CN102736632B - 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 electrification in high voltage power circuit, relates in particular to a kind of differential electric field obstacle avoidance system and method for patrolling and examining live wire for unmanned plane.
Background technology
In recent years, the sustained and rapid development of Chinese national economy has proposed more and more higher requirement to China's power industry.China has formed North China, northeast, East China, Central China, northwest and south electric network totally 6 district's electrical networks transprovincially at present, 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 substantially.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 unmanned plane aerial work to carry out electric power line walking, can overcome and utilize manned helicopter to carry out the drawbacks such as the maintenance cost of line walking is expensive, safety problem is outstanding, but because unmanned plane GPS navigation exists error, while patrolling and examining flight, fitful wind may be run into excessive, and the flying height of unmanned plane is inadequate etc., and factor can cause unmanned plane in the process of executing the task, may occur departing from the situation of prearranged heading, has the danger that causes unmanned plane and transmission line of electricity or other barriers to bump.Other barrier volumes such as mountain, trees, steel tower are larger, pass in real time the video of land station back can identify by unmanned plane; But because transmission pressure wire diameter is little, video is difficult to identification, in order to ensure the safety of unmanned plane inspection system and transmission line of electricity, promote the reliability of walking operation, be 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; Microwave radar distance-measuring equipment can accurately detect, but its antenna volume is larger, and Whole Equipment weight is large, selects this equipment can have influence on installation and the lift-launch of other equipment such as detection on unmanned plane.According to the singularity of live wire peripheral electromagnetic field environment, can utilize the corresponding relation between wire pitch and electromagnetic intensity, by data computing, and and system for flight control computer between data interaction and judgement, determine whether to keep away barrier action, the method is applicable to electric power line walking unmanned plane evading live wire when transmission line of electricity is patrolled.
At present, the research and analysis of high voltage electricity transmission conductive wire electromagnetic environment have been obtained to certain achievement both at home and abroad, but main research direction is high voltage electricity transmission conductive wire electromagnetic environment to be looked into repair on human body within the scope of liftoff 2m and circuit and safeguards the impact that waits the staff who contacts high voltage electricity transmission conductive wire, and the disturbed condition to above ground portion electronic device etc.The aspect that high voltage electricity transmission conductive wire electromagnetic environment is man-machine for having, the impact of unmanned plane also rests on explanatory note and general introduction is analyzed, especially to utilizing the corresponding relation between wire pitch and electromagnetic intensity, while determining that by data computing unmanned plane is patrolled and examined live wire, whether need to keep away the relevant research of barrier action, in the patent < < Hedgehopping obstacle avoiding subsystem for electric line patrol unmanned helicopter > > that is only 201120124969.1 at number of patent application, have following description:
" singularity according to electric power line walking unmanned plane inspection target-transmission line of electricity, has designed according to the detection of electromagnetic intensity and has judged with transmission line of electricity apart from this pointed, unique, creationary distance-finding method.The characteristic of the method is: nearer apart from transmission line of electricity, distance accuracy is higher, 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.
By the variation of the transmission pressure surrounding magnetic field of different electric pressures is done to simulation calculation, its computational analysis can be accurate to centimetre-sized, can obtain thus wire Distribution of Magnetic Field around, thereby the magnetic field intensity that can detect by pre-service,, with simulation result contrast, can carry out position probing and judgement, detecting while being less than certain definite value with transmission pressure distance, can forcibly changing heading, to avoid the collision of unmanned plane and transmission pressure, avoid accident to occur.”
Prior art shortcoming:
1) prior art is to contrast by detecting variation and the simulation result of the magnetic field intensity of aircraft present position, and then carries out position probing and judgement.When transmission line of electricity actual motion, voltage swing remains on the gradation voltage level of appointment substantially, 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, and what do not have the judgement of measuring can basis.The result of this detection method gained is very inaccurate.
2) in prior art, mention " in-site measurement ", but measurement mechanism (comprising that device forms and installation site), measuring method, data processing method and basis for estimation are not provided.
