CN104536460A - Method for patrolling concave mountain slope electric transmission line by unmanned aerial vehicle - Google Patents
Method for patrolling concave mountain slope electric transmission line by unmanned aerial vehicle Download PDFInfo
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- CN104536460A CN104536460A CN201410853826.2A CN201410853826A CN104536460A CN 104536460 A CN104536460 A CN 104536460A CN 201410853826 A CN201410853826 A CN 201410853826A CN 104536460 A CN104536460 A CN 104536460A
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Abstract
The invention discloses a method for patrolling a concave mountain slope electric transmission line by an unmanned aerial vehicle. The method is achieved based on an aircraft system which is composed of a power module, a main processing module, a rotor wing motor dragging module, a gesture detection module, a wireless video module, a data storage module, a GPS positioning module, a wireless remote control module and a remote controller. The main processing module reads the pole tower information in the data storage module, the position of a target pole tower is determined by combining the GPS positioning module, and an aircraft is controlled to complete the patrolling operation of the pole tower on a concave mountain slope by combining an atmospheric pressure sensor in the gesture detection module. By the adoption of the method, the manpower patrolling obstacle problem caused by the factors such as a complex terrain is solved, patrolling personnel can patrol a pole tower line in the complex terrain at a simple terrain such as the foot of a mountain, on the premise that it is guaranteed that patrolling tasks can be fulfilled in a high-quality mode, the investment of manpower and material resources is small, the working efficiency of line operation and maintenance personnel is greatly improved, and the reliability of a power grid is ensured.
Description
Technical field
The present invention relates to a kind of method that unmanned vehicle is maked an inspection tour transmission line of electricity, particularly relate to a kind of method that unmanned vehicle is maked an inspection tour recessed hillside transmission line of electricity.
Background technology
Depopulated zone, transmission line of electricity running environment many places, special south China landform is with mountain range, mountain region virgin forest and hills are main, these regional topographic relieies are frequent, drop is large, aircraft completes patrolling transmission line work, extreme low-altitude nap of the earth flight must be completed, (transmission line of electricity on average runs height and the height apart from ground 20-80 rice, extremely big with this altitude difficulty, the spatial domain flight of standard aircraft below 300 meters is hedgehopping, so aircraft will really realize practical, namely realizing extreme low-altitude nap of the earth flight is topmost technology barrier, simultaneously small-sized, the span of minute vehicle type and wheelbase are all within 2000mm, be convenient under complex environment, carry out flare maneuver flexibly, this kind of machine cannot install too much complicated equipment, such as high-power ultrasonics radar obstacle device, satellite data transmission and high-power image delivering system.。
Summary of the invention
The object of the invention is to the deficiency overcoming prior art, a kind of method that unmanned vehicle is maked an inspection tour recessed hillside transmission line of electricity is provided, for being located in the tour of mountain area transmission line of electricity aircraft.
The technical solution adopted for the present invention to solve the technical problems is: a kind of method that unmanned vehicle is maked an inspection tour recessed hillside transmission line of electricity, and A. starts the aircraft being in the corrie takeoff point place on recessed hillside;
B. the main processing block of aircraft reads positional information and the elevation information of two shaft towers of the both sides peak on the recessed hillside stored in data memory module;
C. the main processing block of aircraft sends control command to rotor motor drag module, controls aircraft and vertically flies;
D. the attitude detection module of aircraft, the elevation information of GPS locating module Real-time Collection aircraft and positional information;
E. the elevation information read in the real-time elevation information of aircraft and data memory module compares by the main processing block of aircraft, when the real-time elevation information of aircraft reaches the elevation information read in data memory module, perform next step, otherwise return step C;
F. aircraft main processing block to rotor motor drag module send control command, control aircraft along recessed hillside hillside wherein side horizontal direction flight;
G. the image information of the wireless video module captured in real-time transmission line of electricity of aircraft, and image information is sent to remote controllers, carry out telemonitoring;
H. the attitude detection module of aircraft, the elevation information of GPS locating module Real-time Collection aircraft and positional information;
