CN102201865B - Unmanned aerial vehicle power line inspection hybrid communication system - Google Patents
Unmanned aerial vehicle power line inspection hybrid communication system Download PDFInfo
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- CN102201865B CN102201865B CN201110109408.9A CN201110109408A CN102201865B CN 102201865 B CN102201865 B CN 102201865B CN 201110109408 A CN201110109408 A CN 201110109408A CN 102201865 B CN102201865 B CN 102201865B
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- 238000004891 communication Methods 0.000 title claims abstract description 128
- 238000007689 inspection Methods 0.000 title abstract 4
- 239000013307 optical fiber Substances 0.000 claims abstract description 69
- 230000005540 biological transmission Effects 0.000 claims abstract description 17
- 230000003287 optical effect Effects 0.000 claims abstract description 16
- 239000002131 composite material Substances 0.000 claims abstract description 4
- 238000005516 engineering process Methods 0.000 claims description 6
- 238000004146 energy storage Methods 0.000 claims description 3
- 239000000835 fiber Substances 0.000 claims description 3
- 230000006698 induction Effects 0.000 claims description 3
- 238000005259 measurement Methods 0.000 abstract 5
- 230000002035 prolonged effect Effects 0.000 abstract 1
- 230000000694 effects Effects 0.000 description 3
- 230000001934 delay Effects 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 2
- 230000007812 deficiency Effects 0.000 description 1
- 238000005562 fading Methods 0.000 description 1
- 230000008520 organization Effects 0.000 description 1
- 230000036632 reaction speed Effects 0.000 description 1
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
- Y02B90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02B90/20—Smart grids as enabling technology in buildings sector
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y04—INFORMATION OR COMMUNICATION TECHNOLOGIES HAVING AN IMPACT ON OTHER TECHNOLOGY AREAS
- Y04S—SYSTEMS INTEGRATING TECHNOLOGIES RELATED TO POWER NETWORK OPERATION, COMMUNICATION OR INFORMATION TECHNOLOGIES FOR IMPROVING THE ELECTRICAL POWER GENERATION, TRANSMISSION, DISTRIBUTION, MANAGEMENT OR USAGE, i.e. SMART GRIDS
- Y04S40/00—Systems for electrical power generation, transmission, distribution or end-user application management characterised by the use of communication or information technologies, or communication or information technology specific aspects supporting them
- Y04S40/12—Systems for electrical power generation, transmission, distribution or end-user application management characterised by the use of communication or information technologies, or communication or information technology specific aspects supporting them characterised by data transport means between the monitoring, controlling or managing units and monitored, controlled or operated electrical equipment
- Y04S40/124—Systems for electrical power generation, transmission, distribution or end-user application management characterised by the use of communication or information technologies, or communication or information technology specific aspects supporting them characterised by data transport means between the monitoring, controlling or managing units and monitored, controlled or operated electrical equipment using wired telecommunication networks or data transmission busses
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y04—INFORMATION OR COMMUNICATION TECHNOLOGIES HAVING AN IMPACT ON OTHER TECHNOLOGY AREAS
- Y04S—SYSTEMS INTEGRATING TECHNOLOGIES RELATED TO POWER NETWORK OPERATION, COMMUNICATION OR INFORMATION TECHNOLOGIES FOR IMPROVING THE ELECTRICAL POWER GENERATION, TRANSMISSION, DISTRIBUTION, MANAGEMENT OR USAGE, i.e. SMART GRIDS
- Y04S40/00—Systems for electrical power generation, transmission, distribution or end-user application management characterised by the use of communication or information technologies, or communication or information technology specific aspects supporting them
- Y04S40/12—Systems for electrical power generation, transmission, distribution or end-user application management characterised by the use of communication or information technologies, or communication or information technology specific aspects supporting them characterised by data transport means between the monitoring, controlling or managing units and monitored, controlled or operated electrical equipment
- Y04S40/126—Systems for electrical power generation, transmission, distribution or end-user application management characterised by the use of communication or information technologies, or communication or information technology specific aspects supporting them characterised by data transport means between the monitoring, controlling or managing units and monitored, controlled or operated electrical equipment using wireless data transmission
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- Optical Communication System (AREA)
Abstract
The invention discloses an unmanned aerial vehicle power line inspection hybrid communication system, which comprises an unmanned aerial vehicle, a relay station, a measurement and control vehicle, a portable communication station and an optical fiber composite overhead ground wire, wherein the relay station comprises an optical fiber wireless relay station and a pure wireless relay station; the optical fiber wireless relay station comprises a relay module integrating a wireless relay module and optical transmission equipment; the wireless relay station comprises the wireless relay module; optical fiber transmission is adopted between the portable communication station and the optical fiber wireless relay station; the portable communication station can establish connection with a wireless module of the measurement and control vehicle by a wireless communication link; and transmission can be performed among the unmanned aerial vehicle, the wireless relay station, the optical fiber wireless relay station and the measurement and control vehicle by the wireless communication link. The unmanned aerial vehicle power line inspection hybrid communication system has the advantages that: the measurement and control distance of the unmanned aerial vehicle can be prolonged to satisfy the needs of unmanned aerial vehicle power line inspection in an over-the-horizon complex environment; and the measurement and control vehicle can finish communication with the unmanned aerial vehicle in a substation without starting for a scene when applied.