3) in prior art, mention " the simulation calculation numerical value " for reference, but be not provided for the simulation result of each electric pressure circuit of contrast judgement, do not there is practicality.
4) application example for illustration method feasibility is not described in prior art.
Summary of the invention
Object of the present invention is exactly for addressing the above problem, a kind of differential electric field obstacle avoidance apparatus and method of patrolling and examining live wire for unmanned plane is provided, it has mainly realized the keep away barrier of unmanned plane to transmission pressure, while having avoided unmanned plane to patrol and examine live wire, due to GPS navigation error, fitful wind is excessive, or there is departing from prearranged heading in the flying height process that causes not executing the task, cause the generation of unmanned plane and transmission line of electricity collision situation, ensured the safety of unmanned plane inspection system and transmission line of electricity, promote the reliability of walking operation, guarantee the person, the safety of electrical network and equipment.
For achieving the above object, the present invention adopts following technical scheme:
A kind of differential electric field obstacle avoidance system of patrolling and examining live wire for unmanned plane, it comprises patrol unmanned machine, on unmanned plane, be provided with electric field obstacle device, this device comprises 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 connecting successively, and 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.
Described airborne flight control system comprises flight control system airborne control computer, it respectively with digital compass, three-axis gyroscope, three axis accelerometer, satellite positioning module, barometric altimeter, rotating speed measuring sensor, PCM remote-control receiver, steering engine controller, data radio station, steering engine controller is connected with Servo-controller, the communication of data radio station Ze Yu land station.
Described electric field obstacle avoidance apparatus integral body will be in middle position under patrol unmanned machine body, the symmetrical installation in two-way electric field measurement loop.
A barrier-avoiding method for the differential electric field obstacle avoidance system of live wire is patrolled and examined in employing for unmanned plane,
Step 1: when patrol unmanned machine is patrolled and examined live wire, fuselage is substantially parallel with 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 inputs in DSP data processing module; Electric field measurement sensor, by surveyed electric field intensity numerical value input signal processing unit, is sent in DSP data processing module after the electric field intensity numerical value within the scope of extraction power frequency;
Step 2: the data that gather according to electric field measurement sensor in electric field obstacle avoidance apparatus, keep away the judgement that hinders instruction; Detailed process is: at a time, two electric field measurement sensors are designated as respectively m, m ' after recording the treated conversion of numerical value, input DSP data processing module, and DSP data processing module makes the following judgment:
Wherein, C is the limit value of electric field intensity rate of change.
Steering order is to export to airborne flight control system by DSP data processing module, thereby control unmanned plane body, carries out next step action, when instruction is " safety ", continues current flight task; Instruction when " keeping away barrier ", first by unmanned plane hovering, judges that by the video of passing back in real time sending “Yuan road makes a return voyage " or the instruction of " temporarily adjusting route ".
Utilize simulation calculation, transmission pressure is set up to electric Field Calculation model, and then carry out the numerical value of the distance transmission line of electricity certain distance position electric field intensity rate of change that simulation calculation obtains, 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:
Electric field measurement sensor is by surveyed electric field intensity numerical value input signal processing unit, extract after the electric field intensity numerical value within the scope of power frequency, by A/D conversion unit input DSP data processing module, electric field measurement sensor is by surveyed electric field intensity numerical value input signal processing unit simultaneously, extract after the electric field intensity numerical value within the scope of power frequency, by A/D conversion unit, also input DSP data processing module, according to algorithm process described in above-mentioned steps, the barrier judged result of keeping away generating is inputted flight control system airborne control computer, and then will keep away barrier instruction send to steering engine controller, by it, control the state of flight that Servo-controller changes unmanned aerial vehicle platform.Simultaneously, flight control system airborne control computer can be by the status information of digital compass, three-axis gyroscope, three axis accelerometer, satellite positioning module, barometric altimeter, rotating speed measuring sensor and PCM remote-control receiver, and the information of keeping away barrier judgement is together undertaken by data radio station and land station between mutual.
