CN106352799A - Measuring instrument for power transmission line tower - Google Patents

Abstract

The invention provides a measuring instrument for transmission line towers, which belongs to the field of electric equipment. It includes installing an equipment bearing base, on which a stepping motor is arranged; a laser transmitter is fixed on the edge of the equipment bearing base, and a laser receiving sensor, a camera, and a processing circuit are installed on the equipment bearing base. While the stepping motor is rotating, the camera acquires the video of the light spot formed by the laser irradiating on the target object, and obtains the frame image of the light spot in the video, and combines the distance between the transmission line tower and the target object, as well as the angular velocity to determine the distance between the transmission line tower and the surrounding area. According to the distance value of the target object, the distance diagram of the surrounding environment centered on the transmission line tower can be drawn according to the distance value, which can effectively avoid the influence of sunlight on the distance value and improve the accuracy of laser ranging.

Description

Measuring instruments for transmission line towers

technical field

The invention belongs to the field of electric equipment, in particular to a measuring instrument for transmission line towers.

Background technique

Today, in the power and electrical system, in order to ensure the reliability of the transmission line, it is usually necessary to inspect the transmission line.

The rapid growth of trees in the transmission line corridor will affect the safe operation of the line, especially in the Jiangnan area with dense vegetation and warm climate, the discharge flashover and grounding short circuit accidents caused by the growth of trees in the line corridor or on both sides and the invasion of foreign objects The number is on the rise. Therefore, in the daily inspection process of the power sector, it is often necessary to measure the distance between the monitoring trees, buildings and other interfering objects and the transmission line.

In the prior art, measuring tools based on laser or microwave principles are mostly used to measure the distance between the transmission line and the interfering object, but in a clear day, strong sunlight will affect the result of laser ranging.

Contents of the invention

In order to solve the shortcomings and deficiencies in the prior art, the present invention provides a measuring instrument for improving the accuracy of laser measurement under sunlight.

In order to achieve the above-mentioned technical purpose, the present invention provides a measuring instrument for power transmission line towers. The measuring instrument includes an equipment bearing base on which a power supply module is installed, a rotating shaft is arranged at the center of the equipment bearing base, and a There is a central gear, a stepping motor is provided on the equipment bearing base, and a transmission gear meshing with the central gear is provided on the output shaft of the stepping motor;

A laser emitter is fixed on the edge of the equipment carrying base, and a laser receiving sensor electrically connected to the laser emitter is also arranged on the equipment carrying base; a laser sensor for collecting laser light onto the target object is also fixed on the equipment carrying base The camera of the formed light spot, and the processing circuit electrically connected with the laser transmitter, the laser receiving sensor, the camera, and the stepping motor;

A fixed handle for fixing on the edge of the transmission line tower is provided at the bottom of the equipment bearing base, a spherical pan-tilt is provided in the middle of the fixed grip, and a level sensor electrically connected to the processing circuit is provided on the spherical pan-tilt.

Optionally, a power-taking circuit for taking power from the power transmission line and supplying power to the processing circuit is also provided on the device carrying base.

Optionally, the power supply module includes a lithium battery power supply, and a drive circuit electrically connected to the lithium battery unit.

Optionally, a filter is provided in the camera.

Optionally, the ball head is adjusted so that the equipment carrying base is at a preset angle, and the angle value between the current equipment carrying base and the horizontal plane is obtained from the level sensor;

The processing circuit sends a starting command to the laser transmitter, so that the laser transmitter emits laser light to the target object, and the laser receiving sensor acquires the laser light reflected from the target object, obtains the time difference from the start of emission to the reception of the reflected laser light, and determines the transmission line tower in combination with the speed of light the distance to the target object;

While the laser transmitter emits laser light to the target object, the processing circuit sends a rotation command to the stepper motor, so that the stepper motor rotates according to the angular velocity data contained in the rotation command;

While the stepper motor is rotating, the processing circuit obtains the video of the light spot formed by the laser irradiation on the target object from the camera, obtains the frame image of the light spot in the video, and determines the transmission line tower by combining the distance between the transmission line tower and the target object and the angular velocity The distance value from the surrounding target objects;

Draw a schematic diagram of the surrounding environment distance centered on the transmission line tower according to the distance value.

