CN101811578A - Special photoelectric nacelle of power patrol unmanned helicopter - Google Patents
Special photoelectric nacelle of power patrol unmanned helicopter Download PDFInfo
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Abstract
The invention discloses a special photoelectric nacelle of a power patrol unmanned helicopter, which comprises an airborne part and a ground part, wherein the airborne part comprises a fixed part which is positioned in the upper part, a rotatable part which is positioned in the lower part and a servo control assembly; the rotatable part comprises a gyroscope stable rotating tower; the fixed part comprises an electronic control cabin; cables between the electronic control cabin and the stable rotating tower are connected by a conducting slide ring which can support the stable rotating tower to rotate by nx360 degrees; and the airborne part of the nacelle is suspended on the helicopter by a vibration reducing device and communicated with a flight control system of the helicopter. The special photoelectric nacelle is a photoelectric task load with compact structure and high performance, can meet the requirement for remote power patrol, has self-stabilizing function and self-tracing function, can shoot a target to be traced from an image in real time, transmit the target to a ground control vehicle by a radio transmission system on an aerial carrier and is convenient for a patrol parson to directly master the scene condition to improve the efficiency of power patrol.
Description
Technical field
The present invention relates to a kind of power patrol unmanned helicopter system, particularly a kind of special photoelectric nacelle of power patrol unmanned helicopter.
Background technology
In recent years, because global warming, disaster takes place frequently, and the disaster of causing for the national economy and the people has the trend of rising.Power department is perfect not enough in the means that the back disaster relief and mitigation take place disaster, grasps the condition of a disaster especially fast and also lacks the technological means of actv. through rehearsal.Meanwhile, along with power system development, transmission line of electricity is more and more longer, and voltage class is more and more higher.Nearly 900,000 kilometers of electric power circuit more than the present 110kV of China, how walking operation all will carry out repeatedly enormous amount every year.Electric power enterprise all will drop into huge manpower and materials transmission line of electricity is carried out the periodical inspection inspection every year.Traditional mode of operation efficient is lower, and is totally unfavorable for the safe operation that guarantees electrical network.
Unmanned vehicle has the advantage that is not subjected to the terrain environment restriction, and the visible light of its lift-launch, infrared thermal imaging equipment have moving electrical network hidden danger ability of discovery accurately.When the condition of a disaster takes place or when the condition of a disaster early warning is arranged, unmanned vehicle can promptly be rushed for field conduct disaster surveillance and disaster relief commander.Can realize that when no the condition of a disaster efficient electrical network is maked an inspection tour, the incorporate pattern of monitoring management, the accident barrier is disposed to hidden danger control, reduces the electric network fault rate greatly, improves electrical network handling labor efficient.
Use that aircraft is prevented and reduced natural disasters and during the task of line data-logging, need a kind of special photoelectric nacelle of power patrol unmanned helicopter of development.Domestic and international most of photoelectric nacelles all lay particular emphasis on take photo by plane photography or military scouting at present.The photography gondola of taking photo by plane is a purpose can obtain high-resolution image, and its function is comparatively single; Military reconnaissance pod lays particular emphasis on high-altitude high speed visible light or infrared reconnaissance, does not generally require the precision target of seeking and visiting about 10CM.And being installed in manned machine, war skill index request height, but thermal imaging system does not generally possess the infrared measurement of temperature function, and it is too heavy to conduct oneself with dignity, and is difficult to be mounted on the small-sized depopulated helicopter and executes the task.The investigation process has sees the military reconnaissance pod that is used for depopulated helicopter, and volume and weight all satisfy the lift-launch condition of small-sized depopulated helicopter, but the photoelectricity task device of its lift-launch is all more single, can not satisfy the multiple needs of electric inspection process.That the special-purpose gondola that is used for the depopulated helicopter electric inspection process requires is multi-functional, from heavy and light, anti-vibration, can provide distance parameter control depopulated helicopter independent to dodge obstacle, have anti-strong-electromagnetic field interference capability, also should have gyro and increase steady and target is stared lock function.In sum, the photoelectric nacelle that is mainly used in the power patrol unmanned helicopter special use is not seen both at home and abroad.
