CN102736632A - Differential evadible system of electric field for unmanned aerial vehicle polling live wires and method - Google Patents
Differential evadible system of electric field for unmanned aerial vehicle polling live wires and method Download PDFInfo
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Abstract
The invention discloses a differential evadible system of an electric field for an unmanned aerial vehicle polling live wires and a method. The system comprises a polling unmanned aerial vehicle which is provided with an electric field evadible device. The device comprises a DSP (Digital Signal Processor) data processing module and two identical electric field measuring circuits. Each electric field measuring circuit comprises an electric field measuring sensor, a signal processing unit and an A/D (Analog to Digital) conversion unit which are connected sequentially. The A/D conversion unit is connected with an input of the data processing module, an output end of the DSP data processing module is connected with an airborne flight control system. The differential evadible system of the electric field for the unmanned aerial vehicle polling live wires provided by the invention can evade power transmission lines by the unmanned aerial vehicle, avoids collision of the unmanned aerial vehicle and the power transmission lines caused by error of GPS (Global Positioning System) navigation, overlarge gust when the unmanned aerial vehicle polls the live wires, or deviation of a predetermined course of the unmanned aerial vehicle which is not enough in flight altitude in the process of executing the task, the safety of a line patrol system of the unmanned aerial vehicle and the transmission lines is ensured, the reliability of line patrol operation is enhanced, and the safety of personnel, power grids and devices is guaranteed.
Description
Technical field
The barrier field of keeping away when the present invention relates to unmanned plane and patrolling and examining the electrification in high voltage power circuit relates in particular to a kind of electric field differential obstacle avoidance system and method that unmanned plane is patrolled and examined live wire that be used for.
Background technology
In recent years, the sustained and rapid development of Chinese national economy has proposed increasingly high requirement to China's power industry.China formed at present North China, northeast, East China, Central China, northwest and south electric network totally 6 distinguish electrical network transprovincially, 500 KVs become the skeleton of each large power system and transprovincially, trans-regional interconnection, the contradiction that power network development lags behind is eased basically.Because China territory is vast, with a varied topography, for safety and power supply reliably, line walking safeguards that robotization and modernization demonstrate its urgency day by day.
Adopt the unmanned plane aerial work to carry out the electric power line walking; Can overcome and utilize manned helicopter to carry out drawbacks such as the maintenance cost of line walking is expensive, safety problem is outstanding; But because there is error in the unmanned plane GPS navigation; Patrolling and examining flight, the time possibly to run into fitful wind excessive, and the flying height of unmanned plane is not enough etc., and factor can cause unmanned plane the situation of prearranged heading in the process of executing the task, may occur departing from, has the danger that causes unmanned plane and transmission line of electricity or other barriers to bump.Other barrier volumes such as mountain, trees, iron tower are bigger, pass the video of land station in real time back promptly can discern through unmanned plane; But because transmission pressure line footpath is little, video is difficult to identification, in order to ensure the safety of unmanned plane inspection system and transmission line of electricity, promotes the reliability of walking operation, is necessary to realize the keep away barrier of unmanned plane to transmission pressure.
Utilize unmanned plane to carry ultrasonic ranging, infrared distance measurement and Laser Distance Measuring Equipment transmission pressure is detected, because wire diameter is little, it is lower that it detects accuracy; The microwave radar distance-measuring equipment can accurately detect, but its antenna volume is bigger, and equipment integral weight is big, selects this equipment to have influence on and detects installation and the lift-launch that waits other equipment on the unmanned plane.Singularity according to live wire peripheral electromagnetic field environment; Corresponding relation between wire pitch capable of using and the electromagnetic intensity; Handle through data computation; And and the unmanned plane flight control system between data interaction and judgement, determine whether to keep away barrier action, this method is applicable to electric power line walking unmanned plane evading live wire when transmission line of electricity is patrolled.