Optionally, the frame image of the light spot in the video is obtained, and the distance value around the transmission line tower is determined by combining the distance between the transmission line tower and the target object, and the angular velocity, including:

Extract frame images containing light spots from the video at preset time intervals;

Extracting the pixel value of each pixel in the frame image, determining the brightness weighted average value of the frame image according to the pixel value, performing binarization processing on the frame image according to the brightness weighted average value, and obtaining the processed binarized frame image;

Obtain the time tag of the binarized frame image, re-determine the distance between the transmission line tower and the target object under the time tag, and the cumulative rotation angle of the stepping motor. Based on the re-determined distance and rotation angle, obtain the transmission line tower during the rotation process. week distance to the target object.

The beneficial effects brought by the technical scheme provided by the invention are:

While the stepper motor is rotating, the camera acquires the video of the light spot formed by the laser irradiating on the target object, and obtains the frame image of the light spot in the video, and combines the distance between the transmission line tower and the target object and the angular velocity to determine the distance between the transmission line tower and the surrounding area. According to the distance value of the target object, the distance diagram of the surrounding environment centered on the transmission line tower can be drawn according to the distance value, which can effectively avoid the influence of sunlight on the distance value and improve the accuracy of laser ranging.

Description of drawings

In order to illustrate the technical solution of the present invention more clearly, the accompanying drawings that need to be used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. Ordinary technicians can also obtain other drawings based on these drawings on the premise of not paying creative work.

Fig. 1 is the structural representation of the surveying instrument that is used for transmission line tower provided by the present invention;

Fig. 2 is a schematic flow chart one of the measuring instrument usage method for the transmission line tower provided by the present invention;

Fig. 3 is a second schematic flow diagram of the method for using the measuring instrument for transmission line towers provided by the present invention.

detailed description

In order to make the structure and advantages of the present invention clearer, the structure of the present invention will be further described below in conjunction with the accompanying drawings.

Embodiment one

The present invention provides a measuring instrument for transmission line towers. As shown in FIG. 1 , the measuring instrument includes an equipment carrying base 2 on which a power supply module 1 is installed, and a rotating shaft 21 is arranged at the center of the equipment carrying base 2 . A central gear 22 is provided on the rotating shaft 21, a stepping motor 23 is provided on the equipment bearing base 2, and a transmission gear 24 meshing with the central gear 22 is provided on the output shaft of the stepping motor 23;

A laser emitter 3 is fixed on the edge of the equipment carrying base 2, and a laser receiving sensor 4 electrically connected to the laser emitter 3 is also arranged on the equipment carrying base 2; The camera 5 of the light spot formed by laser irradiation on the target object, and the processing circuit 6 electrically connected with the laser transmitter 3, the laser receiving sensor 4, the camera 5, and the stepper motor 23;

The bottom of the equipment bearing base 2 is provided with a fixed gripper 25 for fixing on the edge of the power transmission line tower, and a spherical platform 26 is provided in the middle of the fixed gripper 25, and the spherical platform 26 is provided with an electrical connection with the processing circuit 6. The spirit level sensor 27.

In practice, when the processing circuit 6 sends a rotation instruction to the stepping motor 23, the output shaft of the stepping motor 23 drives the transmission gear 24 to rotate, and under the meshing action of the transmission gear 24 and the central gear 22, the equipment supports the base 2 Driven by the stepping motor 23, it rotates, so that equipment such as the laser transmitter 3, the laser receiving sensor 4, and the camera 5 fixed on the equipment carrying base 2 can rotate synchronously.

In addition, the device carrying base 2 can be firmly fixed on the edge of the power transmission line tower through the fixing handle 25 provided at the bottom of the equipment carrying base 2 . At the same time, the spherical head 26 can be used to adjust and lock the pitch angle of the equipment carrying base 2. In addition, in order to accurately obtain the pitch angle of the current equipment carrying base 2, a level is also provided on the spherical head 26. The sensor 27 is used to transmit the current pitch angle to the processing circuit 6 in the form of an electric signal.