Summary of the invention
The objective of the invention is to overcome the deficiencies in the prior art part, and a kind of special photoelectric nacelle of power patrol unmanned helicopter is provided.
A kind of special photoelectric nacelle of power patrol unmanned helicopter, its structural feature is: described gondola comprises airborne portion and ground segment, described airborne portion comprises superposed fixed part, is positioned at the rotatable portion and the servocontrol assembly of bottom, described rotation section comprise gyrocontrol capstan head, described gyrocontrol capstan head comprise gyrostabilized platform, pitch axis to torque motor, roll axial moment motor, pitch axis to coder, the axial coder of roll, be arranged at gyrostabilized platform in-to-in optical pickocff;
Described fixed part includes the electron steering cabin, be provided with stable platform servo-control unit, horizontal axis torque motor, horizontal axis coder, communication part, secondary power supply assembly, photoelectricity mission payload central control unit in the electron steering cabin, cable between electron steering cabin and the stable capstan head be by can supporting that stablizing capstan head nx360 degree rotation conducting slip ring is connected, and the gondola airborne portion hangs on the helicopter by shock attenuation unit and communicates with the flight control system of helicopter and is connected;
Described servocontrol assembly comprises that the pitch axis in stable platform servo-control unit, gondola fixed part and the rotating element in the airborne sensor of unmanned plane, airborne flight controller, the electron steering cabin forms jointly to torque motor, roll axial moment motor, horizontal axis torque motor and corresponding encoder;
The ground segment of described gondola comprises operating control and manipulation encoding board, and operating control is connected with the communication of manipulation encoding board, and described manipulation encoding board is connected with the gondola wireless telecommunications.
Special photoelectric nacelle of power patrol unmanned helicopter of the present invention, in use, it is hung on the helicopter by shock attenuation unit, and the appropriate section that makes gondola communicates with the flight control system of helicopter and is connected, handle the ground controlling device, handle encoding board cooresponding signal is sent to the gondola sending controling instruction through up-link with the ground controlling device of the gondola bonded assembly that communicates, the control command of stablizing the task devices such as optical pickocff in the capstan head is by connector on the electron steering cabin, directly controlled by communication modes separately respectively by the information handling system of handling encoding board; The picture signal that task device obtained returns to the image receiver module of handling encoding board through the downlink of unmanned plane and shows in real time.
Described manipulation encoding board is for directly utilizing the maneuvering system of ground observing and controlling car or control station.
Directly utilize ground observing and controlling car or control station maneuvering system as the gondola ground segment, only need during use operating control is installed on ground observing and controlling car or the control station, by wireless mode control gondola, can be in real time from image picked-up want the target of following the tracks of, and can reach Ground Control car or control station by the radio transmission system of depopulated helicopter.
Described gyrostabilized platform is four framework three axis stable platform structures.
The platform of this structure can guarantee that optical pickocff neither is subjected to the influence of moment of wind resistance, can isolate carrier aircraft driftage, pitching and roll motion again, makes platform have high optical axis stable precision and big search coverage.
Described shock attenuation unit is made up of four air dampings.
The stable platform servo-control unit of described servocontrol assembly reads the airborne gyroscope of depopulated helicopter and the attitude controlled variable that course meter provides and the dynamic performance model data of aircraft, it is stable and follow control with the attitude of depopulated helicopter that gondola is carried out the optical axis, realizes that gyro increases surely.
The real-time flight attitude of the airborne gyroscope of depopulated helicopter and course meter perception aircraft, the dynamic performance model data of attitude controlled variable and aircraft are provided, send to airborne flight controller, tell after handling via flight controller one the tunnel send gondola to raise the clothes controller, after raising the computing of clothes controller corresponding controlling quantity is given on three axial torque motors of gondola, the servo-actuated of finishing gondola increases steady control.Simultaneously three axial coders are responsible for the anglec of rotation with three of gondolas and are fed back to and raise the clothes controller in the gondola, realize the closed loop control of gondola stable loop.