Different for the corresponding C value of different electric pressure transmission lines of electricity; To the wire of the different line parameter circuit values of same electric pressure (comprising wire spaced apart, wire 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 differential electric field obstacle avoidance system and method for patrolling and examining live wire for unmanned plane, utilize this system, in the time of can realizing unmanned plane and patrol and examine live wire, the barrier of keeping away to very indiscernible wire in 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 differential electric field obstacle avoidance system of live wire, according to the live wire singularity design of electric field environment around, and components and parts volume used is little, simply light, by overcoming ultrasonic ranging, infrared distance measurement and Laser Distance Measuring Equipment, detect the low problem of accuracy, can avoid again microwave radar distance-measuring equipment volume, weight excessive, 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, for judging that the measurement parameter whether unmanned plane needs the transmission pressure to keep away barrier is the rate of change of unmanned plane present position electric field intensity difference numerical, first utilize for certain the electric field intensity numerical value that transmission line of electricity is more stable, secondly the method for employing calculating differential variation rate can either be got rid of the interference of the electric field intensity of other approximate frequencies that may exist in space, make again the variable in calculating parameter reduce as far as possible, make evaluation accurately and reliably, and with 220kV, 500kV, 750kV, the transmission pressure of 1000kV electric pressure is example, provide for contrasting the simulation result of judgement.
Accompanying drawing explanation
Fig. 1 is structure and the data flowchart that unmanned plane is patrolled and examined the electric field measurement obstacle avoidance system of live wire;
Fig. 2 is that unmanned plane is while patrolling and examining 220kV transmission pressure, with the corresponding relation schematic diagram of transmission pressure spacing and electric field intensity rate of change;
Fig. 3 is that unmanned plane is while patrolling and examining 500kV transmission pressure, with the corresponding relation schematic diagram of transmission pressure spacing and electric field intensity rate of change;
Fig. 4 is that unmanned plane is while patrolling and examining 750kV transmission pressure, with the corresponding relation schematic diagram of transmission pressure spacing and electric field intensity rate of change;
Fig. 5 is that unmanned plane is while patrolling and examining 1000kV transmission pressure, with the corresponding relation schematic diagram of transmission pressure spacing and electric field intensity rate of change;
Fig. 6 is actual 220kV transmission line of alternation current typical tangent tower used;
Fig. 7 is 220kV circuit emulation, actual measurement electric field change rate comparison diagram;
Fig. 8 is actual 500kV transmission line of alternation current typical tangent tower used;
Fig. 9 is 500kV circuit emulation, actual measurement electric field change rate comparison diagram;
Figure 10 is actual 750kV transmission line of alternation current typical tangent tower used;
Figure 11 is 750kV circuit emulation, actual measurement electric field change rate comparison diagram;
Figure 12 is actual 1000kV transmission line of alternation current typical tangent tower used;
Figure 13 is 1000kV circuit emulation, actual measurement electric field change rate comparison diagram.
Wherein, 1, electric field measurement sensor, 2, signal processing unit, 3, A/D conversion unit, 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. rotating speed measuring sensors, 12.PCM remote-control receiver, 13. steering engine controllers, 14. data radio stations, 15. Servo-controllers, 16. electric field obstacle avoidance apparatus ，17Shi land stations.
Embodiment
Below in conjunction with accompanying drawing and embodiment, the invention will be further described.
In Fig. 1, it comprises patrol unmanned machine, on unmanned plane, be provided with electric field obstacle device 16, 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 connecting 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.
Described 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, rotating speed measuring sensor 11, PCM remote-control receiver 12, steering engine controller 13, data radio station 14, steering engine controller 13 is connected with Servo-controller 15,17 communications of data radio station 14Ze Yu land station.
Described electric field obstacle avoidance apparatus integral body will be in middle position under patrol unmanned machine body, the symmetrical installation in two-way electric field measurement loop.
