CN205983231U - Unmanned aerial vehicle system of patrolling and examining - Google Patents
Unmanned aerial vehicle system of patrolling and examining Download PDFInfo
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- CN205983231U CN205983231U CN201620982462.2U CN201620982462U CN205983231U CN 205983231 U CN205983231 U CN 205983231U CN 201620982462 U CN201620982462 U CN 201620982462U CN 205983231 U CN205983231 U CN 205983231U
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- control station
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Abstract
The utility model discloses an unmanned aerial vehicle system of patrolling and examining relates to electric power inspection device fabrication technical field, aircraft including being equipped with the multiple wing is provided with image acquisition equipment and laser rangefinder on, be equipped with a plurality of photoelectric sensor on every wing of aircraft, and laser rangefinder passes through laser and is connected with ground control station, and the aircraft passes through photoelectric sensor to be connected with four sets of boundary scan detection device respectively, and image acquisition equipment passes through radio signal and is connected with ground control station, ground control station is used for to aircraft issue control command to receive the information that the aircraft sent back, boundary scan detection device is used for building the border of aircraft flight to prevent that the aircraft from drifting off the course. The utility model discloses can solve and, manual control unmanned aerial vehicle can appear and the maloperation may appear when being in the manually operation state when inorganic, when unmanned aerial vehicle was in the automatic operation state, high -intensity magnetic field and strong electric field were to the problem of unmanned aerial vehicle production interference.
Description
Technical field
This utility model is related to electric inspection process equipment manufacturing technology field, especially a kind of outdoor electric facility is not being stopped
The system that under the situation of electricity, application unmanned plane is patrolled and examined.
Background technology
The application of unmanned plane gets more and more at present, the such as application documents of Application No. 201511020986.X, discloses one
Plant to patrol and examine and use unmanned plane, this unmanned plane is applied to patrolling and examining of the series compensation device to power system, and it solves patrol officer
The problem of the potential safety hazard producing near power equipment in the case that power system does not have a power failure, but when unmanned plane is in manually
It may appear that manually controlling unmanned plane it is possible that maloperation is thus have an accident during mode of operation, and work as unmanned plane and be in certainly
During dynamic mode of operation, due to there is high-intensity magnetic field and highfield in power system, easily interference is produced to unmanned plane, so that unmanned plane is lost
Go to control.
Content of the invention
The purpose of this utility model is to provide a kind of unmanned plane cruising inspection system, and it can solve inorganic to be in manual behaviour
Make during state it may appear that manually controlling unmanned plane it is possible that maloperation, when unmanned plane is in and is automatically brought into operation state, Qiang Ci
Field and highfield produce the problem of interference to unmanned plane.
In order to solve the above problems, the technical solution adopted in the utility model is：This unmanned plane cruising inspection system, including setting
There is the aircraft of multiple wing, described aircraft be provided with image capture device, described aircraft is additionally provided with laser ranging system,
Each wing of described aircraft is provided with multiple photoelectric sensors, and described laser ranging system passes through laser with ground control station even
Connect, described aircraft is connected with four sets of boundary scan detection means respectively by photoelectric sensor, described image collecting device leads to
Cross wireless signal to be connected with described ground control station；Described ground control station is used for issuing control instruction to described aircraft, and
Receive the information that described aircraft sends back, described boundary scan detection means is used for constructing the border of described aircraft flight,
To prevent aircraft from drifting off the course.
In technique scheme, more specifically scheme can also be：Described ground control station includes main frame, described main frame
It is connected with ground controller, described ground controller is connected with transmit/receive module.
Further：Described main frame is notebook computer, and described transmit/receive module is laser range sensor.
Further：Described boundary scan detection means includes laser scanner, and described laser scanner is connected with sensor.
Further：Described laser scanner includes laser range finder, and described laser range finder is arranged in machine carousel.
Further：Described photoelectric sensor is laser range sensor.
Further：Described sensor is laser range sensor.
Due to employing technique scheme, this utility model compared with prior art, has an advantageous effect in that：This reality
It is provided with boundary scan detection means with new, is provided with laser ranging system on board the aircraft, make unmanned plane in boundary scan
Flight in the guardrail that the laser beam that detection means sends is formed, because laser beam will not be affected by high-intensity magnetic field and highfield, protects
Demonstrate,prove the precision of unmanned plane during flying.
Brief description
Fig. 1 is block diagram of the present utility model.
Specific embodiment
The utility model is described in further detail with reference to the accompanying drawings and examples：
Unmanned plane cruising inspection system shown in Fig. 1, including the aircraft 1 being provided with eight wings, aircraft 1 is provided with image acquisition
Equipment 1-1 and laser ranging system 1-2, each wing of aircraft 1 is provided with five photoelectric sensor 1-3, laser ranging system
1-2 is connected with ground control station 3 by laser, and aircraft 1 is passed through photoelectric sensor 1-3 and filled with four sets of boundary scan detections respectively
Put 2 connections, image capture device 1-1 is connected with described ground control station 3 by wireless signal；Ground control station 3 be used for fly
Control instruction issued by row device 1, and receives the information that aircraft 1 sends back, and boundary scan detection means 2 is used for constructing aircraft 1
The border of flight, to prevent aircraft 1 from drifting off the course.
