CN108306217A - A kind of overhead high-voltage wire intelligent independent is along conducting wire flight cruising inspection system and method - Google Patents
A kind of overhead high-voltage wire intelligent independent is along conducting wire flight cruising inspection system and method Download PDFInfo
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
- B64D47/08—Arrangements of cameras
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
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Abstract
The invention discloses a kind of overhead high-voltage wire intelligent independents along conducting wire flight cruising inspection system and method, including ground control station, laser radar, laser radar data processing module and multi-rotor unmanned aerial vehicle, laser radar, laser radar data processing module are arranged in multi-rotor unmanned aerial vehicle, for laser radar for acquiring angle and range information of the high-voltage line relative to multi-rotor unmanned aerial vehicle, above- mentioned information is wirelessly transferred to ground control station by laser radar data processing module；Motor drive module in multi-rotor unmanned aerial vehicle in the case where unmanned aerial vehicle (UAV) control center is controlled to multi-rotor unmanned aerial vehicle in each propeller motor carry out rotating speed control so that unmanned plane is kept fixed distance along overhead high-voltage wire cruising flight with overhead high-voltage wire.There are monitor inspection to the present invention during inspection without personnel's operation, high efficiency, multi-functional, comprehensive intelligent overhead high-voltage wire.
Description
Technical field
The present invention relates to inspection technical field, more particularly to a kind of overhead high-voltage wire intelligent independent is along conducting wire flight inspection system
System and method are suitable for the detection of overhead high-voltage wire situation and overhead high-voltage wire periphery screen of trees distance.
Background technology
With rapid economic development, various countries' power grid construction experienced the stage of high speed development, by taking China as an example, at present
The power grid in six big areas transprovincially is built up, transmission line of electricity total length has been more than 1,150,000 kms.Power line is due to being chronically exposed to open country
Outside, by lasting mechanical tension, lightning stroke flashover, material aging, man's activity and generate it is stranded, abrasion, corrosion etc. damages, must
Must it be repaired or be replaced in time.Meanwhile field arboreal growth may cause power transmission line to discharge, it is also necessary to timely processing.It is high
Aerial power grid detect with the object of periphery at a distance from, the distance between high-voltage electric power circuit and trees detect etc. as supergrid
The important indicator of line safety detection.
Existing research is to carry three-dimensional laser scanner using manned helicopter to make an inspection tour transmission line of electricity, but this side
Case helicopter and its maintenance cost are expensive so that and it is of high cost, it is unfavorable for promoting the use of in produce reality.Especially safety problem,
This is the serious problems for being related to the person and equipment (including aircraft and power grid) safety, is more unfavorable for promoting.
For this purpose, propose to carry out inspection to power line using fixed-wing unmanned plane in the prior art, but this scheme is only adopted
Power transmission line corridor is maked an inspection tour with visible images and video, detection means is single, can only be done to overhead transmission line rough
Inspection can only find larger defect, and the image data that inspection obtains is to sample to take a little, with being unable to all standing to high pressure
Line carries out high-definition shooting.Distance, power transmission line between wire spacing, high-voltage line and above ground structure (vegetation) are handed over for transmission line of electricity
The parameters such as road arc sag and power transmission circuit caused by windage are then unable to measure.And it is real that fixed-wing unmanned plane can not carry out accurate spot hover
Now accurate detection.
Multi-rotor unmanned aerial vehicle due to its is small, Jie Gou Jian Unit, it is easily controllable the advantages that obtain in more and more fields
Extensive use.But the mode that most of unmanned plane is all made of wireless remote control controls flight, unmanned plane will be controlled control staff's
Within sweep of the eye, flight range is restricted, and can not achieve autonomous flight.Also, unmanned plane is strong as overhead high-voltage wire
Flight is controlled by the way of wireless remote control easy to produce operation error or equipment malfunction to lead in the environment of magnetic interference
The damage of equipment is caused,
Invention content
The shortcomings that it is an object of the present invention to overcome the prior art and deficiency, it is intelligent certainly to provide a kind of overhead high-voltage wire
It is main along conducting wire flight cruising inspection system, there are during inspection without personnel's operation, high efficiency, multi-functional, comprehensive intelligence frame
Outage crimping monitors the advantages that inspection.
It is another object of the present invention to provide one kind to be patrolled based on above-mentioned overhead high-voltage wire intelligent independent along conducting wire flight
The method of check system, unmanned plane during flying locks high-voltage line and carries out cruising flight automatically in this method, is not necessarily to manual intervention, can detect
Overhead high-voltage wire is at a distance from the screen of trees of periphery, the parameter informations such as the arc sag of high-voltage line point, and captured image is also apparent from.