Described stable platform servocontrol assembly and unmanned helicopter flight control system, navigationsystem merge, the attitude parameters that various sensor provided such as transmission tower coordinate that the power grid GIS system provides and depopulated helicopter GPS, altimeter, course meter, export through the flight control computer fusion treatment, raise clothes controller output cradle head control amount by the RS422 serial ports to The Cloud Terrace, the control capstan head is realized the locking of staring to electric power line pole tower.
Described optical pickocff comprises photographic camera, pick up camera, infrared thermoviewer, ultraviolet imagery instrument etc.
Laser rangefinder is installed on stable platform.
Described laser rangefinder is used for transmission tower is carried out precision ranging, and the real-time distance of aircraft and iron tower or other obstacles is transferred to the unmanned helicopter flight control system by a data link based on the RS422 agreement.
Laser rangefinder is installed on stable platform can be realized transmission tower is carried out precision ranging, the real-time distance of aircraft and iron tower or other obstacles is transferred to the unmanned helicopter flight control system by a data link based on the RS422 agreement.Depopulated helicopter flies control system and draws controlling quantity according to the distance parameter that apomecometer provides, be sent to steering engine controller, make roll steering wheel and pitch-control motor produce deflection, thereby the main rotor plane is to corresponding direction deflection, drive the correspondingly deflection of helicopter body, finish depopulated helicopter independent and dodge the obstacle maneuvering flight.
Described servocontrol assembly comprises servomotor that each is axial and the servo plane on the servo-control unit, and the information that servo plane will be sent by airborne gyroscope is revolved the change servomotor with being exported to after treatment by the information of communication part transmission after the conversion of AD plate.
Described servocontrol assembly comprises stable loop, following loop and locked loop:
Described stable loop is by the unmanned aerial vehicle onboard angular rate gyroscope, and torque motor and electronic circuit are formed, and it comprises inner orientation stable loop and interior pitching stable loop,
Described following loop makes the stable platform outside frame system must servo-actuated inner frame system, and each that makes the inner frame system is near the zero-bit all the time, and it comprises outer pitching following loop and exterior orientation following loop,
Described locked loop makes the position, angle and the carrier aircraft of stable platform orientation and pitching two rotating shafts keep a certain determined value, and it has inner orientation locked loop, exterior orientation locked loop, interior pitching locked loop, outer pitching locked loop quadruplet loop.
A) stable loop
The effect of stable loop is to isolate the carrier aircraft motion, guarantees the stable of the optical axis, and this is the loop of most critical in the native system.It is by the unmanned aerial vehicle onboard angular rate gyroscope, and torque motor, coder and electronic circuit are formed.The off-load moment that torque motor produced is offset the disturbance torque on the platform, makes the sight line implementation space stable.Because it is stable that stable platform is a two-freedom, so stable loop needs two covers: inner orientation stable loop and interior pitching stable loop.
B) following loop
In order to realize big angle of revolution of system stability platform and search coverage, stable platform outside frame system must servo-actuated inner frame system, and each that makes the inner frame system is near the zero-bit all the time.There are two cover following control system loops in system: outer pitching following loop and exterior orientation following loop.
C) following loop
In order to realize big angle of revolution of system stability platform and search coverage, stable platform outside frame system must servo-actuated inner frame system, and each that makes the inner frame system is near the zero-bit all the time.There are two cover following control system loops in system: outer pitching following loop and exterior orientation following loop.
Opto-electronic pickup in the described gyrostabilized platform is by the control of microprocessor central control unit, and little processing enter controller is electrically connected with opto-electronic pickup, depopulated helicopter, servo-control unit respectively.
There is a photoelectricity mission payload central control unit of being realized by microprocessor gondola inside, after the central control unit of gondola receives the control command of flight control computer transmission, the mode of operation of visible light camera, photographic camera, servo-control unit is controlled in the process instruction decode respectively, realizes the operation of command request.
Described gondola ground controlling system comprises the maneuvering system and the gondola task maneuvering system of the airborne pivotable parts of gondola.
The airborne pivotable parts of described gondola comprises position control and speed control.