Field measurement sensor 1 is by surveyed electric field intensity numerical value input signal processing unit 2, extract after the electric field intensity numerical value within the scope of power frequency, all like this by A/D conversion unit 3 input DSP data processing module 4(two electric field measurement loops), according to algorithm process described in above-mentioned steps b, the barrier judged result of keeping away generating is inputted flight control system airborne control computer 5, and then will keep away barrier instruction and send to steering engine controller 13, by it, control the state of flight that Servo-controller 15 changes unmanned aerial vehicle platform.Simultaneously, 5 years control computing machines of flight control system machine can be by the status information of digital compass 6, three-axis gyroscope 7, three axis accelerometer 8, satellite positioning module 9, barometric altimeter 10, rotating speed measuring sensor 11 and PCM remote-control receiver 12, and the information of keeping away barrier judgement is together undertaken by data radio station 14 and land station 17 between mutual.
The step of barrier-avoiding method of the present invention is:
Step 1: electric field obstacle avoidance apparatus is installed.When unmanned plane is patrolled and examined live wire, for keeping the balance of complete machine good, electric field obstacle avoidance apparatus 16 integral body will be in middle position under unmanned plane body, for keeping the left and right balance of complete machine good, two electric field measurement sensors 1 as shown in Figure 1, two signal processing units 2, and two A/D conversion units 3, answer symmetrical installation, and adopt the differential electric field obstacle avoidance system of above-mentioned installation method, when unmanned plane is patrolled and examined live wire, fuselage need be substantially parallel with transmission pressure direction (all like this when general unmanned plane is patrolled and examined live wire, can guarantee like this effective of two electric field intensity numerical value differences).Remember that two power frequency electric field measurement module installing spaces are l.
Step 2: by two electric field measurement sensor 1 installing space l input DSP data processing modules 4.
Step 3: the data that gather according to electric field measurement sensor in electric field obstacle avoidance apparatus 16 1, keep away the judgement that hinders instruction.
Described step 3 comprises following step:
A. simulation calculation.Transmission pressure is set up to electric Field Calculation model, and then carry out the numerical value of the distance transmission line of electricity certain distance position electric field intensity rate of change that simulation calculation (in Electric Field Numerical Calculation software ANSOFT) obtains.Set the limit value (C value in 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. keep away barrier judgement.Evaluation algorithm in DSP data processing module is as follows:
When unmanned plane is patrolled and examined live wire, at a time, two electric field measurement sensors record the input DSP data processing module that (is designated as respectively m, m ') after the treated conversion of numerical value, and DSP data processing module makes the following judgment:
C. keep away barrier action.Instruction is to export to UAV Flight Control System by data processing and conversion module, and then controls unmanned plane body and carry out next step action, when instruction is " safety ", continues current flight task; Instruction when " keeping away barrier ", first by unmanned plane hovering, judges that by the video of passing back in real time sending “Yuan road makes a return voyage " or the instruction of " temporarily adjusting route ".
As shown in Figure 1, wherein, electric field measurement sensor 1 is used for measuring electric field intensity size in environment of living in; Signal processing unit 2 is used for extracting the electric field intensity numerical value within the scope of power frequency.
Electric field measurement sensor 1 is by surveyed electric field intensity numerical value input signal processing unit 2, extract after the electric field intensity numerical value within the scope of power frequency, all like this by A/D conversion unit 3 input DSP data processing module 4(two electric field measurement loops), according to algorithm process described in above-mentioned steps b, the barrier judged result of keeping away generating is inputted flight control system airborne control computer 5, and then will keep away barrier instruction and send to steering engine controller 13, by it, control the state of flight that Servo-controller 15 changes unmanned aerial vehicle platform.Simultaneously, 5 years control computing machines of flight control system machine can be by the status information of digital compass 6, three-axis gyroscope 7, three axis accelerometer 8, satellite positioning module 9, barometric altimeter 10, rotating speed measuring sensor 11 and PCM remote-control receiver 12, and the information of keeping away barrier judgement is together undertaken by data radio station 14 and land station 17 between mutual.
In above-mentioned steps a, the corresponding C value of different electric pressure transmission lines of electricity is different; To the wire of the different line parameter circuit values of same electric pressure (comprising wire spaced apart, wire 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.For C value, calculate, as follows:
As a result one:
220kV transmission pressure is carried out to simulation modeling, when obtaining Fig. 2 and be unmanned plane and patrolling and examining 220kV transmission pressure, with the corresponding relation schematic diagram of transmission pressure spacing and electric field intensity rate of change.