At present; The high voltage electricity transmission conductive wire Study on Electromagnetic Environment has been obtained certain achievement with analyzing both at home and abroad; But main research direction is the high voltage electricity transmission conductive wire electromagnetic environment to human body in the liftoff 2m scope and circuit to be looked into to repair and safeguards the influence that waits the staff who contacts high voltage electricity transmission conductive wire, and to the disturbed condition of above ground portion electronic device etc.The aspect that the high voltage electricity transmission conductive wire electromagnetic environment is man-machine for having, the influence of unmanned plane also rests on explanatory note and general introduction is analyzed; Especially to utilizing the corresponding relation between wire pitch and the electromagnetic intensity; Whether need keep away the relevant research of barrier action when handle confirming that through data computation unmanned plane is patrolled and examined live wire, following description is only arranged in number of patent application is 201120124969.1 patent " electric power line walking depopulated helicopter hedgehopping obstacle avoidance subsystem ":
" according to the singularity of electric power line walking unmanned plane inspection target-transmission line of electricity, designed according to the detection of electromagnetic intensity judge with transmission line of electricity apart from this pointed, unique, creationary distance-finding method.The characteristic of the method is: near more apart from transmission line of electricity, distance accuracy is high more, can reach centimetre even millimeter rank, is particularly useful for electric power line walking unmanned plane evading transmission line of electricity when transmission line of electricity is patrolled.
Through simulation calculation is done in the variation of the transmission pressure surrounding magnetic field of different electric pressures, its computational analysis can be accurate to centimetre-sized, can obtain the Distribution of Magnetic Field around the lead thus; Thereby can promptly, can carry out position probing and judgement through the detected magnetic field intensity of pre-service with the simulation result contrast; When detecting with transmission pressure distance less than certain definite value; But the forcibly changing heading to avoid the collision of unmanned plane and transmission pressure, avoids accident to take place.”
The prior art shortcoming:
1) prior art is variation and the simulation result contrast through the magnetic field intensity that detects the aircraft present position, and then carries out position probing and judgement.When the transmission line of electricity actual motion, voltage swing remains on the gradation voltage level of appointment basically, but the size of electric current is real-time change along with the variation of load, thereby also real-time change thereupon of the numerical value of magnetic field intensity, measures the basis of judging but do not have.The result of this detection method gained is very inaccurate.
2) mention " in-site measurement " in the prior art, but measurement mechanism (comprising that device constitutes and the installation site), measuring method, data processing method and basis for estimation are not provided.
3) mention " the simulation calculation numerical value " that is used for reference in the prior art, but be not provided for contrasting the simulation calculation result of each electric pressure circuit of judgement, do not have practicality.
4) application example that is used for the illustration method feasibility is not described in the prior art.
Summary of the invention
The object of the invention provides a kind of electric field differential obstacle avoidance apparatus and method that unmanned plane is patrolled and examined live wire that be used for exactly for addressing the above problem, and it has mainly realized the keep away barrier of unmanned plane to transmission pressure; When having avoided unmanned plane to patrol and examine live wire; Because the GPS navigation error, fitful wind is excessive, or the prearranged heading occurs departing from the flying height process that causes inadequately executing the task; Cause the generation of unmanned plane and transmission line of electricity collision situation; Ensure the safety of unmanned plane inspection system and transmission line of electricity, promoted the reliability of walking operation, guaranteed the safety of the person, electrical network and equipment.
For realizing above-mentioned purpose, the present invention adopts following technical scheme:
A kind ofly be used for the electric field differential obstacle avoidance system that unmanned plane is patrolled and examined live wire; It comprises patrol unmanned machine, on unmanned plane, is provided with electric field obstacle device, and this device comprises the DSP data processing module; The identical electric field measurement of two-way loop; Each electric field measurement loop comprises electric field measurement sensor, signal processing unit and the A/D conversion unit that connects successively, and the A/D conversion unit is connected with DSP data processing module input end, and DSP data processing module output terminal is connected with airborne flight control system.
Said airborne flight control system comprises the flight control system airborne control computer; It respectively with digital compass, three-axis gyroscope, three axis accelerometer, satellite positioning module, barometric altimeter, tachometric survey sensor, PCM remote-control receiver, steering engine controller, data radio station; Steering engine controller is connected with servo steering wheel, and data radio station is then communicated by letter with land station.
Said electric field obstacle avoidance apparatus integral body will be in middle position under the patrol unmanned machine body, and two-way electric field measurement loop left-right symmetric is installed.
