the sensor units 201, 202, and 203 while the UAV flies along the preset flight path Through step 203, thermal image and ultrasonic information about power facilities are acquired (S102).

In addition, the controller 303 analyzes the acquired thermal image and ultrasonic information to detect (determine) a faulty location (S103).

For example, the control unit 303 compares the acquired thermal image and ultrasonic information with preset reference information (eg, ultrasonic wave information and overheat prohibition temperature information) to detect (determine) a faulty location.

As described above, when a failure point is detected, the controller 303 acquires a high-resolution image of the detected failure point through the camera sensor 201 among the sensor units 201, 202, and 203 (S104).

In addition, the control unit 303 checks whether there is a failure through analysis of the acquired high-resolution image (S105). At this time, the analysis of the high-resolution image may be visually analyzed by the user or may be automatically analyzed through image processing and comparison with a pre-photographed reference image.

As described above, if the failure of the failure point is confirmed, the controller 303 outputs a warning about the failure point and performs a preset countermeasure (S106).

However, the output of the warning about the faulty area and the execution of subsequent countermeasures (S106) may be performed even after the faulty area is detected (determined) through the analysis of thermal image information and ultrasonic information in step S103.

FIG. 8 is a flowchart illustrating a method of displaying a failure location when determining a failure location in FIG. 7 .

Referring to FIG. 8 , the control unit (ie, the main control unit) 303 determines the failure location (or failure point) of the power facility through the failure location determination unit 302 (Yes in S201), the failure location. A failure location display device that fits (ie, can be attached to) the characteristics or shape of the (or failure point) is determined (S202).

For example, the unmanned aerial vehicle is equipped with at least one failure location display device (eg, paint sprayer, flag, wireless emitter, light emitter, etc.) (not shown). For example, the paint sprayer can spray fluorescent paint, the flag is attached to a high position in the form of an arrow (using a magnet, etc.) or plugged into the surroundings, and the wireless transmitter transmits a wireless signal to a designated terminal (eg: The location is notified through a radio signal receiving terminal), and the light emitter emits light to enable location detection with the naked eye during the day and at night.

At this time, all of the failure location display devices (eg, paint sprayer, flag, wireless emitter, light emitter, etc.) (not shown) may be mounted on the UAV, but only some devices may be mounted in consideration of weight. Therefore, if the current UAV is not equipped with a failure location display device suitable for the characteristics or shape of the determined failure location (or failure location), the control unit 303 will control the UAV equipped with the corresponding failure location display device. you can also request

In addition, according to the characteristics or form of the failure location (or failure location), a suitable (ie, attachable) failure location display device may be previously stored in an internal memory (not shown) in the form of a look-up table.

Accordingly, the controller 303 prepares the determined failure location display device among the failure location display devices installed in the UAV or requests the UAV equipped with the determined failure location display device (S203).

When the failure location display device is prepared, the controller 303 attaches (or sprays or launches) the failure location display device to the corresponding failure location (S204).

Accordingly, there is an effect of enabling a user (eg, a manager who repairs a failure) to immediately find and repair a failure location (or a failure point).

As described above, since the present embodiment uses an unmanned aerial vehicle without professional technical personnel, there is an effect of promoting safety of professional technical personnel and reducing costs. In addition, this embodiment does not simply monitor the appearance of the power facility, but measures the heat generated when the power facility degrades or receives ultrasonic waves emitted by partial discharge to monitor failures, thereby improving the accuracy of diagnosis. It works. In addition, there is an effect of enabling a high-resolution image to be additionally photographed for a location detected as a failure by the heat or ultrasonic waves to be confirmed in a state exposed to the appearance of the power facility.

The present invention has been described above with reference to the embodiments shown in the drawings, but this is only exemplary, and those skilled in the art can make various modifications and equivalent other embodiments. you will understand the point. Therefore, the technical protection scope of the present invention should be determined by the claims below.