I. the shaft tower positional information of the wherein side of reading in the real-time confidence breath of aircraft and data memory module compares by the main processing block of aircraft, when the positional information of the shaft tower of the wherein side of reading in the real-time position information and data memory module of aircraft matches, perform next step, otherwise return step F;
J. the main processing block of aircraft sends control command to rotor motor drag module, controls aircraft and flies along the horizontal direction of the opposite side on recessed hillside;
K. the image information of the wireless video module captured in real-time transmission line of electricity of aircraft, and image information is sent to remote controllers, carry out telemonitoring;
L. the attitude detection module of aircraft, the elevation information of GPS locating module Real-time Collection aircraft and positional information;
M. the shaft tower positional information of the wherein opposite side read in the real-time confidence breath of aircraft and data memory module compares by the main processing block of aircraft, when the positional information of the shaft tower of the wherein opposite side read in the real-time position information and data memory module of aircraft matches, perform next step, otherwise return step J;
N. aircraft terminates to make an inspection tour;
Wherein, described attitude detection module has gyro sensor, acceleration transducer and atmosphere pressure sensor; Described gyro sensor is used for gathering the angular speed in aircraft pitch rate, rolling angle rate, yawrate three directions; Described acceleration transducer is used for carrying out revising to the measured value of gyro sensor and compensating; Described atmosphere pressure sensor is used for the current flying height of sense aircraft;
Described wireless video module has camera and wireless video processing module; Described camera is used for gathering image scene during aircraft flight, described wireless video processing module be used for by camera collection to image scene carry out coded treatment and by coding after image scene transfer to remote controllers;
Described GPS locating module is used for determining the position of current flight device and the destination locations of aircraft flight, and the positional information of aircraft is transferred to main processing block;
Described rotor motor drag module adjusts the state of flight of aircraft according to the flight control command that main processing block sends;
Positional information and the elevation information of highest point shaft tower in both sides on recessed hillside is previously stored with in described data memory module;
Described wireless remote control module is used for sending the state of flight information of aircraft to described remote controllers, and receives control information that remote controllers send to main processing block;
Described remote controllers, for receiving the image scene of wireless video module transfer, also for sending remote control command to wireless remote control module;
Send control information after the position letter of the aircraft that described main processing block is determined in conjunction with the Flight Condition Data of the aircraft detected by attitude detection module, GPS locating module and the information of data memory module memory storage storage carry out analyzing and processing to described rotor motor drag module and then the flight path and the state of flight that control aircraft; Described main processing block also sends flight control command to the motor in rotor motor drag module according to the remote control command of wireless remote control module transmission.
The invention has the beneficial effects as follows:
Main processing block is by the position of camera and GPS locating module determination target shaft tower, the tour operation to shaft tower on recessed hillside is completed in conjunction with the atmosphere pressure sensor control aircraft in attitude detection module, solve the manpower caused because of the factor such as with a varied topography and make an inspection tour obstacle, tour personnel can wait simple terrain to complete shaft tower line inspection in complex terrain at the foot of the hill, ensure under the prerequisite completing tour task in high quality, realize the less input of manpower and materials, substantially increase the work efficiency of circuit operation maintenance personnel, ensure that the reliability of electrical network.
Below in conjunction with drawings and Examples, the present invention is described in further detail; But a kind of unmanned vehicle of the present invention is not limited to embodiment to the method that recessed hillside transmission line of electricity is maked an inspection tour.
Accompanying drawing explanation
Fig. 1 is functional block diagram of the present invention;
Fig. 2 is flight schematic diagram of the present invention.
Embodiment
Embodiment
Shown in Fig. 1-Fig. 2, the method that a kind of unmanned vehicle of the present invention is maked an inspection tour recessed hillside transmission line of electricity, for the tour of aircraft to transmission line of electricity on recessed hillside.