A kind of employing is used for the barrier-avoiding method that unmanned plane is patrolled and examined the electric field differential obstacle avoidance system of live wire,
Step 1: when patrol unmanned machine was patrolled and examined live wire, fuselage was substantially parallel with the transmission pressure direction, to guarantee the effective of two electric field intensity numerical value differences; The installing space of remembering two electric field measurement sensors is l, and in the input DSP data processing module; The electric field measurement sensor is surveyed electric field intensity numerical value input signal processing unit with institute, sends in the DSP data processing module behind the electric field intensity numerical value in the extraction power frequency scope;
Step 2:, keep away the judgement of barrier instruction according to the data of electric field measurement sensor acquisition in the electric field obstacle avoidance apparatus; Detailed process is: at a time, two electric field measurement sensors are designated as m, m ' respectively after recording the treated conversion of numerical value, input DSP data processing module, and the DSP data processing module carries out as judging:
Wherein, C is the limit value of electric field intensity rate of change.
Steering order is to export to airborne flight control system by the DSP data processing module, thereby control unmanned plane body carries out next step action, when instructing to " safety ", continues the current flight task; When instruction is " keeping away barrier ", earlier unmanned plane is hovered, judge the instruction of sending " making a return voyage in former road " or " temporarily adjusting route " through the video of passing back in real time.
Utilize simulation calculation, transmission pressure is set up the electric Field Calculation model, and then carry out the numerical value that simulation calculation obtains apart from transmission line of electricity certain distance position electric field intensity rate of change; Set the limit value of an electric field intensity rate of change; Emulation draws, to 220kV, 500kV, 750kV, the corresponding C220=29 of 1000kV transmission pressure difference, C500=56; C750=77, C1000=81.
Principle of work of the present invention is:
The electric field measurement sensor is surveyed electric field intensity numerical value input signal processing unit with institute; After extracting the electric field intensity numerical value in the power frequency scope, through A/D conversion unit input DSP data processing module, the electric field measurement sensor is surveyed electric field intensity numerical value input signal processing unit with institute simultaneously; After extracting the electric field intensity numerical value in the power frequency scope; Also import the DSP data processing module through the A/D conversion unit, according to algorithm process described in the above-mentioned steps, the barrier judged result of keeping away of generation is imported the flight control system airborne control computer; And then will keep away barrier instruction and send to steering engine controller, control the state of flight that servo steering wheel changes the unmanned plane platform by it.Simultaneously; The flight control system airborne control computer can be with the status information of digital compass, three-axis gyroscope, three axis accelerometer, satellite positioning module, barometric altimeter, tachometric survey sensor and PCM remote-control receiver, and keep away that the barrier information judged is together carried out through data radio station and land station between mutual.
Different for the corresponding C value of different electric pressure transmission lines of electricity; To the lead with the different line parameter circuit values of electric pressure (comprising lead spaced apart, lead height off the ground, wire type), electric field intensity numerical value is slightly variant, and the rate of change of electric field intensity differs minimum, can think that the corresponding C value of same electric pressure transmission line of electricity is identical.
The invention has the beneficial effects as follows:
1) the present invention has designed a kind of electric field differential obstacle avoidance system and method that unmanned plane is patrolled and examined live wire that be used for; Utilize this system; In the time of can realizing that unmanned plane is patrolled and examined live wire; To the barrier of keeping away of the very difficult lead of discerning in the real-time video, promote the reliability of walking operation, ensure the safety of transmission line of electricity and unmanned plane inspection system.
2) above-mentioned unmanned plane is patrolled and examined the electric field differential obstacle avoidance system of live wire; It is singularity design according to electric field environment around the live wire; And used components and parts volume is little, simply light; Detect the low problem of accuracy by overcoming ultrasonic ranging, infrared distance measurement and Laser Distance Measuring Equipment, can avoid microwave radar distance-measuring equipment volume, weight excessive again, be not easy to the drawback that unmanned plane carries.
3) above-mentioned unmanned plane is patrolled and examined in the electric field measurement barrier-avoiding method of live wire; Be used to judge that whether unmanned plane need be the rate of change of unmanned plane present position electric field intensity difference numerical to the measurement parameter that transmission pressure is kept away barrier; At first utilize to the more stable electric field intensity numerical value of certain bar transmission line of electricity; Secondly adopt the method for calculating the differential variation rate can either get rid of the interference of the electric field intensity of other approximate frequencies that possibly exist in the space; Variable in the calculating parameter is reduced as far as possible; Make evaluation accurately and reliably, and be example, the simulation calculation result who is used to contrast judgement is provided with the transmission pressure of 220kV, 500kV, 750kV, 1000kV electric pressure.