The purpose of the present invention is realized by the following technical solution：A kind of overhead high-voltage wire intelligent independent is patrolled along conducting wire flight
Check system, including ground control station, laser radar, laser radar data processing module and multi-rotor unmanned aerial vehicle, laser radar,
Laser radar data processing module is arranged in multi-rotor unmanned aerial vehicle, and laser radar is for acquiring high-voltage line relative to more rotors
Above- mentioned information is wirelessly transferred to ground by the angle and range information of unmanned plane, laser radar data processing module
Control station；Multi-rotor unmanned aerial vehicle includes camera module, figure transmission module, motor drive module and unmanned aerial vehicle (UAV) control center, ground
Control station and unmanned aerial vehicle (UAV) control center are wirelessly connected, motor drive module in the case where unmanned aerial vehicle (UAV) control center is controlled to more rotors nobody
Each propeller motor carries out rotating speed control in machine so that unmanned plane is kept fixed distance along overhead high-voltage wire with overhead high-voltage wire
Cruising flight, camera module obtain overhead high-voltage wire information, the aerial high-voltage that figure transmission module obtains camera module in real time
Line information is transferred to ground control station.
The present invention increases laser radar in the system-based that traditional fixed-wing unmanned plane carries out inspection to power line
This structure, while unmanned plane is changed to multi-rotor unmanned aerial vehicle, laser radar is for acquiring angle of the high-voltage line relative to unmanned plane
Degree and distance, to which by the control of ground control station, the flight attitude of multi-rotor unmanned aerial vehicle can be adjusted in real time so that nothing
It is man-machine to be kept fixed distance along overhead high-voltage wire cruising flight with overhead high-voltage wire, it is not necessarily to manual intervention, is reduced manually-operated
Error, alleviates the workload of operation department Daily Round Check.And since distance is fixed, the image of camera module shooting
It can be more accurate.
Preferably, laser radar data processing module includes laser radar processor, wireless data transceiver module and power supply
Voltage stabilizing module, wherein power regulator module carries out voltage stabilizing to the supply voltage of unmanned plane, for laser radar processor, without line number
It is used according to transceiver module and laser radar；Laser radar processor generates constant pwm signal and drives laser radar with constant
Rotating speed rotation, and obtain angle and distance of the relevant high-voltage line relative to unmanned plane；High-voltage line is relative to unmanned plane
Angle and range data are sent to ground control station by wireless data transceiver module.
Further, the data processing centre uses ARM embeded processors.
Further, the wireless data transceiver module uses 2.4G wireless data transceivings.
Preferably, the multi-rotor unmanned aerial vehicle is equipped with AHRs modules.For obtain the angular speed of unmanned plane, acceleration with
Magnetic data information can provide course, roll and rollover information for aircraft.
Preferably, the multi-rotor unmanned aerial vehicle is equipped with GPS module.For realizing the precise positioning to unmanned plane.
Preferably, the multi-rotor unmanned aerial vehicle is equipped with distance detection sensor.For during unmanned plane during flying, meeting
To energy automatic obstacle avoiding when barrier.
A method of based on above-mentioned overhead high-voltage wire intelligent independent along conducting wire flight cruising inspection system, step is：Laser thunder
Angle and range information up to real-time acquisition high-voltage line relative to multi-rotor unmanned aerial vehicle, according to the more rotors of information adjust automatically without
Man-machine flight attitude can be kept fixed distance along high-voltage line cruising flight with high-voltage line.In this way during cruise
Unmanned plane will be according to line alignment, arc sag just from main modulation flight attitude.
Specifically, including step：
S1, patrol task information is read：Unmanned plane first reads the tower section letter of the secondary inspection before starting inspection job task
Breath includes the tower data of the big small size tower of tower section, the height of tower, GPS coordinate position of tower etc.；
S2, cruise angle locking：Unmanned plane adjusts the head direction of unmanned plane according to the GPS coordinate position of two towers, makes
The azimuth for obtaining its high-voltage line between tower section keeps orthogonal vertical；
S3, high-voltage line location confirmation：By the laser radar of UAV flight, obtain using unmanned plane as coordinate center, it is high
Distance and angle of the crimping Section Point relative to unmanned plane are calculated the horizontal distance between unmanned plane and high-voltage line and hang down
Straight distance, and calculate offset e1, e2 of the two and setpoint distance；
S4, the adjustment of unmanned plane position：According to parameter acquiring to high-voltage line and unmanned plane relative position, judge whether be more than
Prior setting range carries out closed-loop control with yaw to the pitching of unmanned plane using pid control algorithm, makes unmanned plane and make somebody a mere figurehead
High-voltage line is kept fixed vertical range and horizontal distance, and shooting obtains overhead high-voltage wire image information；
S5, after inspection working result, unmanned plane is first drawn back a certain distance, and large size column overhead is then risen above
Then the height that A meters of height obtains the GPS that is obtained when unmanned plane starts and makes a return voyage and automatically maked a return voyage.