The technical solution adopted for the present invention to solve the technical problems is: a kind of aircraft, in the flight working system on recessed hillside, is that the aerocraft system formed based on power module 10, main processing block 20, rotor motor drag module 30, attitude detection module 40, wireless video module 50, data memory module 70, GPS locating module 60, wireless remote control module 80 and remote controllers 90 realizes; The method comprises the steps:
A. the aircraft being in the corrie takeoff point place on recessed hillside is started;
B. the main processing block 20 of aircraft reads positional information and the elevation information of two shaft towers of the both sides peak on the recessed hillside stored in data memory module 70;
C. the main processing block 20 of aircraft sends control command to rotor motor drag module 30, controls aircraft and vertically flies;
D. the attitude detection module 40 of aircraft, the elevation information of GPS locating module 60 Real-time Collection aircraft and positional information;
E. the elevation information read in the real-time elevation information of aircraft and data memory module 70 compares by the main processing block 20 of aircraft, when the real-time elevation information of aircraft reaches the elevation information read in data memory module 70, perform next step, otherwise return step C;
F. the main processing block 20 of aircraft sends control command to rotor motor drag module 30, control aircraft along recessed hillside hillside wherein side horizontal direction flight;
G. the image information of the wireless video module 50 captured in real-time transmission line of electricity of aircraft, and image information is sent to remote controllers 90, carry out telemonitoring;
H. the attitude detection module 40 of aircraft, the elevation information of GPS locating module 60 Real-time Collection aircraft and positional information;
I. the real-time confidence breath of aircraft compares with the shaft tower positional information of the interior wherein side of reading of data memory module 70 by the main processing block 20 of aircraft, when the positional information of the shaft tower of the wherein side of reading in the real-time position information and data memory module 70 of aircraft matches, perform next step, otherwise return step F;
J. the main processing block 20 of aircraft sends control command to rotor motor drag module 30, controls aircraft and flies along the horizontal direction of the opposite side on recessed hillside;
K. the image information of the wireless video module 50 captured in real-time transmission line of electricity of aircraft, and image information is sent to remote controllers 90, carry out telemonitoring;
L. the attitude detection module 40 of aircraft, the elevation information of GPS locating module 60 Real-time Collection aircraft and positional information;
M. the real-time confidence breath of aircraft compares with the shaft tower positional information of the interior wherein opposite side read of data memory module 70 by the main processing block 20 of aircraft, when the positional information of the shaft tower of the wherein opposite side read in the real-time position information and data memory module 70 of aircraft matches, perform next step, otherwise return step J;
N. aircraft terminates to make an inspection tour; Wherein, described attitude detection module 40 has gyro sensor, acceleration transducer and atmosphere pressure sensor; Described gyro sensor is used for gathering the angular speed in aircraft pitch rate, rolling angle rate, yawrate three directions; Described acceleration transducer is used for carrying out revising to the measured value of gyro sensor and compensating; Described atmosphere pressure sensor is used for the current flying height of sense aircraft;
Wherein, described attitude detection module 40 has gyro sensor, acceleration transducer and atmosphere pressure sensor; Described gyro sensor is used for gathering the angular speed in aircraft pitch rate, rolling angle rate, yawrate three directions; Described acceleration transducer is used for carrying out revising to the measured value of gyro sensor and compensating; Described atmosphere pressure sensor is used for the current flying height of sense aircraft;
Described wireless video module 50 has camera and wireless video processing module; Described camera is used for gathering image scene during aircraft flight, described wireless video processing module 50 be used for by camera collection to image scene carry out coded treatment and by coding after image scene transfer to remote controllers 90;
Described GPS locating module 60 is used for determining the position of current flight device and the destination locations of aircraft flight, and the positional information of aircraft is transferred to main processing block;
Described rotor motor drag module 30 adjusts the state of flight of aircraft according to the flight control command that main processing block 20 sends;
Positional information and the elevation information of highest point shaft tower in both sides on recessed hillside is previously stored with in described data memory module 70;
Described wireless remote control module 80 is used for sending the state of flight information of aircraft to described remote controllers, and receives control information that remote controllers send to main processing block 20;
Described remote controllers 90, for receiving the image scene that wireless video module 50 is transmitted, also for sending remote control command to wireless remote control module 80;
Send control information after the position letter of the aircraft that described main processing block 20 is determined in conjunction with the Flight Condition Data of the aircraft detected by attitude detection module 40, GPS locating module 60 and the information of data memory module 70 memory storage storage carry out analyzing and processing to described rotor motor drag module 30 and then the flight path and the state of flight that control aircraft; The remote control command that described main processing block 20 also transmits according to wireless remote control module 80 sends flight control command to the motor in rotor motor drag module 30.
Above-described embodiment is only used for further illustrating the method that a kind of unmanned vehicle of the present invention is maked an inspection tour recessed hillside transmission line of electricity; but the present invention is not limited to embodiment; every above embodiment is done according to technical spirit of the present invention any simple modification, equivalent variations and modification, all fall in the protection domain of technical solution of the present invention.