Description of drawings
Fig. 1 patrols and examines the structure and the data flowchart of the electric field measurement obstacle avoidance system of live wire for unmanned plane;
When Fig. 2 patrols and examines the 220kV transmission pressure for unmanned plane, with the corresponding relation synoptic diagram of transmission pressure spacing and electric field intensity rate of change;
When Fig. 3 patrols and examines the 500kV transmission pressure for unmanned plane, with the corresponding relation synoptic diagram of transmission pressure spacing and electric field intensity rate of change;
When Fig. 4 patrols and examines the 750kV transmission pressure for unmanned plane, with the corresponding relation synoptic diagram of transmission pressure spacing and electric field intensity rate of change;
When Fig. 5 patrols and examines the 1000kV transmission pressure for unmanned plane, with the corresponding relation synoptic diagram of transmission pressure spacing and electric field intensity rate of change;
Fig. 6 is the used typical tangent tower in actual 220kV transmission line of alternation current;
Fig. 7 is 220kV circuit emulation, actual measurement electric field change rate comparison diagram;
Fig. 8 is the used typical tangent tower in actual 500kV transmission line of alternation current;
Fig. 9 is 500kV circuit emulation, actual measurement electric field change rate comparison diagram;
Figure 10 is the used typical tangent tower in actual 750kV transmission line of alternation current;
Figure 11 is 750kV circuit emulation, actual measurement electric field change rate comparison diagram;
Figure 12 is the used typical tangent tower in actual 1000kV transmission line of alternation current;
Figure 13 is 1000kV circuit emulation, actual measurement electric field change rate comparison diagram.
Wherein, 1, the electric field measurement sensor, 2, signal processing unit, 3, the A/D conversion unit, the 4.DSP data processing module; 5. flight control system airborne control computer, 6. digital compass, 7. three-axis gyroscope, 8. three axis accelerometer, 9. satellite positioning module; 10. barometric altimeter, 11. tachometric survey sensors, 12.PCM remote-control receiver, 13. steering engine controllers; 14. data radio station, 15. servo steering wheels, 16. electric field obstacle avoidance apparatus, the 17th, land station.
Embodiment
Below in conjunction with accompanying drawing and embodiment the present invention is described further.
Among Fig. 1; It comprises patrol unmanned machine, on unmanned plane, is provided with electric field obstacle device 16, and this device comprises DSP data processing module 4; The identical electric field measurement of two-way loop; Each electric field measurement loop comprises electric field measurement sensor 1, signal processing unit 2 and the A/D conversion unit 3 that connects successively, and A/D conversion unit 3 is connected with DSP data processing module 4 input ends, and DSP data processing module 4 output terminals are connected with airborne flight control system.
Said airborne flight control system comprises flight control system airborne control computer 5; It respectively with digital compass 6, three-axis gyroscope 7, three axis accelerometer 8, satellite positioning module 9, barometric altimeter 10, tachometric survey sensor 11, PCM remote-control receiver 12, steering engine controller 13, data radio station 14; Steering engine controller 13 is connected with servo steering wheel 15, and 14 of data radio stations are communicated by letter with land station 17.
Said electric field obstacle avoidance apparatus integral body will be in middle position under the patrol unmanned machine body, and two-way electric field measurement loop left-right symmetric is installed.
The step of barrier-avoiding method of the present invention is:
Step 1: the electric field obstacle avoidance apparatus is installed.When unmanned plane is patrolled and examined live wire; For the balance that keeps complete machine good; Electric field obstacle avoidance apparatus 16 integral body will be in middle position under the unmanned plane body, and are good for the left and right sides balance that keeps complete machine, two electric field measurement sensors as shown in Figure 11, two signal processing units 2, and two A/D conversion units 3, answer left-right symmetric to install; And adopt the electric field differential obstacle avoidance system of above-mentioned installation method; When unmanned plane was patrolled and examined live wire, fuselage needed substantially parallel with the transmission pressure direction (all like this when general unmanned plane is patrolled and examined live wire, as can to guarantee the effective of two electric field intensity numerical value differences like this).Remember that two power frequency electric field measurement module installing spaces are l.
Step 2: in two electric field measurement sensors, 1 installing space l input DSP data processing module 4.