Preferably, horizontal distance and vertical range between unmanned plane and high-voltage line are calculated using laser radar, step is：
A, the head of unmanned plane keeps being vertically mounted on unmanned plane with overhead high-voltage wire orthogonal vertical, laser radar；
B, laser radar carries out space ranging scanning with fixed rotating speed and fixed scan frequency；
C, laser radar with unmanned plane heading for initial zero degree direction, by upward M degree, downward N degree, P meters of distance
Sector region obtains effective high-voltage line in polar coordinate system as overhead high-voltage wire point cloud data pickup area, by data filtering
Using unmanned plane as the angle of coordinate origin and range information；
D, the angle and range information extracted in step c obtain unmanned plane and high pressure by the calculation formula of trigonometric function
Horizontal distance between line and vertical range.
Preferably, unmanned plane self poisoning uses the method that GPS positioning is combined with IMU modules, specially：
GPS module positions to obtain the physical location of unmanned plane, in conjunction with the unmanned plane route information planned in advance, obtains nobody
The distance of machine two tower of distance respectively, so as to adjust the mobile speed of flight；
IMU modules obtain the angle of unmanned plane simultaneously, and the propeller motor speed by adjusting unmanned plane can realize nothing
Man-machine direction adjustment, so that 90 degree of orthogonal verticals are realized at unmanned plane angle and the azimuth of two towers.The machine of unmanned plane
Head is that can ensure that unmanned plane can carry out effective inspection to high-voltage line and take pictures with high-voltage line holding vertical one, second is that ensureing nothing
The data that laser radar scanning on man-machine obtains are to optimize data.
Preferably, before inspection starts, screen of trees is preset apart from threshold values, unmanned plane such as detects height during inspection
Crimping less than the threshold values of setting, then automatically records the screen of trees point relevant information, scene is raw after cruise with line row trees distance
It is reported at inspection, record screen of trees point mesohigh line is at a distance from trees, screen of trees point position and photo site etc. in inspection report
Information.
Preferably, multi-rotor unmanned aerial vehicle independently shoots high-voltage line (such as every 4 meters) with fixed intervals during inspection.
Ensure whole shelves circuit all standing, does not omit.
Compared with prior art, the present invention having the following advantages that and advantageous effect：
(1) cruising inspection system of the present invention is using multi-rotor unmanned aerial vehicle as carrier, in combination with the realization pair of laser radar scanning technology
Overhead high-voltage wire is comprehensive, zero dead angle inspection, obtains the line-broken malfunction point in overhead high-voltage wire, the fault points such as lightning stroke and with
Multiple overhead high-voltage wire failure inspection parameter informations such as the shortest distance between the screen of trees of periphery, effectively patrol overhead high-voltage wire
Detecting/monitoring.
(2) cruising inspection system of the present invention blends airmanship, greatly by nothing using GPS positioning and laser radar scanning
Man-machine be locked in keeps with high-voltage line in the region of corresponding horizontal distance and vertical range, and GPS positioning can determine inspection tower
Section solves tower section area navigation, the relative position using laser radar scanning identification high-voltage line relative to unmanned plane so that nobody
Function and high-voltage line keep certain horizontal distance and vertical range follow high-voltage line move towards carry out inspection.Unmanned plane it is complete
Automatic detecting is not influenced by topography variation and high-voltage line arc sag.
(3) cruising inspection system of the present invention is realized unmanned plane autonomous flight using laser radar scanning application control theory, is not necessarily to
Personnel operate, and solve the problems, such as that unmanned plane need to limit its flight range in operator's field range.
(4) cruising inspection system of the present invention, can be carried out effectively the screen of trees distance detection of overhead high-voltage wire, and unmanned plane is cruising
Threshold values of the high-voltage line with line row trees distance less than setting is such as detected in the process, and it is related that unmanned plane can automatically record the screen of trees point
Information locally produces inspection report, the specific of screen of trees point mesohigh line and trees is recorded in detail in inspection report after cruise
The information such as distance, position and photo site.