Ground control station 3 includes main frame 3-1, and main frame 3-1 is connected with ground controller 3-2, ground controller 3-2 with send out
Penetrate/receiver module 3-3 connection；Main frame 3-1 is notebook computer, facilitates staff to carry out field work.
Boundary scan detection means 2 includes laser scanner 2-1, and laser scanner 2-1 is connected with sensor 2-2；Laser
Scanning device 2-1 includes laser range finder, and laser range finder is arranged in machine carousel and points into the sky, and laser range finder is in machinery
Make the reciprocating motion of 180 degree, thus realizing the scanning of 180 degree scope under driven by rotary disc.
In the present embodiment, photoelectric sensor 1-3, transmit/receive module 3-3 and sensor 2-2 are photoelectric sensor.
Operation principle of the present utility model is by putting four sets of boundary scan detection means 2 on ground, by laser ranging
The grating that instrument sends delimit four faces all around, highly obtain from laser range finder, by ground control station 3 arrange parameter
Ceiling altitude can be set, thus delimit flight range, aircraft 1 flies in flight range；The system adopts target skill
Art, is positioned with the laser ranging system 1-2 in the boundary scan detection means 2 and aircraft 1 on ground and photoelectric sensor 1-3,
Using 10 centimeter apart photoelectricity anchor points, when the wing body area of aircraft jump photoelectricity feedback return signal 20% when, corresponding optical telecommunications
Signal lamp flashes, and sends alarm signal, and aircraft 1 flight linear speed is down to minimum；When the wing body area of aircraft jumps
When signal 30% is returned in photoelectricity feedback, aircraft 1 returns or lands on the spot.Sensor of the invention is laser range sensor, laser
Distance measuring sensor is to be measured using phase place comparison principle, and laser range sensor launches the visible laser bundle of different frequency,
Receive the scattering laser returning from measured object, the laser signal receiving and reference signal are compared, finally use microprocessor
Distance between the object that device calculates corresponding to respective offsets, certainty of measurement can reach grade；Laser range sensor is maximum
Can find range from up to 150 meters, the maximal detectable range of the laser range sensor of the present embodiment is 30 meters, when laser ranging sensing
When the measurement distance of device is more than 30 meters, its error be ± 3 millimeters, the laser range sensor measurement error in the present embodiment be ±
2 millimeters；The response time of laser range sensor, when color of object surface be white when, laser from laser range sensor to
The number of times coming and going between testee is to come and go 10 times for 1 second, i.e. 10Hz；When color of object surface is other color, be 0.1 second～
Come and go 10 times within 6 seconds.Laser range sensor also has following characteristic：a）Can be used for measuring fixing or mobile object distance；b）
Very high certainty of measurement can be kept and there is good reliability under severe outdoor environment；c）Using visible laser bundle, easily
In aiming measured object；d）Available computer input various functions instruction；e）Available different parameters switch amount output and analog quantity are defeated
Go out and program respectively；f）Arbitrarily set alarm distance scope；g）The arbitrarily output unit of setting measurement value；h）Available external trigger
Realize remotely control triggering.
This utility model is the electronic guardrail technology based on photoelectric technology, makes the early warning that unmanned plane is formed in photoelectricity guardrail
Property fence in flight.Unmanned plane of the present utility model adopts RTK location technology, with respect to gps satellite positioning, is used in
In Qiang Ci, highfield work condition environment, set up relative flight coordinate-system, reduce and reduce strong interferers to unmanned plane satellite navigation mould
The interference of block is it is ensured that flight precision；When unmanned plane is in flight operation, the image capture device 1-1 that unmanned plane carries is to power transformation
Mobile state is entered in the work of equipment or static state is monitored, and earthward control station transmits monitoring materials in time；Unmanned plane and operation
In converting equipment to keep necessary safe flight distance, when converting equipment electric pressure be 35 kilovolts when, safe distance
For 0.7 meter, when electric pressure is 110 kilovolts, safe distance is 1.5 meters, and when electric pressure is 220 kilovolts, safe distance is 3
Rice, when electric pressure is 500 kilovolts, safe distance is 8 meters.
The system adopts a word laser beam emitting device, and the laser barrier being sent with four laser scanners forms one " mouth "
Font barrier, during unmanned plane during flying, if unmanned plane leaps laser barrier, the photoelectric sensor on unmanned plane will be adopted
Collect laser signal, the sequencing of the laser signal by collecting, calculate heading and the laser border of unmanned plane
Angular relationship, thus correcting the heading of unmanned plane.