Step 3:, keep away the judgement of barrier instruction according to the data that electric field measurement sensor in the electric field obstacle avoidance apparatus 16 1 is gathered.
Said step 3 comprises following step:
A. simulation calculation.Transmission pressure is set up the electric Field Calculation model, and then carry out the numerical value that simulation calculation (among the Electric Field Numerical Calculation software ANSOFT) obtains apart from transmission line of electricity certain distance position electric field intensity rate of change.Set the limit value (C value in the following formula) of an electric field intensity rate of change, emulation draws, to 220kV, 500kV, 750kV, the corresponding C220=29 of 1000kV transmission pressure difference, C500=56, C750=77, C1000=81.
B. keeping away barrier judges.Evaluation algorithm in the DSP data processing module is following:
When unmanned plane was patrolled and examined live wire, at a time, two electric field measurement sensors recorded the treated conversion back of numerical value (being designated as m, m ' respectively) input DSP data processing module, and the DSP data processing module carries out as judging:
C. keep away the barrier action.Instruction is to export to UAV Flight Control System by data processing and conversion module, and then controls the unmanned plane body and carry out next step action, when instructing to " safety ", continues the current flight task; When instruction is " keeping away barrier ", earlier unmanned plane is hovered, judge the instruction of sending " making a return voyage in former road " or " temporarily adjusting route " through the video of passing back in real time.
As shown in Figure 1, wherein, electric field measurement sensor 1 is used for measuring electric field intensity size in the environment of living in; Signal processing unit 2 is used for extracting the electric field intensity numerical value in the power frequency scope.
Electric field measurement sensor 1 is surveyed electric field intensity numerical value input signal processing unit 2 with institute; After extracting the electric field intensity numerical value in the power frequency scope; Through A/D conversion unit 3 input DSP data processing modules 4 (two electric field measurement loops are all like this), according to algorithm process described in the above-mentioned steps b, the barrier judged result of keeping away of generation is imported flight control system airborne control computer 5; And then will keep away barrier instruction and send to steering engine controller 13, control the state of flight that servo steering wheel 15 changes the unmanned plane platform by it.Simultaneously; 5 years control computer of flight control system machine can be with the status information of digital compass 6, three-axis gyroscope 7, three axis accelerometer 8, satellite positioning module 9, barometric altimeter 10, tachometric survey sensor 11 and PCM remote-control receiver 12, and keep away that the barrier information judged is together carried out through data radio station 14 and land station 17 between mutual.
Among the above-mentioned steps a, the corresponding C value of different electric pressure transmission lines of electricity is different; To the lead with the different line parameter circuit values of electric pressure (comprising lead spaced apart, lead height off the ground, wire type), electric field intensity numerical value is slightly variant, and the rate of change of electric field intensity differs minimum, can think that the corresponding C value of same electric pressure transmission line of electricity is identical.Calculate for the C value, as follows:
As a result one:
The 220kV transmission pressure is carried out simulation modeling, when obtaining Fig. 2 and patrolling and examining the 220kV transmission pressure, with the corresponding relation synoptic diagram of transmission pressure spacing and electric field intensity rate of change for unmanned plane.
Get C (this distance is chosen and combined safe distance described in the number of patent application 201210044124.0 unmanned plane electric power line walking safe distance detection methods, and is same down) electric field intensity rate of change numerical value, i.e. C220=29 for apart from lead 20m the time.
As a result two:
The 500kV transmission pressure is carried out simulation modeling, when obtaining Fig. 3 and patrolling and examining the 500kV transmission pressure, with the corresponding relation synoptic diagram of transmission pressure spacing and electric field intensity rate of change for unmanned plane.
Get C electric field intensity rate of change numerical value, i.e. C500=56 for the time apart from lead 24m.
As a result three:
The 750kV transmission pressure is carried out simulation modeling, when obtaining Fig. 4 and patrolling and examining the 750kV transmission pressure, with the corresponding relation synoptic diagram of transmission pressure spacing and electric field intensity rate of change for unmanned plane.
Get C electric field intensity rate of change numerical value, i.e. C750=77 for the time apart from lead 27m.
As a result four:
The 1000kV transmission pressure is carried out simulation modeling, when obtaining Fig. 5 and patrolling and examining the 1000kV transmission pressure, with the corresponding relation synoptic diagram of transmission pressure spacing and electric field intensity rate of change for unmanned plane.