(5) cruising inspection system of the present invention, UAV flight's laser radar apparatus can be accurate by laser radar scanning technology
Ground measures the minimum range between overhead high-voltage wire and periphery vegetation.Meanwhile flying platform can also carry out full overhead high-voltage wire
Covering photographs to record, and can generate examining report in real time at the scene.Maintenance personnel by the data of examining report not only
The screen of trees situation of understanding overhead high-voltage wire that can be clear, moreover it is possible to be carried in design, operation and maintenance etc. for transmission line of electricity
For a large amount of true basic datas.
(6) cruising inspection system of the present invention, UAV flight's laser radar apparatus, by laser radar scanning data from main modulation
Unmanned plane during flying posture can be kept fixed distance along high-voltage line cruising flight with high-voltage line.Unmanned plane is by root during cruise
According to line alignment, arc sag height from main modulation flight attitude, it is not necessarily to manual intervention, reduces manually-operated error.High voltage overhead
The foundation of circuit laser ranging Intelligent fine inspection flying platform, can effectively facilitate the safe operation of transmission line of electricity.It improves
The reliability and production efficiency of electric power netting safe running, alleviate the workload of operation department Daily Round Check, to system safety operation
It is of great significance.
Description of the drawings
Fig. 1 is the present embodiment application scenarios schematic diagram.
Fig. 2 is each module working method figure of the present embodiment multi-rotor unmanned aerial vehicle.
Fig. 3 is the structural schematic diagram of the present embodiment multi-rotor unmanned aerial vehicle.
Fig. 4 is the present embodiment method for inspecting flow chart.
Fig. 5 is the schematic diagram for seeking the azimuth and distance AB at 2.
In figure：301 1 control cabinets, the 302 1 steady holders of increasing, 303 1 camera modules, 304 1 wireless power reception devices,
305 1 wireless communication modules.
Specific implementation mode
Present invention will now be described in further detail with reference to the embodiments and the accompanying drawings, but embodiments of the present invention are unlimited
In this.
Embodiment
As shown in Figure 1, a kind of overhead high-voltage wire intelligent independent of the present embodiment is along conducting wire flight cruising inspection system, including ground
It stands, laser radar data processing module, multi-rotor unmanned aerial vehicle and laser radar, each structure is specifically described below.
As shown in Fig. 2, in the present embodiment laser radar data processing module include ARM embedded datas processing module,
2.4G remote-wireless data transmit-receive module, power regulator module.Wherein, ARM embedded datas processing module is for generating perseverance
Fixed PWM driving laser radars are rotated with constant rotating speed, and acquire range data and angle number that laser radar is sent back
According to, be carried out at the same time real-time data filtering and data calculation obtain relevant high-voltage line relative to the angle of unmanned plane and away from
From.Power regulator module is that 16.8V to the 24V supply voltages voltage stabilizing of unmanned plane to 5V is handled mould for ARM embedded datas
Block, 2.4G remote-wireless data transmit-receive module and laser radar use.2.4G remote-wireless data transmit-receive modules are used for
High-voltage line is sent to earth station relative to the angle and range data of unmanned plane, and receives and is sended over by earth station
Parameter setting instruction.
As shown in figure 3, unmanned plane is autonomous flight multi-rotor unmanned aerial vehicle in the present embodiment, control is installed in unmanned plane main body
Case 301, the steady holder 302 of increasing, camera module 303, laser radar mounting device 304 and wireless communication module 305 processed.Wherein,
Microprocessor, AHRs modules, GPS module, distance detection sensor, figure transmission module, power management module are loaded in control cabinet 301
With motor drive module.Microprocessor connects motor drive module, AHRs modules, GPS module, distance detection sensor, wireless
Communication module with increase steady holder 302.Increase steady holder 302 and is connected with camera module 303 and figure transmission module.Microprocessor is used for real
Now the control of unmanned plane is calculated, realizes the information fusion of each module.Motor drive module is used for realizing to multi-rotor unmanned aerial vehicle
The driving of propeller motor, while realizing the different rotating speed control of 3 propeller motor of unmanned plane by receiving the instruction of microprocessor
System, to realize the control moved to unmanned plane.AHRs modules contain three axis accelerometer, three-axis gyroscope and three axis electronics
The synkinesias sensor such as compass can be aircraft for information such as the angular speed, acceleration and magnetic data that obtain unmanned plane
Course, roll and rollover information are provided, to provide accurately and reliably posture and sail information for multi-rotor unmanned aerial vehicle.GPS moulds
Block is used for realizing the precise positioning to unmanned plane, advance to ensure that unmanned plane follows pre-set high-voltage line tower section.Away from
It is used for during multi-rotor unmanned aerial vehicle autonomous flight from detection sensor, energy automatic obstacle avoiding when encountering barrier, to ensure
The normal flight of unmanned plane.Camera module 303 is used for during unmanned plane overhead high-voltage wire line data-logging, obtains in real time
The image information of overhead high-voltage wire.Increase steady holder 302 to be used for ensureing stabilization of the camera module 303 in flight course, to
Ensure that the overhead high-voltage wire information shot during flight is stable.Figure transmission module is used for camera module 303
The overhead high-voltage wire information of acquisition is transferred to earth station, so as to realize that earth station divides overhead high-voltage wire image information
Analysis.Wireless communication module 305 is used for realizing the wireless communication between unmanned plane and earth station.Earth station according to receive nobody
The relevant controlled quentity controlled variable of unmanned plane can be calculated in the data that machine GPS signal and laser radar data processing module are sent.Nothing
By earth station, module 305 is sent to unmanned plane to man-machine control data by radio communication.