Description
Technical field
The present invention relates to a kind of electric power communication system, particularly a kind of mixed communication system for power line patrol of unmanned aircraft.
Background technology
The development of power line patrol of unmanned aircraft technology, has improved line walking efficiency, can scent a hidden danger in time, accelerate crisis state reaction speed, reduce labour intensity.But the special operational of unmanned vehicle, the communication of measuring and control data and view data continues reliable, therefore requires on the line of flight landform open, unmanned vehicle and the environmental condition of observing and controlling car in intervisibility.But wireless telecommunications are due to impacts such as multipath effect, frequency selective fading and transmission line strong electromagnetic, and particularly, under special many mountains condition, observing and controlling distance is shorter than the observing and controlling radius of theoretical 100km, is generally no more than 5km.
Summary of the invention
The object of the invention is to overcome the deficiencies in the prior art part, and a kind of observing and controlling distance of widening unmanned vehicle is provided, thereby meet the mixed communication system for power line patrol of unmanned aircraft of power line patrol of unmanned aircraft demand under over the horizon complex environment.
A kind of mixed communication system for power line patrol of unmanned aircraft, comprise unmanned vehicle, relay station, observing and controlling car, portable communication station and Optical Fiber composite overhead Ground Wire, described unmanned vehicle contains communication module, described communication module comprises airborne wireless figure/digital transmission module, described observing and controlling car contains wireless module, described relay station comprises optical-fiber wireless relay station and pure radio repeater station, the trunk module that described optical-fiber wireless relay station contains wireless relay module and optical transmission device unification, described radio repeater station contains wireless relay module, between portable communication station and optical-fiber wireless relay station, adopt Optical Fiber Transmission, portable communication station also can connect by radio communication chain circuit and observing and controlling vehicle radio module, unmanned vehicle, radio repeater station, between optical-fiber wireless relay station and observing and controlling car, all can transmit by radio communication chain circuit.
The effect of unmanned vehicle airborne wireless figure/digital transmission module is the remote measuring and controlling information of the visible light video of the transmission line gathering under complicated environmental condition, infrared video or ultraviolet imagery and unmanned vehicle to be transferred in real time on trunk module.
The operation principle of radio repeater station is: if search observing and controlling vehicle radio module or optical-fiber wireless relay station in its range of signal, trial is connected, will after the signal modulation receiving, by wireless communication link, send to the other side.
The operation principle of described optical-fiber wireless relay station is: if search observing and controlling vehicle radio module in its range of signal, attempt setting up in succession, will after the signal modulation receiving, send to the other side.Meanwhile, adopt optical transmission device to utilize optical fiber that information is sent to portable communication station, a distant place.
The effect of observing and controlling vehicle radio module is that reception figure passes and telemetry intelligence (TELINT), and sends remote control command.
Portable communication station can receive optical fiber transmission signal, and connects with observing and controlling vehicle radio module.
Described portable communication station is portable operating office, and it or is placed on observing and controlling car as required or be placed in transformer station.
Portable communications station is portable operating office, is positioned on observing and controlling car while not working; During work, be immediately installed in the communication machine room of transformer station the extended observing and controlling car of aiming at of antenna outside window.
Each radio communication chain circuit in described system all sends by Coded Orthogonal Frequency Division Multiplexing (COFDM) (COFDM) technology of modulating.
Even if under long link, adopt the delay of COFDM scheme to be less than 150ms.All the other delays are mainly the delays of optical transmitter and receiver and display device, can ignore.Delay is stable, predictable.
Communication link between described observing and controlling car and unmanned vehicle is:
The first is: observing and controlling car and nobody fly by radio communication chain circuit, to be connected between device.