Based on the above description, the specific usage method of the measuring instrument for the transmission line tower is as follows, and the flow chart is shown in FIG. 2 .

101. Adjust the spherical head so that the equipment bearing base is at a preset angle, and obtain the current angle value between the equipment bearing base and the horizontal plane from the level sensor.

102. The processing circuit sends a starting command to the laser transmitter, so that the laser transmitter emits laser light to the target object, and the laser receiving sensor acquires the laser light reflected from the target object, obtains the time difference from the start of emission to the reception of the reflected laser light, and determines the power transmission in combination with the speed of light The distance between the line tower and the target object.

103. While the laser emitter emits laser light to the target object, the processing circuit sends a rotation instruction to the stepping motor, so that the stepping motor rotates according to the angular velocity data included in the rotation instruction.

104. While the stepping motor is rotating, the processing circuit obtains the video of the light spot formed by the laser irradiation on the target object from the camera, obtains the frame image of the light spot in the video, and determines the power transmission in combination with the distance between the transmission line tower and the target object and the angular velocity The distance value between the line tower and the surrounding target objects.

105. Draw a schematic diagram of the surrounding environment distance centered on the transmission line tower according to the distance value.

In practice, when the equipment carrying base 2 is driven by the stepping motor 23 and rotates for one circle, according to the selected frame images, the distance between the target object and the power transmission line tower in each frame image is determined, so as to draw Schematic diagram of the surrounding environment distance centered on the transmission line tower.

The reason why the frame image is first selected here, and then the distance between the target object and the transmission line tower determined according to the laser receiving sensor 4 at this moment is determined according to the time tag corresponding to the frame image is to prevent other excessively strong light rays such as sunlight from receiving the laser light. Effect of sensor 4. If the light spot in the frame image is obvious, it means that the laser receiving sensor 4 is less affected by other light at this time, and the determined distance value at this time is relatively accurate.

Optionally, in step 104, the frame image of the light spot in the video is obtained, and the distance value around the transmission line tower is determined in combination with the distance between the transmission line tower and the target object, as shown in Figure 3, including:

201. Extract frame images containing light spots from the video at preset time intervals.

202. Extract the pixel value of each pixel in the frame image, determine the brightness weighted average value of the frame image according to the pixel value, perform binarization processing on the frame image according to the brightness weighted average value, and obtain the processed binarized frame image .

203. Obtain the time tag of the binarized frame image, re-determine the distance between the transmission line tower and the target object under the time tag, and the cumulative rotation angle of the stepping motor, and obtain the power transmission during the rotation process based on the re-determined distance and rotation angle. The distance to the target object around the circuit tower.

In practice, the reason why the brightness weighted average value is set in step 202 is because in real life, in order to prevent too strong sunlight from interfering with the laser receiving sensor 4, when extracting the pixel values in the frame image, the approaching laser The pixel value of the brightness is matched with a higher weight value, and the pixel value far away from the laser brightness is matched with a lower weight value, so as to prevent the misjudgment of the spot, and then affect the distance judgment.

Optionally, the power supply module includes a lithium battery power supply, and a drive circuit electrically connected to the lithium battery unit. A power taking circuit for taking power from the power transmission line and supplying power to the processing circuit is also provided on the equipment carrying base.

In practice, in order to improve the working stability of the measuring instrument, in addition to installing the power supply module 1 on the equipment carrying base 2, a power taking circuit for taking power from the transmission line and supplying power to the processing circuit is also provided. In this way, power can be preferentially taken from the transmission line when conditions permit, and the power of the lithium battery in the power supply module 1 can be used when power cannot be taken from the transmission line.

Optionally, a filter is provided in the camera.

In implementation, in order to obtain a clearer light spot in step 104 and reduce the influence of sunlight or other strong light on the shape of the light spot, a filter is provided in the camera 5 .