In the present embodiment, earth station is used for planning the route information of each unmanned plane and the relevant control amount of unmanned plane,
And the laser scanning processing data of the sensor and image information and laser data processing module that come are transmitted back to unmanned plane
Handled in real time, obtain the unmanned plane and high-voltage line on unmanned plane institute inspection overhead line horizontal distance and vertical range,
The state parameters such as shortest distance between specific location of the unmanned plane between tower section, high-voltage line and periphery screen of trees, while can be according to biography
Defeated image information back judges whether there is in overhead high-voltage wire that there are the related hidden danger such as stranded, lightning strike spot, screen of trees hypotelorism
Information takes relevant treatment measure when there are relevant issues in time.
Referring to Fig. 4, inspection is carried out to overhead high-voltage wire using above system, step is poly- as follows：
S1：Obtain the GPS location of two towers respectively in the overhead high-voltage wire tower section for need inspection, distance between two towers and
Azimuth information.
It is inspection initiating terminal to enable the small size tower for the overhead high-voltage wire tower section for needing inspection, and large size tower is inspection end.Nothing
It is man-machine to be taken off to small size tower by manual control, by the button of ground control terminal trigger recording GPS information, obtain small size tower
Longitude Aj, latitude Aw.Then unmanned plane is flown by manual control to large size tower, is believed by ground control terminal trigger recording GPS
The button of breath obtains large size tower longitude Bj, latitude Bw.North latitude is just that south latitude is negative；East longitude is just that west longitude is negative.Longitude and latitude makes
Expenditure, DDD.DDDDDD °, non-degree divides or degree every minute and second.The number of degrees do not add explanation to be all made of angle system.R indicates earth mean radius.
Azimuth indicates azimuth, and with geographical north for 0 degree of starting point, 360 degree are rotated clockwise by east orientation south orientation west.A, B, C are indicated on spherical surface
Three points and spherical surface on " camber line " folded angle at this point.A, b, c indicate A, 3 points of B, C to " arc " two-end-point and the earth's core
Angle (it is more convenient to be construed to radians of 3 points of the ABC to arc here in fact) folded by line.O is the centre of sphere.L be AB point-to-point transmissions spherical surface away from
From.
It is to calculate large size tower B relative to small size tower A distance L below, step is：
The spherical distance for calculating AB point-to-point transmissions is sought using formula (1), the number of degrees of c are acquired with inverse cosine function, recycles formula
(2) number of degrees are converted into radian, the spherical distance that earth radius has just obtained point-to-point transmission is multiplied by using formula (3).
Formula is
C=arccos (cos (90-Bw) × cos (90-Aw)+sin (90-Bw) × sin (90-Aw) × cso (Bj-Aj)) (1)
L=R × c (radian) (3)
It is that calculate large size tower B relative to the azimuths small size tower A be Azimuth below, step is：
According to AB point longitudes and latitudes, formula (4) is substituted into,
Cos (c)=cos (a) × cos (b)+sin (a) × sin (b) × cos (A~OC~B) (4)
Wherein, A~OC~B refers to the dihedral angle of face AOC and face BOC, and given data is substituted into, you can is obtained following public
Formula：
Cos (c)=cos (90-Bw) xcos (90-Aw)+sin (90-Bw) xsin (90-Aw) xcos (Bj-Aj) (5)
The number of degrees for obtaining dihedral angle A~OC~B are exactly the difference of 2 longitudes.