Unmanned vehicle is in observing and controlling car communication context, and both can directly connect automatically.Now, observing and controlling car can keep relative motion to unmanned vehicle.
The second: observing and controlling car is connected by radio communication chain circuit with portable communication station, portable communication station is connected with optical-fiber wireless relay station by optical fiber, optical-fiber wireless relay station is by radio communication chain circuit and radio repeater station, and radio repeater station is connected with unmanned vehicle by radio communication chain circuit.
Unmanned vehicle, in radio repeater station communication radius, will connect with radio repeater station, and be forwarded to optical-fiber wireless relay station through radio repeater station, then transfer to through light device the portable communication station that is set up in transformer station.
The third: observing and controlling car is connected with portable communication station by radio communication chain circuit, and portable communication station is connected with optical-fiber wireless relay station by optical fiber, and optical-fiber wireless relay station is connected with unmanned vehicle by radio communication chain circuit.
Unmanned vehicle, in optical-fiber wireless relay station communication radius, will automatically connect with it, and transfer to transformer station through light device.
The 4th kind: observing and controlling car is connected with optical-fiber wireless relay station by radio communication chain circuit, optical-fiber wireless relay station or be directly connected with unmanned vehicle by radio communication chain circuit, or first by after radio repeater station, be connected with unmanned vehicle.
If observing and controlling car, in relay station communication context, is set up wireless connections by direct and relay station, be no longer connected with the portable communications station that is arranged at transformer station.
Unmanned vehicle is when multiple relay station signal overlaps overlay area, and its communication link depends on the communication signal intensity of multiple relay stations, and system will be selected the second or the third communication link automatically.
The airborne communication module of unmanned vehicle is carried out the switching command that ground observing and controlling car is sent, receive up aircraft remote information data, the image that launch craft Airborne camera is taken, selects a road image to send into the transmitting of image radio station, launches descending aircraft state information data.
Described optical-fiber wireless relay station respectively sets up an optical transmitter and receiver to be connected with being connected in transformer station of portable communication station of being located in transformer station with optical-fiber wireless relay station by fibre circuit.
The optical transmitter and receiver of described transformer station is the optical transmitter and receiver of setting up in transformer station.
So-called standing referring to is fixedly installed in transformer station.
Described radio repeater station, optical-fiber wireless relay station adopt the mode of solar energy, high voltage induction power taking, small-sized wind power generator one of them or any two kinds or three's combination to power, and are equipped with battery energy storage.
Antenna form can not retrain the flight form of unmanned vehicle.Therefore the supporting antenna of wireless device on optical-fiber wireless relay station, radio repeater station, observing and controlling car and unmanned vehicle, must adopt omnidirectional antenna.
In sum, the present invention's following advantage compared to existing technology:
Mixed communication system for power line patrol of unmanned aircraft of the present invention, can widen the observing and controlling distance of unmanned vehicle, to meet the demand of power line patrol of unmanned aircraft under over the horizon complex environment.When application, observing and controlling car, without leaving for scene, can complete the communication with unmanned vehicle in transformer station again.
Accompanying drawing explanation
Fig. 1 is the mixed communication system for power line patrol of unmanned aircraft Organization Chart of invention.
Fig. 2 is the communication link figure of unmanned vehicle in observing and controlling car communication context.
Fig. 3 is the communication link figure of unmanned vehicle in radio repeater station communication radius.
Fig. 4 is the communication link figure of unmanned vehicle in optical-fiber wireless relay station communication radius.
Fig. 5 is the communication link figure I of observing and controlling car in relay station communication context.
Fig. 6 is the communication link figure II of observing and controlling car in relay station communication context.
Fig. 7 is the communication link figure between optical-fiber wireless relay station and portable communication station.
Embodiment
Below in conjunction with embodiment, the present invention is described in more detail.