Get C (this distance is chosen and combined safe distance described in number of patent application 201210044124.0 unmanned plane electric power line walking safe distance detection methods, lower together) electric field intensity rate of change numerical value, i.e. C220=29 when apart from wire 20m.
As a result two:
500kV transmission pressure is carried out to simulation modeling, when obtaining Fig. 3 and be unmanned plane and patrolling and examining 500kV transmission pressure, with the corresponding relation schematic diagram of transmission pressure spacing and electric field intensity rate of change.
Get C electric field intensity rate of change numerical value, i.e. C500=56 when apart from wire 24m.
As a result three:
750kV transmission pressure is carried out to simulation modeling, when obtaining Fig. 4 and be unmanned plane and patrolling and examining 750kV transmission pressure, with the corresponding relation schematic diagram of transmission pressure spacing and electric field intensity rate of change.
Get C electric field intensity rate of change numerical value, i.e. C750=77 when apart from wire 27m.
As a result four:
1000kV transmission pressure is carried out to simulation modeling, when obtaining Fig. 5 and be unmanned plane and patrolling and examining 1000kV transmission pressure, with the corresponding relation schematic diagram of transmission pressure spacing and electric field intensity rate of change.
Get C electric field intensity rate of change numerical value, i.e. C1000=81 when apart from wire 32m.
Embodiment 1:
Differential electric field obstacle avoidance system is equipped on unmanned plane actual 220kV circuit is detected, while setting unmanned plane during flying, fuselage is substantially parallel with transmission pressure direction, for contour with limit item wire, flight path is by close apart from 70 meters of slow guiding lines of limit item wire, to 16 meters of distance of wire (selecting this distance range is in order to ensure the safety of unmanned plane, and can verify and whether receive the alerting signal of electric field measurement obstacle avoidance system midway in anticipation position).For reducing flight error, flying condition is selected as follows:
Weather: sunny calm;
Make an inspection tour wire: be illustrated in fig. 6 shown below the middle wire 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, selects former road to return after hovering, derived data, with simulation result contrast as shown in Figure 7.
In Fig. 7, " series one " is emulated data, and " series two " is measured data.As seen from the figure, emulated data and measured data are basically identical.And differential electric field obstacle avoidance system also can produce alerting signal according to predeterminable range, the practicality of differential electric field obstacle avoidance system and emulated data has been described.
Embodiment 2:
Differential electric field obstacle avoidance system is equipped on unmanned plane actual 500kV circuit is detected, while setting unmanned plane during flying, fuselage is substantially parallel with transmission pressure direction, for contour with limit item wire, flight path is by close apart from 70 meters of slow guiding lines of limit item wire, to 20 meters of distance of wire (selecting this distance range is in order to ensure the safety of unmanned plane, and can verify and whether receive the alerting signal of electric field measurement obstacle avoidance system midway in anticipation position).For reducing flight error, flying condition is selected as follows:
Weather: sunny calm;
Make an inspection tour wire: be illustrated in fig. 8 shown below the middle wire 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, selects former road to return after hovering, derived data, with simulation result contrast as shown in Figure 9.
In Fig. 9, " series one " is emulated data, and " series two " is measured data.As seen from the figure, emulated data and measured data are basically identical.And differential electric field obstacle avoidance system also can produce alerting signal according to predeterminable range, the practicality of differential electric field obstacle avoidance system and emulated data has been described.
Embodiment 3:
Differential electric field obstacle avoidance system is equipped on unmanned plane actual 750kV circuit is detected, while setting unmanned plane during flying, fuselage is substantially parallel with transmission pressure direction, for contour with limit item wire, flight path is by close apart from 70 meters of slow guiding lines of limit item wire, to 23 meters of distance of wire (selecting this distance range is in order to ensure the safety of unmanned plane, and can verify and whether receive the alerting signal of electric field measurement obstacle avoidance system midway in anticipation position).For reducing flight error, flying condition is selected as follows:
Weather: sunny calm;
Make an inspection tour wire: be illustrated in fig. 10 shown below the middle wire 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, selects former road to return after hovering, derived data, with simulation result contrast as shown in figure 11.