Formula (6) is substituted into after obtaining the cosine value of angle c：
After acquiring sine, spherical surface sine formula (7) is next utilized：
Given data is substituted into and is slightly distorted, formula is written as：
Angle is sought with arcsin function, then above formula can directly be write as：
It is noted here that a bit, hypothesis at the beginning is the azimuth for seeking B points relative to A points, therefore is Bj- here
Aj discusses relative to the position of A on four quadrants, two axis according to B, is carried out not to result of calculation according to different situations
With processing.Assuming that A points are fixed on origin, then：
B points are in first quartile, Azimuth=A；
B is in the second quadrant, Azimuth=360+A；
B is in third four-quadrant, Azimuth=180-A.
In the distance L of the overhead high-voltage wire of initiating terminal to end, it is calculated by following：The speed of unmanned plane is enabled to be
V, unit are：M/s, unmanned plane single cruise time are t, and unit is：s.Since unmanned plane during flying direction is walked with overhead high-voltage wire
To consistent, therefore ensure that the high-voltage line status information of full tower section is collected entirely, the electricity of unmanned plane need to be made to disclosure satisfy that the tower section
Cruise and requirement of making a return voyage, while cannot be too fast, keep the effective of laser radar scanning screen of trees distance and high-voltage line distance
Property and stability.Since a tower section maximum distance is up to 1000m, maximum distance arc sag angle should then be set up to 60 degree：Nothing
Man-machine horizontal course movement polling rate V1 is 0.5m/s to 1m/s, the maximum speed V2=V1*2 of vertical direction.
Unmanned plane first reads the tower section information of the secondary inspection before starting inspection job task, including the big small size tower of tower section
Tower data, the height of tower, GPS coordinate position of tower etc..Unmanned plane can automatically fly the surface to small size tower apart from tower
At 10 meters of top, then by rotating the head of unmanned plane towards so that the azimuth holding of its high-voltage line between tower section is orthogonal vertical
Directly.Then by the IMU inside unmanned plane to the rate integrating of aircraft may be implemented in aircraft a certain range accurately to move away from
From.I.e. unmanned plane tower top automatically drops to the side of lower high-voltage line to be inspected and then starts times to fly to large size tower inspection
Business.
S2, cruise angle locking：Unmanned plane adjusts the head direction of unmanned plane according to the GPS coordinate position of two towers, makes
The azimuth for obtaining its high-voltage line between tower section keeps orthogonal vertical.
The self poisoning of each unmanned plane uses the method that GPS positioning is combined with IMU modules：Specially：
GPS module positions to obtain the physical location of unmanned plane, in conjunction with the unmanned plane route information planned in advance, passes through front
The distance and azimuth, unmanned plane GPS positioning module mounted of two towers obtained can obtain unmanned plane respectively apart from small
The distance of number tower and large size tower, so as to adjust the mobile speed of flight；
IMU modules can obtain the angle of unmanned plane simultaneously, and the propeller motor speed by adjusting unmanned plane can be real
The direction adjustment of existing unmanned plane, so that 90 degree of orthogonal verticals are realized at unmanned plane angle and the azimuth of two towers.
S3, high-voltage line location confirmation：Relative position of the high-voltage line relative to unmanned plane, meter are obtained using two-dimensional laser radar
Calculation obtains the horizontal distance between unmanned plane and high-voltage line and vertical range, and calculates the offset of the two and setpoint distance
e1、e2.Process is as follows：
A, the head of unmanned plane keeps being vertically mounted on unmanned plane with overhead high-voltage wire orthogonal vertical, two-dimensional laser radar
On；
B, laser radar carries out space ranging scanning with fixed rotating speed and fixed scan frequency；
C, laser radar with unmanned plane heading be initial zero degree direction, upward 20 degree, downward 30, the fan that 6 meters of distance
Shape region as overhead high-voltage wire point cloud data pickup area, by data filtering obtain effective high-voltage line polar coordinate system with
Unmanned plane is the angle and range information of coordinate origin.
D, the angle and range information extracted in step c can obtain high-voltage line phase by the calculation formula of trigonometric function
For the horizontal distance and vertical range of unmanned plane.
S4, the adjustment of unmanned plane position.