Get C electric field intensity rate of change numerical value, i.e. C1000=81 for the time apart from lead 32m.
Embodiment 1:
The electric field differential obstacle avoidance system is equipped on the unmanned plane actual 220kV circuit is detected; Fuselage is substantially parallel with the transmission pressure direction when setting unmanned plane during flying; For with height such as limit item lead grade; Flight path by apart from 70 meters slow guiding lines of limit item lead near, to 16 meters of distance of wire (selecting this distance range is in order to ensure the safety of unmanned plane, and can verify midway the alerting signal of whether receiving the electric field measurement obstacle avoidance system in the anticipation position).For reducing flight error, flying condition is selected as follows:
Weather: sunny calm;
Make an inspection tour lead: be illustrated in fig. 6 shown below the middle lead of straight line pole;
Set C220=29, l=0.22m,, carry out test flight.
The unmanned plane midway of flying is received the alerting signal of electric field measurement obstacle avoidance system, and the back of hovering selects former road to return, and derived data contrasts as shown in Figure 7 with the simulation calculation result.
Among Fig. 7, " series one " is emulated data, and " series two " is measured data.Visible by figure, emulated data and measured data basically identical.And the electric field differential obstacle avoidance system also can produce alerting signal according to predeterminable range, and the practicality of electric field differential obstacle avoidance system and emulated data has been described.
Embodiment 2:
The electric field differential obstacle avoidance system is equipped on the unmanned plane actual 500kV circuit is detected; Fuselage is substantially parallel with the transmission pressure direction when setting unmanned plane during flying; For with height such as limit item lead grade; Flight path by apart from 70 meters slow guiding lines of limit item lead near, to 20 meters of distance of wire (selecting this distance range is in order to ensure the safety of unmanned plane, and can verify midway the alerting signal of whether receiving the electric field measurement obstacle avoidance system in the anticipation position).For reducing flight error, flying condition is selected as follows:
Weather: sunny calm;
Make an inspection tour lead: be illustrated in fig. 8 shown below the middle lead of straight line pole;
Set C500=56, l=0.22m,, carry out test flight.
The unmanned plane midway of flying is received the alerting signal of electric field measurement obstacle avoidance system, and the back of hovering selects former road to return, and derived data contrasts as shown in Figure 9 with the simulation calculation result.
Among Fig. 9, " series one " is emulated data, and " series two " is measured data.Visible by figure, emulated data and measured data basically identical.And the electric field differential obstacle avoidance system also can produce alerting signal according to predeterminable range, and the practicality of electric field differential obstacle avoidance system and emulated data has been described.
Embodiment 3:
The electric field differential obstacle avoidance system is equipped on the unmanned plane actual 750kV circuit is detected; Fuselage is substantially parallel with the transmission pressure direction when setting unmanned plane during flying; For with height such as limit item lead grade; Flight path by apart from 70 meters slow guiding lines of limit item lead near, to 23 meters of distance of wire (selecting this distance range is in order to ensure the safety of unmanned plane, and can verify midway the alerting signal of whether receiving the electric field measurement obstacle avoidance system in the anticipation position).For reducing flight error, flying condition is selected as follows:
Weather: sunny calm;
Make an inspection tour lead: be illustrated in fig. 10 shown below the middle lead of straight line pole;
Set C750=77, l=0.22m,, carry out test flight.
The unmanned plane midway of flying is received the alerting signal of electric field measurement obstacle avoidance system, and the back of hovering selects former road to return, and derived data contrasts shown in figure 11 with the simulation calculation result.
Among Figure 11, " series one " is emulated data, and " series two " is measured data.Visible by figure, emulated data and measured data basically identical.And the electric field differential obstacle avoidance system also can produce alerting signal according to predeterminable range, and the practicality of electric field differential obstacle avoidance system and emulated data has been described.
Embodiment 4:
The electric field differential obstacle avoidance system is equipped on the unmanned plane actual 1000kV circuit is detected; Fuselage is substantially parallel with the transmission pressure direction when setting unmanned plane during flying; For with height such as limit item lead grade; Flight path by apart from 70 meters slow guiding lines of limit item lead near, to 28 meters of distance of wire (selecting this distance range is in order to ensure the safety of unmanned plane, and can verify midway the alerting signal of whether receiving the electric field measurement obstacle avoidance system in the anticipation position).For reducing flight error, flying condition is selected as follows:
Weather: sunny calm;
Make an inspection tour lead: be illustrated in fig. 12 shown below the middle lead of straight line pole;
Set C1000=81, l=0.22m,, carry out test flight.