A kind of mixed communication system for power line patrol of unmanned aircraft as shown in Fig. 1-7, comprise unmanned vehicle 1, relay station, observing and controlling car 3, portable communication station 4 and Optical Fiber composite overhead Ground Wire 5, described unmanned vehicle contains communication module, described communication module comprises airborne wireless figure/digital transmission module, described observing and controlling car contains wireless module, described relay station comprises optical-fiber wireless relay station 22 and pure radio repeater station 21, the trunk module that described optical-fiber wireless relay station contains wireless relay module and optical transmission device unification, described radio repeater station contains wireless relay module, between portable communication station and optical-fiber wireless relay station, adopt Optical Fiber Transmission, and can connect by radio communication chain circuit and observing and controlling vehicle radio module, unmanned vehicle, radio repeater station, between optical-fiber wireless relay station and observing and controlling car, all can transmit by radio communication chain circuit.Described portable communication station is portable operating office, and it or is placed on observing and controlling car as required or be placed in transformer station 6.Each radio communication chain circuit 8 in described system all sends by Coded Orthogonal Frequency Division Multiplexing (COFDM) (COFDM) technology of modulating.Communication link between described observing and controlling car and unmanned vehicle or fly between device to be connected by radio communication chain circuit for observing and controlling car and nobody; Or by radio communication chain circuit, be connected with portable communication station for observing and controlling car, portable communication station is connected with optical-fiber wireless relay station by optical fiber, optical-fiber wireless relay station is by radio communication chain circuit and radio repeater station, and radio repeater station is connected with unmanned vehicle by radio communication chain circuit; Or be connected with portable communication station by radio communication chain circuit for observing and controlling car, portable communication station is connected with optical-fiber wireless relay station by optical fiber, and optical-fiber wireless relay station is connected with unmanned vehicle by radio communication chain circuit; Observing and controlling car is connected with optical-fiber wireless relay station by radio communication chain circuit, optical-fiber wireless relay station or be directly connected with unmanned vehicle by radio communication chain circuit, or first by after radio repeater station, be connected with unmanned vehicle.
The communication task that the airborne communication system of unmanned vehicle completes comprises: the image that transmitting Airborne camera is taken; Carry out the switching command that ground observing and controlling car is sent, select a road image to send into the transmitting of image radio station; Launch descending aircraft state information data; Receive up aircraft remote information data.。
Described optical-fiber wireless relay station respectively sets up an optical transmitter and receiver 7 to be connected with being connected in transformer station of portable communication station of being located in transformer station with optical-fiber wireless relay station by fibre circuit.The optical transmitter and receiver of described transformer station is the optical transmitter and receiver 7 of setting up in transformer station.
Described radio repeater station, optical-fiber wireless relay station adopt the mode of solar energy, induction power taking, small-sized wind power generator one of them or any two kinds or three's combination to power, and are equipped with battery energy storage.
It is same as the prior art that the present embodiment is not stated part.
Claims (9)
1. a mixed communication system for power line patrol of unmanned aircraft, it is characterized in that: comprise unmanned vehicle (1), relay station, observing and controlling car (3), portable communication station (4) and Optical Fiber composite overhead Ground Wire (5), described unmanned vehicle contains communication module, described communication module comprises airborne wireless figure/digital transmission module, described observing and controlling car contains wireless module, described relay station comprises optical-fiber wireless relay station (22) and pure radio repeater station (21), the trunk module that described optical-fiber wireless relay station contains wireless relay module and optical transmission device unification, described radio repeater station contains wireless relay module, between portable communication station and optical-fiber wireless relay station, adopt Optical Fiber Transmission, portable communication station also can connect by radio communication chain circuit and observing and controlling vehicle radio module, unmanned vehicle, radio repeater station, between optical-fiber wireless relay station and observing and controlling car, all can transmit by radio communication chain circuit.
2. mixed communication system for power line patrol of unmanned aircraft according to claim 1, is characterized in that: described portable communication station is portable operating office, and it or is placed on observing and controlling car as required or be placed in transformer station (6).
3. mixed communication system for power line patrol of unmanned aircraft according to claim 2, is characterized in that: the each radio communication chain circuit in described system is all modulated COFDM technology by Coded Orthogonal Frequency Division Multiplexing (COFDM) and sent.
4. mixed communication system for power line patrol of unmanned aircraft according to claim 3, is characterized in that: the communication link between described observing and controlling car and unmanned vehicle or fly between device to be connected by radio communication chain circuit for observing and controlling car and nobody; Or by radio communication chain circuit, be connected with portable communication station for observing and controlling car, portable communication station is connected with optical-fiber wireless relay station by optical fiber, optical-fiber wireless relay station is connected with radio repeater station by radio communication chain circuit, and radio repeater station is connected with unmanned vehicle by radio communication chain circuit; Or be connected with portable communication station by radio communication chain circuit for observing and controlling car, portable communication station is connected with optical-fiber wireless relay station by optical fiber, and optical-fiber wireless relay station is connected with unmanned vehicle by radio communication chain circuit; Or be connected with optical-fiber wireless relay station by radio communication chain circuit for observing and controlling car, optical-fiber wireless relay station or be directly connected with unmanned vehicle by radio communication chain circuit (8), or first pass through to be connected with unmanned vehicle after radio repeater station.