Referring to Fig. 5, closed-loop control is carried out with yaw to the pitching of unmanned plane using pid control algorithm, makes unmanned plane and frame
Outage crimping is kept fixed vertical range and horizontal distance, and shooting obtains stablizing complete overhead high-voltage wire image information.This
Embodiment is vertical to unmanned plane and horizontal direction control uses incremental timestamp device, designs the defeated of increment type PID algorithm
Output is：
△ u (k)=Kp* [e (k)-e (k-1)]+(T/Ti) * e (k)+(Td/T) * [e (k) -2e (k-1)+e (k-2)] (10)
In formula, e (k), e (k-1), e (k-2) be respectively kth time, k-1 times it is inclined between k-2 measured value and setting value
Difference, Kp, Ti, Td are respectively proportionality coefficient, integral coefficient and differential coefficient, and T is the sampling period.△ u (k) devices in order to control it is defeated
Output, 1ast_yaw are the output quantity of yawer last time, and initial value 0, Kp is proportionality coefficient, and K d=Td/T are differential
Coefficient, K p, Kd value demarcate to obtain by specific experiment, calibration process is：First, it is that o , Zhu Getting increase K p to make Kd, when nobody
Soon when shake, it is proportionality coefficient to take Kp at this time for machine flight, it is right after by Getting increasing K d, when unmanned function steadily and high-voltage line
Keep certain distance when take at this time Kd be differential coefficient.Obtain the inclined of horizontal distance and setpoint distance between unmanned plane and high-voltage line
Between difference e 1 and unmanned plane and high-voltage line after the offset e2 of vertical range and setpoint distance, this two values are inputted respectively
Into incremental timestamp device, controller is controlled according to the controlling value of result of calculation output level direction and vertical direction
Unmanned plane movement processed.
S5, after inspection working result, unmanned plane is first drawn back a certain distance, and large size column overhead is then risen above
Then highly 20 meters of height obtains the GPS that is obtained when unmanned plane starts and makes a return voyage and automatically maked a return voyage.
Side is equipped with binocular vision avoidance before and after unmanned plane, and left and right sides is equipped with FOV infrared obstacle avoidances.Wherein binocular vision avoidance
Principle is a kind of important form of the machine vision based on principle of parallax, it is tested from different position acquisitions using imaging device
The two images of object, by calculating the position deviation between image corresponding points, to obtain object dimensional geological information and camera
At a distance between object being measured.FOV infrared obstacle avoidances module is received by a hair one of infrared laser and strip transmitting can be effective
For detection range up to 7 meters, sensing range is the barrier in the conical zone of 70 ° of horizontal direction, 20 ° of vertical direction.Unmanned plane exists
When line walking inspection, corresponding safety distance threshold can be set.Once the distance that unmanned plane detects surrounding is less than this threshold value,
I.e. emergent stopping may be implemented in unmanned plane, it is ensured that the safety of unmanned machine equipment.
The above embodiment is a preferred embodiment of the present invention, but embodiments of the present invention are not by above-described embodiment
Limitation, it is other it is any without departing from the spirit and principles of the present invention made by changes, modifications, substitutions, combinations, simplifications,
Equivalent substitute mode is should be, is included within the scope of the present invention.
Claims (10)
1. a kind of overhead high-voltage wire intelligent independent is along conducting wire flight cruising inspection system, which is characterized in that including ground control station, laser
Radar, laser radar data processing module and multi-rotor unmanned aerial vehicle, laser radar, laser radar data processing module are respectively provided with
In multi-rotor unmanned aerial vehicle, laser radar is used to acquire angle and range information of the high-voltage line relative to multi-rotor unmanned aerial vehicle,
Above- mentioned information is wirelessly transferred to ground control station by laser radar data processing module；Multi-rotor unmanned aerial vehicle includes taking the photograph
As head module, figure transmission module, motor drive module and unmanned aerial vehicle (UAV) control center, ground control station and unmanned aerial vehicle (UAV) control center are wireless
Connection, motor drive module in the case where unmanned aerial vehicle (UAV) control center is controlled to multi-rotor unmanned aerial vehicle in each propeller motor carry out rotating speed
Control so that unmanned plane is kept fixed distance along overhead high-voltage wire cruising flight with overhead high-voltage wire, and camera module obtains in real time
Take overhead high-voltage wire information, figure transmission module that the overhead high-voltage wire information that camera module obtains is transferred to ground control station.
2. overhead high-voltage wire intelligent independent according to claim 1 is along conducting wire flight cruising inspection system, which is characterized in that laser
Radar data processing module includes laser radar processor, wireless data transceiver module and power regulator module, wherein power supply is steady
Die block carries out voltage stabilizing to the supply voltage of unmanned plane, for laser radar processor, wireless data transceiver module and laser thunder
Up to use；Laser radar processor is generated constant pwm signal driving laser radar and is rotated with constant rotating speed, and obtains correlation
Angle and distance of the high-voltage line relative to unmanned plane；High-voltage line passes through nothing relative to the angle and range data of unmanned plane
Line data transmit-receive module is sent to ground control station.