Described task is handled or is joystick manipulation, or is controlled by keyboard, or is both combination.
The ground controlling hand sends instructions to send instructions to gondola by task joystick and button and makes its The Cloud Terrace level, movement in vertical direction, thereby can follow the tracks of and take the image that needs, and also can carry out real time operation to task device.
In sum, the invention has the advantages that:
1. described special photoelectric nacelle of power patrol unmanned helicopter can utilize apomecometer to provide distance parameter control unmanned plane independently to dodge obstacle;
2. described special photoelectric nacelle of power patrol unmanned helicopter has gyro and increases steady and target is stared lock function, is convenient to the ground controlling personnel and catches target efficiently and easily;
3. the pivotable parts of gondola airborne portion can carry multiple-task equipment flexibly, can horizontal nx360 °, vertical 95 ° of rotations to be to cover the observation area; The pivotable parts of gondola airborne portion has the automatic scan function, and azimuth caging comes flyback for 0 °～+ 90 ° in 0 ° of motionless pitch orientation of doing in position; Zoom, camera function with Ground Control optical tasks equipment; Gondola has automatic target (transmission tower) tracking lock function and has gyrocontrol function and locking position function.
This power patrol unmanned helicopter photoelectric nacelle is the performance-oriented photoelectricity mission payload of a compact conformation, its task device is made of visible light camera, high-resolution camera, infrared thermography or ultraviolet imagery instrument, can satisfy the requirement that remote distance power is maked an inspection tour.This photoelectricity mission payload has self-stabilization function and autotracking function, can be in real time from image picked-up want the target of following the tracks of, and can reach the Ground Control car by the radio transmission system on the aerial carrier, be convenient to the track walker and directly grasp on-the-spot situation, can improve the efficient of electric power line walking greatly.
Description of drawings
Fig. 1 is a special photoelectric nacelle of power patrol unmanned helicopter of the present invention system composition diagram
Fig. 2 is a servocontrol module information diagram of circuit
Fig. 3 is the stable loop fundamental diagram
Fig. 4 is servo-actuated/locked loop fundamental diagram
Fig. 5 is the data-interface schematic diagram of optical pickocff
The specific embodiment
Below in conjunction with embodiment the present invention is described in more detail.
Embodiment 1
A kind of special photoelectric nacelle of power patrol unmanned helicopter as shown in Figure 1, comprise airborne portion and ground segment, described airborne portion comprises superposed fixed part, is positioned at the rotatable portion and the servocontrol assembly of bottom, described rotation section comprise gyrocontrol capstan head, described gyrocontrol capstan head comprise gyrostabilized platform, pitch axis to torque motor, roll axial moment motor, pitch axis to coder, the axial coder of roll, be arranged at gyrostabilized platform in-to-in optical pickocff; Described fixed part includes the electron steering cabin, be provided with stable platform servo control circuit, photoelectricity mission payload central control unit, horizontal axis torque motor, horizontal axis coder, photoelectricity mission payload central control unit, communication part, secondary power supply assembly in the electron steering cabin, cable between electron steering cabin and the stable capstan head be by can supporting that stablizing capstan head nx360 degree rotation conducting slip ring is connected, and the gondola airborne portion hangs on the helicopter by shock attenuation unit and communicates with the flight control system of helicopter and is connected; Described servocontrol assembly comprises that the pitch axis in stable platform servo-control unit, gondola fixed part and the rotating element in the airborne sensor of unmanned plane, airborne flight controller, the electron steering cabin forms jointly to torque motor, roll axial moment motor, horizontal axis torque motor and corresponding encoder; The ground segment of described gondola comprises operating control and manipulation encoding board, and operating control is connected with the communication of manipulation encoding board, and described manipulation encoding board is connected with the gondola wireless telecommunications.Described manipulation encoding board is for directly utilizing the maneuvering system of ground observing and controlling car.Described gyrostabilized platform is four framework three axis stable platform structures.Described shock attenuation unit is made up of four air dampings.Described stable platform servocontrol assembly and unmanned helicopter flight control system, navigationsystem merge, the attitude parameters that various sensor provided such as transmission tower coordinate that the power grid GIS system provides and depopulated helicopter GPS, altimeter, course meter, export through the flight control computer fusion treatment, raise clothes controller output cradle head control amount by the RS422 serial ports to The Cloud Terrace, the control capstan head is realized the locking of staring to