100: autonomous flight path generation unit
110: Power facility actual location information 3D modeling unit
120: Monitoring and diagnosis location information setting unit
130: UAV safety separation distance generation unit
200: unmanned monitoring diagnosis unit 201: camera sensor
202: thermal image sensor 203: ultrasonic sensor
210: acquisition signal processing unit 220: position detection unit
230: diagnosis control unit 240: UAV control unit
250: loading equipment control unit 260: acquisition signal storage unit
270: first wireless transceiver 300: unmanned monitoring control unit
301: second wireless transmission/reception unit 302: fault location determining unit
303: main control unit 304: fault action unit
305: data storage unit

Claims (20)

An autonomous flight path generation unit for generating an autonomous flight path for monitoring power facilities using an unmanned aerial vehicle;
an unmanned monitoring and diagnosis unit for diagnosing failures using information on power facilities obtained while the UAV is flying along an autonomous flight path; and
Based on the results diagnosed by the unmanned monitoring diagnosis unit, an unmanned monitoring control unit that controls the unmanned aerial vehicle and the unmanned monitoring diagnostic unit to determine the fault location of the diagnosed power facility and determine the fault location to perform fault measures; ,
The unmanned monitoring control unit,
When the fault location or fault location of the power facility is determined through the fault location determination unit, according to the control of the main control unit, a fault location display unit for displaying the fault location or fault location so that the user can know; Further comprising,
The failure location display unit,
Spray or launch the failure location display device mounted on the UAV to the failure location,
The failure location indication device,
At least one of a paint sprayer and a flag;
The main control unit,
If the UAV is not equipped with a designated failure location display device to spray or fire according to the characteristics or shape of the failure location or failure location determined above,
A power facility monitoring device, characterized in that for requesting an unmanned aerial vehicle equipped with a corresponding failure location display device to a manager.
The method of claim 1, wherein the autonomous flight path generating unit,
a power facility actual location information 3D modeling unit that models the information of the area where the power facility monitoring flight service is to be performed as 3D spatial information;
a monitoring and diagnosis location information setting unit that presets location information of monitoring and diagnosis targets by applying location-based 3D modeling to real location information of power facilities that require actual monitoring and diagnosis to the modeled 3D spatial information; and
A power facility monitoring device comprising a; UAV safety separation distance generation unit for generating a separation distance for safe monitoring of power facilities and measurement of diagnostic information.
The method of claim 2, wherein the 3D spatial information,
This is information that allows spatial positioning as well as distance on a plane to be determined by adding satellite photos to the 3D digital map of the area where monitoring flight of power facilities is to be performed. A power facility monitoring device characterized in that a 3D model of a power transmission structure is applied.
The method of claim 1, wherein the unmanned monitoring diagnosis unit,
A first wireless transceiver receiving coordinate information from the unmanned monitoring control unit;
A sensor unit including sensors for acquiring overheating information, partial discharge information, and physical damage information of power facilities;
an acquisition signal processing unit for processing information or signals acquired by the sensor unit; and
While controlling the UAV to hover, control the sensor unit to acquire state information of the power facility, and diagnose a failure of the power facility based on the information or signal processed by the acquisition signal processing unit. A power facility monitoring device comprising a control unit.
The method of claim 4, wherein the diagnosis control unit,
Power facility monitoring characterized in that it detects the faulty area by comparing the ultrasonic signal waveform during arc discharge, the ultrasonic signal waveform during corona discharge, and the ultrasonic signal waveform during tracking against normal ultrasonic signal waveform Device.
The method of claim 4, wherein the diagnosis control unit,
When a failure of a power facility is detected, a high-resolution image of the power facility detected as the failure is acquired through a camera sensor of the sensor unit, and the obtained high-resolution image is analyzed to confirm the failure.
According to claim 4,
When the diagnostic control unit detects a failure of a power facility,
The power facility monitoring device further comprising: an acquisition signal storage unit for storing the location information of the power facility detected as the failure, image information, thermal image information, and ultrasonic information obtained from the power facility.
The method of claim 7, wherein the acquisition signal storage unit,
A power facility monitoring device characterized in that it additionally stores state information of the UAV itself.
According to claim 4,
The UAV controller controls the UAV to maintain the separation distance to the power facility in real time by comparing the real-time self-location information of the UAV with the coordinate information transmitted from the unmanned monitoring controller;
The drone control unit,
A power facility monitoring device, characterized in that it is implemented to be automatically adjusted by default or can be changed to manual adjustment by a user.
The method of claim 4, wherein the unmanned monitoring diagnosis unit,
Further comprising a signal collection tube for improving signal acquisition performance by increasing the directivity of the sensor unit;
The signal collector,
A power facility monitoring device, characterized in that it is formed of a cone-shaped ultrasonic signal collection pipe or a dish antenna-shaped ultrasonic signal collection pipe.