In Figure 11, " series one " is emulated data, and " series two " is measured data.As seen from the figure, emulated data and measured data are basically identical.And differential electric field obstacle avoidance system also can produce alerting signal according to predeterminable range, the practicality of differential electric field obstacle avoidance system and emulated data has been described.
Embodiment 4:
Differential electric field obstacle avoidance system is equipped on unmanned plane actual 1000kV circuit is detected, while setting unmanned plane during flying, fuselage is substantially parallel with transmission pressure direction, for contour with limit item wire, flight path is by close apart from 70 meters of slow guiding lines of limit item wire, to 28 meters of distance of wire (selecting this distance range is in order to ensure the safety of unmanned plane, and can verify and whether receive the alerting signal of electric field measurement obstacle avoidance system midway in anticipation position).For reducing flight error, flying condition is selected as follows:
Weather: sunny calm;
Make an inspection tour wire: be illustrated in fig. 12 shown below the middle wire 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, selects former road to return after hovering, derived data, with simulation result contrast as shown in figure 13.
In Figure 13, " series one " is emulated data, and " series two " is measured data.As seen from the figure, emulated data and measured data are basically identical.And differential electric field obstacle avoidance system also can produce alerting signal according to predeterminable range, the practicality of differential electric field obstacle avoidance system and emulated data has been described.
Although above-mentioned, by reference to the accompanying drawings the specific embodiment of the present invention is described; but be not limiting the scope of the 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 do not need to pay various modifications that creative work can make or distortion still in protection scope of the present invention.
Claims (3)
1. for unmanned plane, patrol and examine a barrier-avoiding method for the differential electric field obstacle avoidance system of live wire,
Described system comprises patrol unmanned machine, on unmanned plane, be provided with electric field obstacle avoidance apparatus, this device comprises 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 connecting successively, 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;
Described airborne flight control system comprises flight control system airborne control computer, it is connected with digital compass, three-axis gyroscope, three axis accelerometer, satellite positioning module, barometric altimeter, rotating speed measuring sensor, PCM remote-control receiver, steering engine controller, data radio station respectively, steering engine controller is connected with Servo-controller, the communication of data radio station Ze Yu land station;
Described electric field obstacle avoidance apparatus integral body will be in middle position under patrol unmanned machine body, the symmetrical installation in two-way electric field measurement loop;
It is characterized in that, the step of described method is as follows:
Step 1: when patrol unmanned machine is patrolled and examined live wire, fuselage is parallel with 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 inputs in DSP data processing module; Electric field measurement sensor, by surveyed electric field intensity numerical value input signal processing unit, is sent in DSP data processing module after the electric field intensity numerical value within the scope of extraction power frequency;
Step 2: the data that gather according to electric field measurement sensor in electric field obstacle avoidance apparatus, keep away the judgement that hinders instruction; Detailed process is: at a time, two electric field measurement sensors are designated as respectively m, m ' after recording the treated conversion of numerical value, input DSP data processing module, and DSP data processing module makes the following judgment:
output " safety " instruction;
Wherein, C is the limit value of electric field intensity rate of change.
2. the method for claim 1, is characterized in that, steering order is to export to airborne flight control system by DSP data processing module, thereby control unmanned plane body, carries out next step action, when instruction is " safety ", continues current flight task; Instruction when " keeping away barrier ", first by unmanned plane hovering, judges that by the video of passing back in real time sending “Yuan road makes a return voyage " or the instruction of " temporarily adjusting route ".
3. barrier-avoiding method as claimed in claim 1, it is characterized in that, utilize simulation calculation, transmission pressure is set up to electric Field Calculation model, and then carry out the numerical value of the distance transmission line of electricity certain distance position electric field intensity rate of change that simulation calculation obtains, 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.
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