electric power line pole tower.Described optical pickocff comprises photographic camera, pick up camera, infrared thermoviewer, ultraviolet imagery instrument, laser rangefinder.Described servocontrol assembly comprises the servomotor that each is axial and raises the servo plane of clothes controller, the information that servo plane will be sent by airborne gyroscope becoming and servomotor with being exported to after treatment by the information of communication part transmission to revolve after the conversion of AD plate.Described servocontrol assembly comprises stable loop, following loop and locked loop such as Fig. 2-4: described stable loop is by the unmanned aerial vehicle onboard angular rate gyroscope, torque motor and electronic circuit are formed, it comprises inner orientation stable loop and interior pitching stable loop, described following loop makes necessary servo-actuated inner frame system of stable platform outside frame system, each that makes the inner frame system is near the zero-bit all the time, it comprises outer pitching following loop and exterior orientation following loop, described locked loop makes the position, angle and the carrier aircraft of stable platform orientation and pitching two rotating shafts keep a certain determined value, it has the inner orientation locked loop, the exterior orientation locked loop, interior pitching locked loop, outer pitching locked loop quadruplet loop.Described gondola ground controlling system comprises the maneuvering system and the gondola task maneuvering system of the airborne pivotable parts of gondola.The airborne pivotable parts of described gondola comprises position control and speed control.Described task is handled or is joystick manipulation, or is controlled by keyboard, or is both combination.Ground segment can with observing and controlling display system (ground observing and controlling car) compatibility of depopulated helicopter, mainly comprise gondola The Cloud Terrace maneuvering system and gondola task maneuvering system, have the debugging of independent gondola simultaneously and detect show case.The ground controlling hand sends instructions to send instructions to gondola by task joystick and keyboard and makes its The Cloud Terrace level, movement in vertical direction, thereby can follow the tracks of and take the image that needs, and the logarithmic code camera also can carry out real time operation.
There is a photoelectricity mission payload central control unit of being realized by microprocessor gondola inside shown in Figure 5, after the central control unit of gondola receives the control command of flight control computer transmission, control the mode of operation of task device such as visible light camera, photographic camera and servo-control unit respectively through instruction decode, realize the operation of command request.Gondola and fly between the control machine transmission that realizes instruction and state based on the data link of RS422 agreement by one; Vision signal outputs to controller from image unit, is exported by controller again.The adaptor union of power supply and shared one 13 core of communication between unmanned autogyro and the gondola, the photoelectricity mission payload is by the adaptor union outputting video signal, and outputting video signal is the visible light image.
The video of photoelectricity mission payload is output as pal mode, and the output signal impedance is 75 Ω, and signal amplitude is 1Vp-p.
It is same as the prior art that present embodiment is not stated part.
Claims (11)
1. special photoelectric nacelle of power patrol unmanned helicopter, it is characterized in that: described gondola comprises airborne portion and ground segment, described airborne portion comprises superposed fixed part, is positioned at the rotatable portion and the servocontrol assembly of bottom, described rotation section comprise gyrocontrol capstan head, described gyrocontrol capstan head comprise gyrostabilized platform, pitch axis to torque motor, roll axial moment motor, pitch axis to coder, the axial coder of roll, be arranged at gyrostabilized platform in-to-in optical pickocff;
Described fixed part includes the electron steering cabin, be provided with stable platform servo-control unit, horizontal axis torque motor, horizontal axis coder, communication part, secondary power supply assembly, photoelectricity mission payload central control unit in the electron steering cabin, cable between electron steering cabin and the stable capstan head be by can supporting that stablizing capstan head nx360 degree rotation conducting slip ring is connected, and the gondola airborne portion hangs on the helicopter by shock attenuation unit and communicates with the flight control system of helicopter and is connected;
Described servocontrol assembly comprises that the pitch axis in stable platform servo-control unit, gondola fixed part and the rotating element in the airborne sensor of unmanned plane, airborne flight controller, the electron steering cabin forms jointly to torque motor, roll axial moment motor, horizontal axis torque motor and corresponding encoder; The ground segment of described gondola comprises operating control and manipulation encoding board, and operating control is connected with the communication of manipulation encoding board, and described manipulation encoding board is connected with the gondola wireless telecommunications.