Claims (7)
1. a kind of unmanned plane cruising inspection system, including the aircraft being provided with multiple wing（1）, described aircraft（1）On be provided with image and adopt
Collection equipment（1-1）It is characterised in that：Described aircraft（1）It is additionally provided with laser ranging system（1-2）, described aircraft（1）'s
Each wing is provided with multiple photoelectric sensors（1-3）, described laser ranging system（1-2）By laser and ground control station（3）
Connect, described aircraft（1）By photoelectric sensor（1-3）Respectively with four sets of boundary scan detection means（2）Connect, described figure
As collecting device（1-1）By wireless signal and described ground control station（3）Connect；Described ground control station（3）For to institute
State aircraft（1）Issue control instruction, and receive described aircraft（1）The information sending back, described boundary scan detection means
（2）For constructing described aircraft（1）The border of flight, to prevent aircraft（1）Drift off the course.
2. unmanned plane cruising inspection system according to claim 1 it is characterised in that：Described ground control station（3）Including main frame
（3-1）, described main frame（3-1）With ground controller（3-2）Connect, described ground controller（3-2）With transmit/receive module
（3-3）Connect.
3. unmanned plane cruising inspection system according to claim 2 it is characterised in that：Described main frame（3-1）For notebook computer,
Described transmit/receive module（3-3）For laser range sensor.
4. unmanned plane cruising inspection system according to claim 1 and 2 it is characterised in that：Described boundary scan detection means（2）
Including laser scanner（2-1）, described laser scanner（2-1）With sensor（2-2）Connect.
5. unmanned plane cruising inspection system according to claim 4 it is characterised in that：Described laser scanner（2-1）Including sharp
Optar, described laser range finder is arranged in machine carousel.
6. unmanned plane cruising inspection system according to claim 1 it is characterised in that：Described photoelectric sensor（1-3）For laser
Distance measuring sensor.
7. unmanned plane cruising inspection system according to claim 4 it is characterised in that：Described sensor（2-2）For laser ranging
Sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620982462.2U CN205983231U (en) | 2016-08-30 | 2016-08-30 | Unmanned aerial vehicle system of patrolling and examining |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620982462.2U CN205983231U (en) | 2016-08-30 | 2016-08-30 | Unmanned aerial vehicle system of patrolling and examining |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205983231U true CN205983231U (en) | 2017-02-22 |
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ID=58041521
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620982462.2U Expired - Fee Related CN205983231U (en) | 2016-08-30 | 2016-08-30 | Unmanned aerial vehicle system of patrolling and examining |
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| CN (1) | CN205983231U (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106959701A (en) * | 2017-05-03 | 2017-07-18 | 成都大学 | The unmanned plane power-line patrolling system guided based on electric field ranging and Semi-active LASER |
| CN107656542A (en) * | 2017-09-12 | 2018-02-02 | 国家电网公司 | Unmanned plane cruising inspection system |
| CN108827297A (en) * | 2018-03-14 | 2018-11-16 | 江苏大学 | A kind of real-time planing method of unmanned plane agricultural patrolled and examined track based on image |
| CN109634302A (en) * | 2018-12-06 | 2019-04-16 | 河池学院 | A kind of quadrotor system based on optical alignment |
| CN109976331A (en) * | 2017-12-27 | 2019-07-05 | 丰田自动车株式会社 | Automated driving system and automatic Pilot method |
| CN113658448A (en) * | 2021-07-23 | 2021-11-16 | 广州达泊智能科技有限公司 | Road side parking lot monitoring management system, method, device and storage medium |
-
2016
- 2016-08-30 CN CN201620982462.2U patent/CN205983231U/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106959701A (en) * | 2017-05-03 | 2017-07-18 | 成都大学 | The unmanned plane power-line patrolling system guided based on electric field ranging and Semi-active LASER |
| CN107656542A (en) * | 2017-09-12 | 2018-02-02 | 国家电网公司 | Unmanned plane cruising inspection system |
| CN109976331A (en) * | 2017-12-27 | 2019-07-05 | 丰田自动车株式会社 | Automated driving system and automatic Pilot method |
| CN108827297A (en) * | 2018-03-14 | 2018-11-16 | 江苏大学 | A kind of real-time planing method of unmanned plane agricultural patrolled and examined track based on image |
| CN108827297B (en) * | 2018-03-14 | 2021-09-10 | 江苏大学 | Image-based real-time planning method for agricultural inspection track of unmanned aerial vehicle |
| CN109634302A (en) * | 2018-12-06 | 2019-04-16 | 河池学院 | A kind of quadrotor system based on optical alignment |
| CN109634302B (en) * | 2018-12-06 | 2022-04-08 | 河池学院 | Four-rotor aircraft system based on optical positioning |
| CN113658448A (en) * | 2021-07-23 | 2021-11-16 | 广州达泊智能科技有限公司 | Road side parking lot monitoring management system, method, device and storage medium |
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|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170222 Termination date: 20210830 |
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| CF01 | Termination of patent right due to non-payment of annual fee |