The method of claim 1, wherein the unmanned monitoring control unit,
a second wireless transceiver for receiving information transmitted through the first wireless transceiver of the unmanned monitoring and diagnosis unit; and
And a fault location determining unit for determining a fault location based on information received through the second wireless transceiver,
The fault location determination unit,
The ultrasonic wave information provided from the first wireless transceiver unit and the overheat prohibition temperature information are compared with the preset reference information, the failure detection result for the failure location is checked, and information on the confirmed failure is transmitted through the main control unit. A power facility monitoring device characterized in that it is transmitted to the fault handling unit.
The method of claim 11, wherein the failure action unit,
As a kind of alarm device that informs the user that a failure has occurred,
It includes a display means, a sound output means, a ground control device for an unmanned aerial vehicle, and a ground control device for mounted equipment corresponding to a sensor unit.
A power facility monitoring device, characterized in that it is implemented by including; an interface device for converting and controlling the unmanned monitoring diagnosis unit from automatic to manual.
delete The method of claim 1, wherein the main control unit,
Determine the designated failure location display device to spray or fire according to the nature or shape of the failure location or failure point,
The power facility monitoring device, characterized in that the failure location display device designated to be injected or fired according to the nature or shape of the failure location or failure point is stored in an internal memory in advance in the form of a look-up table.
delete setting an unmanned aerial vehicle flight path reflecting coordinate information of power facilities to be monitored by a control unit of a power facility monitoring device and a safe separation distance;
The control unit allows the UAV to automatically fly based on the flight path of the UAV, and while the UAV flies along a predetermined flight path, thermal images and ultrasonic waves for power facilities are obtained through a thermal image sensor and an ultrasonic sensor among sensor units. acquiring information;
detecting, by the control unit, a failure point by analyzing the acquired thermal image and ultrasound information;
acquiring, by the controller, a high-resolution image of the detected failure point through a camera sensor among the sensor units when the failure point is detected;
The control unit confirming whether or not there is a failure through analysis of the acquired high-resolution image; and
When it is confirmed whether or not there is a failure in the failure point, the control unit outputting a warning about the failure point and performing a predetermined follow-up countermeasure; Including,
The control unit,
When the fault location or fault location of the power facility is determined through the fault location determination unit, according to the control of the main control unit, a fault location display unit for displaying the fault location or fault location so that the user can know; Further comprising,
The failure location display unit,
Spray or launch the failure location display device mounted on the UAV to the failure location,
The failure location indication device,
At least one of a paint sprayer and a flag;
The main control unit,
If the UAV is not equipped with a designated failure location display device to spray or fire according to the characteristics or shape of the failure location or failure location determined above,
A power facility monitoring method comprising requesting an unmanned aerial vehicle equipped with a corresponding fault location display device to a manager.
The method of claim 16, wherein in the step of detecting a failure point by analyzing the acquired thermal image and ultrasound information,
The control unit,
A power facility monitoring method characterized in that for detecting a failure point through comparison of the acquired thermal image and ultrasonic information with preset reference information.
The method of claim 16, wherein in the step of confirming whether there is a failure through analysis of the acquired high-resolution image,
Analysis of the high-resolution image,
A power facility monitoring method characterized in that the user visually analyzes it or automatically analyzes it through image processing and comparison with a pre-photographed reference image.
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