The invention provides a measuring instrument for a power transmission line tower, which includes an equipment bearing base installed, a stepping motor is arranged on the equipment bearing base; a laser emitter is fixed on the edge of the equipment bearing base, and a Block laser receiving sensor, camera, processing circuit. While the stepper motor is rotating, the camera acquires the video of the light spot formed by the laser irradiating on the target object, and obtains the frame image of the light spot in the video, and combines the distance between the transmission line tower and the target object and the angular velocity to determine the distance between the transmission line tower and the surrounding area. According to the distance value of the target object, the distance diagram of the surrounding environment centered on the transmission line tower can be drawn according to the distance value, which can effectively avoid the influence of sunlight on the distance value and improve the accuracy of laser ranging.

The serial numbers in the above embodiments are for description only, and do not represent the sequence of the components during assembly or use.

The above description is only an embodiment of the present invention, and is not intended to limit the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present invention shall be included in the protection scope of the present invention Inside.

Claims (6)

1. it is used for the measuring instrument of power transmission line column it is characterised in that the equipment that described measuring instrument includes being provided with supply module holds Carry pedestal, be provided with rotating shaft in the center of equipment bearing base, central gear is provided with rotating shaft, upper in equipment bearing base It is provided with motor, the travelling gear being engaged with central gear is provided with the output shaft of motor；

It is fixed with generating laser at the edge of equipment bearing base, equipment bearing base is additionally provided with and generating laser electricity The laser pick-off sensor connecting；Equipment bearing base is further fixed on be irradiated to formation on target object for gathering laser Hot spot photographic head, and electrically connect with generating laser, laser pick-off sensor, photographic head, motor process electricity Road；

It is provided with the fixing handgrip for being fixed on power transmission line column edge in equipment bearing base bottom, at the middle part of fixing handgrip It is provided with ball-shaped cloud platform, the level indicator sensor being electrically connected with process circuit is provided with ball-shaped cloud platform.

2. the measuring instrument for power transmission line column according to claim 1 is it is characterised in that in described equipment bearing base On the power-supply circuit that is additionally provided with for power taking on transmission line of electricity and powers to process circuit.

3. the measuring instrument for power transmission line column according to claim 1 is it is characterised in that described supply module includes lithium Battery supply, and the drive circuit electrically connecting with lithium cells.

4. the measuring instrument for power transmission line column according to claim 1 is it is characterised in that be provided with described photographic head Optical filter.

5. the measuring instrument for power transmission line column according to any one of Claims 1-4 it is characterised in that:

Ball-shaped cloud platform is adjusted so that equipment bearing base is in default angle, obtains from level indicator sensor current Equipment bearing base and the angle value of horizontal plane；

Process circuit sends enabled instruction to generating laser so that generating laser launches laser to target object, makes laser Receive sensor and obtain the laser reflecting from target object, obtain and start to the time difference receiving reflection laser, knot from transmitting Closing light speed determines the distance of power transmission line column and target object；

Generating laser to target object transmitting laser while, process circuit to motor send rotation instruction so that Motor is rotated according to the angular velocity data comprising in rotation instruction；

While motor rotates, process circuit obtains laser at photographic head and is irradiated to the hot spot formed on target object Video, obtain the two field picture of hot spot in video, the distance in conjunction with power transmission line column and target object and angular velocity determine defeated Electric line tower and the distance value of surrounding objects object；

According to surrounding centered on power transmission line column for the distance value drafting apart from schematic diagram.

6. the measuring instrument for power transmission line column according to claim 5 is it is characterised in that obtain the frame of hot spot in video Image, the distance in conjunction with power transmission line column and target object and angular velocity determine the distance value around power transmission line column, bag Include:

Press default time interval and extract the two field picture containing hot spot from video；

Extract the pixel value of each pixel in two field picture, determine the luminance weighted meansigma methodss of two field picture according to pixel value, according to bright Degree weighted mean, carries out binary conversion treatment to two field picture, gets the binaryzation two field picture after process；

Obtain the time tag of binaryzation two field picture, redefine power transmission line column and target object under this time tag away from From, and the accumulative anglec of rotation of motor, based on the distance redefining and rotational angle, obtain in rotary course, transmission of electricity The distance of the circuit tower target object of a week.