2. special photoelectric nacelle of power patrol unmanned helicopter according to claim 1 is characterized in that: described manipulation encoding board is for directly utilizing the maneuvering system of ground observing and controlling car or control station.
3. special photoelectric nacelle of power patrol unmanned helicopter according to claim 1 and 2 is characterized in that: described gyrostabilized platform is four framework three axis stable platform structures.
4. special photoelectric nacelle of power patrol unmanned helicopter according to claim 2 is characterized in that: described shock attenuation unit is made up of four air dampings.
5. special photoelectric nacelle of power patrol unmanned helicopter according to claim 4, it is characterized in that: the stable platform servo-control unit of described servocontrol assembly reads the airborne gyroscope of depopulated helicopter and the attitude controlled variable that course meter provides and the dynamic performance model data of aircraft, it is stable and follow control with the attitude of depopulated helicopter that gondola is carried out the optical axis, realizes that gyro increases surely.
6. special photoelectric nacelle of power patrol unmanned helicopter according to claim 5, it is characterized in that: described stable platform servocontrol assembly and unmanned helicopter flight control system, navigationsystem merge, the attitude parameters that various sensor provided such as transmission tower coordinate that the power grid GIS system provides and depopulated helicopter GPS, altimeter, course meter, export through the flight control computer fusion treatment, raise clothes controller output cradle head control amount by the RS422 serial ports to The Cloud Terrace, the control capstan head is realized the locking of staring to electric power line pole tower.
7. special photoelectric nacelle of power patrol unmanned helicopter according to claim 6 is characterized in that: described optical pickocff comprises photographic camera, pick up camera, infrared thermoviewer, ultraviolet imagery instrument, laser rangefinder.
8. special photoelectric nacelle of power patrol unmanned helicopter according to claim 7, it is characterized in that: described servocontrol assembly comprises servomotor that each is axial and the servo plane on the servo-control unit, and the information that servo plane will be sent by airborne gyroscope is revolved the change servomotor with being exported to after treatment by the information of communication part transmission after the conversion of AD plate.
9. special photoelectric nacelle of power patrol unmanned helicopter according to claim 8 is characterized in that:
Described servocontrol assembly comprises stable loop, following loop and locked loop:
Described stable loop is by the unmanned aerial vehicle onboard angular rate gyroscope, and torque motor and electronic circuit are formed, and it comprises inner orientation stable loop and interior pitching stable loop,
Described following loop makes the stable platform outside frame system must servo-actuated inner frame system, and each that makes the inner frame system is near the zero-bit all the time, and it comprises outer pitching following loop and exterior orientation following loop,
Described locked loop makes the position, angle and the carrier aircraft of stable platform orientation and pitching two rotating shafts keep a certain determined value, and it has inner orientation locked loop, exterior orientation locked loop, interior pitching locked loop, outer pitching locked loop quadruplet loop.
10. special photoelectric nacelle of power patrol unmanned helicopter according to claim 9, it is characterized in that: described gondola ground controlling system comprises the maneuvering system and the gondola task maneuvering system of the airborne pivotable parts of gondola, the airborne pivotable parts of described gondola comprises position control and speed control, described task is handled or is joystick manipulation, or be controlled by keyboard, or be both combination.
11. special photoelectric nacelle of power patrol unmanned helicopter according to claim 1, it is characterized in that: the opto-electronic pickup in the described gyrostabilized platform is by the control of photoelectricity mission payload central control unit, and little processing enter controller is electrically connected with opto-electronic pickup, depopulated helicopter, servo-control unit respectively.
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