5. mixed communication system for power line patrol of unmanned aircraft according to claim 4, it is characterized in that: the airborne communication module of unmanned vehicle is carried out the switching command that ground observing and controlling car is sent, receive up aircraft remote information data, the image that launch craft Airborne camera is taken, select a road image to send into the transmitting of image radio station, launch descending aircraft state information data.
6. the mixed communication system for power line patrol of unmanned aircraft described in any one according to claim 1 to 5, is characterized in that: optical-fiber wireless relay station respectively sets up an optical transmitter and receiver (7) to be connected with being connected in transformer station of portable communication station of being located in transformer station with optical-fiber wireless relay station by fibre circuit.
7. mixed communication system for power line patrol of unmanned aircraft according to claim 6, is characterized in that: the optical transmitter and receiver of described transformer station is the optical transmitter and receiver of setting up in transformer station.
8. mixed communication system for power line patrol of unmanned aircraft according to claim 7, it is characterized in that: described radio repeater station, optical-fiber wireless relay station adopt the mode of solar energy, high voltage induction power taking, small-sized wind power generator one of them or any two kinds or three's combination to power, and are equipped with battery energy storage.
9. mixed communication system for power line patrol of unmanned aircraft according to claim 8, is characterized in that: the supporting antenna of wireless device on optical-fiber wireless relay station, radio repeater station, observing and controlling car and unmanned vehicle, adopts omnidirectional antenna.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110109408.9A CN102201865B (en) | 2011-04-28 | 2011-04-28 | Unmanned aerial vehicle power line inspection hybrid communication system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201110109408.9A CN102201865B (en) | 2011-04-28 | 2011-04-28 | Unmanned aerial vehicle power line inspection hybrid communication system |
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| CN102201865A CN102201865A (en) | 2011-09-28 |
| CN102201865B true CN102201865B (en) | 2014-05-07 |
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Families Citing this family (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DK2997768T3 (en) | 2014-02-10 | 2018-06-18 | Sz Dji Technology Co Ltd | Adaptive communication mode switching |
| CN103986087B (en) * | 2014-05-14 | 2017-01-18 | 南京工程学院 | Transmission line patrol system and method based on optical transmission |
| CN104503465A (en) * | 2014-12-31 | 2015-04-08 | 国家电网公司 | Method for inspecting power transmission lines on hillside by using unmanned plane |
| CN104536460A (en) * | 2014-12-31 | 2015-04-22 | 国家电网公司 | Method for patrolling concave mountain slope electric transmission line by unmanned aerial vehicle |
| WO2016161637A1 (en) | 2015-04-10 | 2016-10-13 | SZ DJI Technology Co., Ltd. | Method, apparatus and system of providing communication coverage to an unmanned aerial vehicle |
| JP6206736B2 (en) * | 2015-10-28 | 2017-10-04 | パナソニックＩｐマネジメント株式会社 | Observation system and method using flying object |
| CN106921426A (en) * | 2015-12-25 | 2017-07-04 | 顺丰科技有限公司 | The means of communication and system of a kind of unmanned plane |
| CN106411389A (en) * | 2016-09-14 | 2017-02-15 | 芜湖扬展新材料科技服务有限公司 | Unmanned aerial vehicle inspection data link communication system |
| US11368002B2 (en) | 2016-11-22 | 2022-06-21 | Hydro-Quebec | Unmanned aerial vehicle for monitoring an electrical line |
| CN109286435B (en) * | 2018-11-01 | 2021-11-23 | 上海歌尔泰克机器人有限公司 | Data transmission method, device and system |
| CN109936405B (en) * | 2019-01-30 | 2022-03-22 | 合肥学院 | Tethered unmanned aerial vehicle emergency communication system based on optical fiber remote |
| CA3116940A1 (en) | 2021-04-30 | 2022-10-30 | Hydro-Quebec | Drone with positioning system tool |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101811578B (en) * | 2010-04-23 | 2013-10-23 | 国家电网公司 | Special photoelectric nacelle of power patrol unmanned helicopter |
| CN201812315U (en) * | 2010-10-15 | 2011-04-27 | 重庆市电力公司超高压局 | Polling robot with navigation device |
| CN202026307U (en) * | 2011-04-28 | 2011-11-02 | 福建省电力有限公司福州电业局 | Mixed communication system for power line patrol of unmanned aircraft |
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