Claims (1)
1. unmanned vehicle method that recessed hillside transmission line of electricity is maked an inspection tour, it is characterized in that, be that the aerocraft system formed based on power module, main processing block, rotor motor drag module, attitude detection module, wireless video module, data memory module, GPS locating module, wireless remote control module and remote controllers realizes; The method comprises the steps:
A. the aircraft being in the corrie takeoff point place on recessed hillside is started;
B. the main processing block of aircraft reads positional information and the elevation information of two shaft towers of the both sides peak on the recessed hillside stored in data memory module;
C. the main processing block of aircraft sends control command to rotor motor drag module, controls aircraft and vertically flies;
D. the attitude detection module of aircraft, the elevation information of GPS locating module Real-time Collection aircraft and positional information;
E. the elevation information read in the real-time elevation information of aircraft and data memory module compares by the main processing block of aircraft, when the real-time elevation information of aircraft reaches the elevation information read in data memory module, perform next step, otherwise return step C;
F. aircraft main processing block to rotor motor drag module send control command, control aircraft along recessed hillside hillside wherein side horizontal direction flight;
G. the image information of the wireless video module captured in real-time transmission line of electricity of aircraft, and image information is sent to remote controllers, carry out telemonitoring;
H. the attitude detection module of aircraft, the elevation information of GPS locating module Real-time Collection aircraft and positional information;
I. the shaft tower positional information of the wherein side of reading in the real-time confidence breath of aircraft and data memory module compares by the main processing block of aircraft, when the positional information of the shaft tower of the wherein side of reading in the real-time position information and data memory module of aircraft matches, perform next step, otherwise return step F;
J. the main processing block of aircraft sends control command to rotor motor drag module, controls aircraft and flies along the horizontal direction of the opposite side on recessed hillside;
K. the image information of the wireless video module captured in real-time transmission line of electricity of aircraft, and image information is sent to remote controllers, carry out telemonitoring;
L. the attitude detection module of aircraft, the elevation information of GPS locating module Real-time Collection aircraft and positional information;
M. the shaft tower positional information of the wherein opposite side read in the real-time confidence breath of aircraft and data memory module compares by the main processing block of aircraft, when the positional information of the shaft tower of the wherein opposite side read in the real-time position information and data memory module of aircraft matches, perform next step, otherwise return step J;
N. aircraft terminates to make an inspection tour;
Wherein, described attitude detection module has gyro sensor, acceleration transducer and atmosphere pressure sensor; Described gyro sensor is used for gathering the angular speed in aircraft pitch rate, rolling angle rate, yawrate three directions; Described acceleration transducer is used for carrying out revising to the measured value of gyro sensor and compensating; Described atmosphere pressure sensor is used for the current flying height of sense aircraft;
Described wireless video module has camera and wireless video processing module; Described camera is used for gathering image scene during aircraft flight, described wireless video processing module be used for by camera collection to image scene carry out coded treatment and by coding after image scene transfer to remote controllers;
Described GPS locating module is used for determining the position of current flight device and the destination locations of aircraft flight, and the positional information of aircraft is transferred to main processing block;
Described rotor motor drag module adjusts the state of flight of aircraft according to the flight control command that main processing block sends;
Positional information and the elevation information of highest point shaft tower in both sides on recessed hillside is previously stored with in described data memory module;
Described wireless remote control module is used for sending the state of flight information of aircraft to described remote controllers, and receives control information that remote controllers send to main processing block;
Described remote controllers, for receiving the image scene of wireless video module transfer, also for sending remote control command to wireless remote control module;
Send control information after the position letter of the aircraft that described main processing block is determined in conjunction with the Flight Condition Data of the aircraft detected by attitude detection module, GPS locating module and the information of data memory module memory storage storage carry out analyzing and processing to described rotor motor drag module and then the flight path and the state of flight that control aircraft; Described main processing block also sends flight control command to the motor in rotor motor drag module according to the remote control command of wireless remote control module transmission.
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| CN109270564A (en) * | 2018-10-23 | 2019-01-25 | 河南工业职业技术学院 | A kind of high-precision GNSS measuring device and its measurement method |
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