The unmanned plane midway of flying is received the alerting signal of electric field measurement obstacle avoidance system, and the back of hovering selects former road to return, and derived data contrasts shown in figure 13 with the simulation calculation result.
Among Figure 13, " series one " is emulated data, and " series two " is measured data.Visible by figure, emulated data and measured data basically identical.And the electric field differential obstacle avoidance system also can produce alerting signal according to predeterminable range, and the practicality of electric field differential obstacle avoidance system and emulated data has been described.
Though the above-mentioned accompanying drawing specific embodiments of the invention that combines is described; But be not restriction to protection domain of the present invention; One of ordinary skill in the art should be understood that; On the basis of technical scheme of the present invention, those skilled in the art need not pay various modifications that creative work can make or distortion still in protection scope of the present invention.
Claims (6)
1. one kind is used for the electric field differential obstacle avoidance system that unmanned plane is patrolled and examined live wire; It comprises patrol unmanned machine; It is characterized in that on unmanned plane, be provided with electric field obstacle device, this device comprises the DSP data processing module; The identical electric field measurement of two-way loop; Each electric field measurement loop comprises electric field measurement sensor, signal processing unit and the A/D conversion unit that connects successively, and the A/D conversion unit is connected with DSP data processing module input end, and DSP data processing module output terminal is connected with airborne flight control system.
2. as claimed in claim 1ly be used for the electric field differential obstacle avoidance system that unmanned plane is patrolled and examined live wire; It is characterized in that; Said airborne flight control system comprises the flight control system airborne control computer; It respectively with digital compass, three-axis gyroscope, three axis accelerometer, satellite positioning module, barometric altimeter, tachometric survey sensor, PCM remote-control receiver, steering engine controller, data radio station, steering engine controller is connected with servo steering wheel, data radio station is then communicated by letter with land station.
3. as claimed in claim 1ly be used for the electric field differential obstacle avoidance system that unmanned plane is patrolled and examined live wire, it is characterized in that, said electric field obstacle avoidance apparatus integral body will be in middle position under the patrol unmanned machine body, and two-way electric field measurement loop left-right symmetric is installed.
4. one kind is adopted that claim 1 is described to be used for the barrier-avoiding method that unmanned plane is patrolled and examined the electric field differential obstacle avoidance system of live wire, it is characterized in that,
Step 1: when patrol unmanned machine was patrolled and examined live wire, fuselage was substantially parallel with the transmission pressure direction, to guarantee the effective of two electric field intensity numerical value differences; The installing space of remembering two electric field measurement sensors is l, and in the input DSP data processing module; The electric field measurement sensor is surveyed electric field intensity numerical value input signal processing unit with institute, sends in the DSP data processing module behind the electric field intensity numerical value in the extraction power frequency scope;
Step 2:, keep away the judgement of barrier instruction according to the data of electric field measurement sensor acquisition in the electric field obstacle avoidance apparatus; Detailed process is: at a time, two electric field measurement sensors are designated as m, m ' respectively after recording the treated conversion of numerical value, input DSP data processing module, and the DSP data processing module carries out as judging:
Wherein, C is the limit value of electric field intensity rate of change.
5. steering order is to export to airborne flight control system by the DSP data processing module, thereby control unmanned plane body carries out next step action, when instructing to " safety ", continues the current flight task; When instruction is " keeping away barrier ", earlier unmanned plane is hovered, judge the instruction of sending " making a return voyage in former road " or " temporarily adjusting route " through the video of passing back in real time.
6. barrier-avoiding method as claimed in claim 4 is characterized in that, utilizes simulation calculation; Transmission pressure is set up the electric Field Calculation model, and then carry out the numerical value that simulation calculation obtains, set the limit value of an electric field intensity rate of change apart from transmission line of electricity certain distance position electric field intensity rate of change; Emulation draws, to 220kV, 500kV, 750kV, the corresponding C220=29 of 1000kV transmission pressure difference, C500=56; C750=77, C1000=81.
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