3. overhead high-voltage wire intelligent independent according to claim 2 is along conducting wire flight cruising inspection system, which is characterized in that described
Data processing centre uses ARM embeded processors；The wireless data transceiver module uses 2.4G wireless data transceivings.
4. overhead high-voltage wire intelligent independent according to claim 2 is along conducting wire flight cruising inspection system, which is characterized in that described
Multi-rotor unmanned aerial vehicle is equipped with AHRs modules；
The multi-rotor unmanned aerial vehicle is equipped with GPS module；
The multi-rotor unmanned aerial vehicle is equipped with distance detection sensor.
5. it is a kind of based on any one of the claim 1-4 overhead high-voltage wire intelligent independents along the inspection of conducting wire flight cruising inspection system
Method, which is characterized in that step is：Laser radar acquires angle and distance of the high-voltage line relative to multi-rotor unmanned aerial vehicle in real time
Information can be kept fixed distance along height according to the flight attitude of information adjust automatically multi-rotor unmanned aerial vehicle with high-voltage line
Crimping cruising flight.
6. method for inspecting according to claim 5, which is characterized in that including step：
S1, patrol task information is read：Unmanned plane first reads the tower section information of the secondary inspection before starting inspection job task, packet
Include the tower data of the big small size tower of tower section, the height of tower, the GPS coordinate position of tower；
S2, cruise angle locking：Unmanned plane adjusts the head direction of unmanned plane according to the GPS coordinate position of two towers so that its
The azimuth of high-voltage line keeps orthogonal vertical between tower section；
S3, high-voltage line location confirmation：By the laser radar of UAV flight, obtain using unmanned plane as coordinate center, high-voltage line
Distance and angle of the Section Point relative to unmanned plane, be calculated the horizontal distance between unmanned plane and high-voltage line and it is vertical away from
From, and calculate offset e1, e2 of the two and setpoint distance；
S4, the adjustment of unmanned plane position：According to the relative position of parameter acquiring to high-voltage line and unmanned plane, judge whether to be more than prior
Setting range, closed-loop control is carried out to the pitching of unmanned plane and yaw using pid control algorithm, makes unmanned plane and aerial high-voltage
Line is kept fixed vertical range and horizontal distance, and shooting obtains overhead high-voltage wire image information；
S5, after inspection working result, unmanned plane is first drawn back a certain distance, and large size column overhead height is then risen above
Then A meters of height obtains the GPS that is obtained when unmanned plane starts and makes a return voyage and automatically maked a return voyage.
7. method for inspecting according to claim 6, which is characterized in that using laser radar calculate unmanned plane and high-voltage line it
Between horizontal distance and vertical range, step is：
A, the head of unmanned plane keeps being vertically mounted on unmanned plane with overhead high-voltage wire orthogonal vertical, laser radar；
B, laser radar carries out space ranging scanning with fixed rotating speed and fixed scan frequency；
C, laser radar with unmanned plane heading be initial zero degree direction, by the sector of upward M degree, downward N degree, P meters of distance
Region obtains effective high-voltage line in polar coordinate system with nothing as overhead high-voltage wire point cloud data pickup area, by data filtering
Man-machine angle and range information for coordinate origin；
D, the angle extracted in step c and range information by the calculation formula of trigonometric function obtain unmanned plane and high-voltage line it
Between horizontal distance and vertical range.
8. method for inspecting according to claim 5, which is characterized in that unmanned plane self poisoning is using GPS positioning and IMU moulds
The method that block is combined, specially：
GPS module positions to obtain the physical location of unmanned plane, in conjunction with the unmanned plane route information planned in advance, obtains unmanned plane point
The distance of other two tower of distance, so as to adjust the mobile speed of flight；
IMU modules obtain the angle of unmanned plane simultaneously, and the propeller motor speed by adjusting unmanned plane can realize unmanned plane
Direction adjustment so that 90 degree of orthogonal verticals are realized at unmanned plane angle and the azimuth of two towers.
9. method for inspecting according to claim 5, which is characterized in that before inspection starts, preset screen of trees apart from valve
Value, unmanned plane such as detect that high-voltage line less than the threshold values of setting, then automatically records the screen of trees with trees distance during inspection
Point relevant information, locally produced after cruise inspection report, inspection report in record screen of trees point mesohigh line and trees away from
From, screen of trees point position and photo site information.
10. method for inspecting according to claim 5, which is characterized in that multi-rotor unmanned aerial vehicle is during inspection with fixation
Interval independently shoots high-voltage line.
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