CN104808687A - Control device and control method for unmanned airship control device for observing electrified detection bodies - Google Patents
Control device and control method for unmanned airship control device for observing electrified detection bodies Download PDFInfo
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- CN104808687A CN104808687A CN201510209640.8A CN201510209640A CN104808687A CN 104808687 A CN104808687 A CN 104808687A CN 201510209640 A CN201510209640 A CN 201510209640A CN 104808687 A CN104808687 A CN 104808687A
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Abstract
The invention discloses a control device and a control method for an unmanned airship for observing electrified detection bodies. The control device for the unmanned airship comprises a mooring rope traction device, the airship, an airship-mounted device and a remote control device, wherein the airship is connected with the mooring rope traction device through a mooring rope, the airship-mounted device is arranged on the airship, and the mooring rope traction device and the airship-mounted device are connected with the remote control device. The control device and the control method have the advantages that since the remote control device is used for controlling the mooring rope traction device and the airship-mounted device, the airship can be used for close-range observation of the electrified detection bodies and controlled within a safe distance from the electrified detection bodies, the problem that the airship and the electrified detection bodies collide is avoided, observation safety and observation and maintenance efficiency of the electric power industry are improved, labor intensity of maintenance personnel is reduced, operation times of the maintenance personnel on the high-voltage electrified detection bodies can be decreased, and work dangerousness is reduced.
Description
Technical field
The present invention relates to unmanned airship closely to observe, detect application, specifically a kind of unmanned airship control device and control method thereof observing live detection body.
Background technology
Electric power carries out the requisite basic motive power of modernization construction, to national economy and people's lives important in inhibiting, high-tension line distribution for electric power transfer is wide, overhead transmission line is long, be in again outdoor operation, often be subject to the impact of surrounding environment and natural trend, special in weather acute variation (as strong wind, heavy snow, dense fog, conductor glaze formation, heavy rain etc.), disaster is (as earthquake, flooding, Freshets roar down from the mountains, forest is on fire), when circuit overload and other special circumstances, often break down, affect normal power supply, very large impact is brought to national economy and people's lives.When there is above fault, how to repair fault fast and just seeming particularly important.
But, want to repair field high-voltage power transmission device fast, important prerequisite be how to fault locate accurately with to the accurate judgement damaging parts.At present, be generally patrolled by staff's rod-rising tower, carry out observation to the parts on shaft tower top and understand, trouble-shooting position, this mode needs to expend more manpower, and efficiency is low, and has certain danger.
For this situation, power industry once proposed the advantage utilizing unmanned plane or unmanned airship aerial observation, in-plant observation is carried out to live detection body, but unmanned plane is when carrying out observation live detection body, be subject to the external actions such as external wind larger, when remote control slightly not in time time, be very easy to collide with live detection body, cause danger.The outwardness of this situation, makes unmanned airship can not get good application in electric power maintenance always.
Summary of the invention
The technical problem to be solved in the present invention is to provide a kind of unmanned airship control device and the control method thereof of observing live detection body, makes unmanned airship can carry out close-distance safety observation to live detection body, saves manpower, improves efficiency.
Technical scheme of the present invention is:
The unmanned airship control device of observation live detection body, include rope pulling appliance, the dirigible be connected with rope pulling appliance by hawser, the ship be arranged on dirigible carry device and telechiric device, described rope pulling appliance, ship carry device and are all connected with telechiric device.
Described rope pulling appliance comprises motor, the reel be connected with motor, motor control panel, is arranged at the photoelectricity meter counter on reel, pulling force sensor, and rope pulling appliance altimeter; Described cable takeup is on reel and exported by pulling force sensor; Described motor control panel, photoelectricity meter counter, pulling force sensor are all connected with telechiric device with rope pulling appliance altimeter.
Described ship carries device and includes control panel, and the dirigible altimeter be connected respectively with control panel, video camera, dirigible controller, battery and ship carry radio receiving transmitting module, and described ship is carried radio receiving transmitting module and is connected with telechiric device by remote-control radio transceiver module.
Described telechiric device includes micro-control unit, the remote control buttons be connected with micro-control unit respectively, display screen and storer, and described rope pulling appliance, ship carry device and be all connected with micro-control unit.
Described rope pulling appliance also comprises and being arranged on reel and the electric brake sheet be connected with telechiric device, the hand-operated rocker arm be connected with reel, and for connecting the driving belt of motor and reel.
Described hawser selects nylon rope or Kev stay cord.
Based on the control method of the unmanned airship control device of observation live detection body, comprise the following steps:
(1), first unmanned airship control device is transported near live detection body operation field, the sea level elevation H2 of rope pulling appliance is measured by rope pulling appliance altimeter, laser range finder measures the distance D1 between rope pulling appliance and live detection body, and this distance value is entered in telechiric device, typing safe distance D_max, line density ρ in telechiric device simultaneously, telechiric device draws the maximum operation radius Lmax of dirigible, wherein, Lmax<D1-D_max, D_max are empirical value;
(2), ship carries device starting up, dirigible inflation lift-off, rope pulling appliance measures released cable length L by photoelectricity meter counter simultaneously, the control panel that ship carries device measures the sea level elevation H1 residing for dirigible in real time by dirigible altimeter, and open video camera and make a video recording, simultaneous altitude information H1 and video information radio to telechiric device, and the control panel that ship carries device receives the dirigible steering order that telechiric device sends simultaneously, and control airship flight by dirigible controller;
(3), manual operation telechiric device remote control airship is close to live detection body gradually, the reel that telechiric device can control rope pulling appliance automatically by motor control panel slowly releases hawser, and measure the pulling force suffered by hawser by pulling force sensor, when released cable length L exceedes maximum operation radius Lmax, rope pulling appliance is by by the tensile force f suffered by hawser and line density ρ, and in conjunction with catenary formula, calculate the distance D2 of dirigible distance rope pulling appliance and the distance D of dirigible distance live detection body; When D is less than safe distance D_max, telechiric device controls motor control panel and regains hawser, and when D is greater than safe distance D_max, telechiric device controls motor control panel and releases hawser.
Described catenary formula is
wherein a=ρ/F, ρ are the density of hawser, the pulling force of F suffered by hawser; Namely have: y=sinh (ax), if X=ax, obtain y=sinh (X), then by its inverse function:
can obtain:
Wherein, H=H1-H2.
The dirigible steering order that in described step (2), telechiric device sends includes advance, rotates and hovering.
When described dirigible is near safe distance, operating personnel are observed live detection body by the display screen on telechiric device, and the video information received is stored into memory ready by telechiric device simultaneously; When remote control trouble appears to dirigible in operation, or when telechiric device breaks down, carried out the folding and unfolding of hawser by the hand-operated rocker arm on rope pulling appliance aloft, safe retraction dirigible.
Advantage of the present invention:
The present invention adopts telechiric device to control rope pulling appliance and ship carries device, ensure that dirigible closely can be observed live detection body, and and the distance controlling of live detection body at safe distance, avoid the problem that dirigible and live detection body collide, improve the security of observation and the observation maintenance efficiency of power industry, reduce the labour intensity of maintenance personal, also can reduce maintenance personal to electrification in high voltage detection bodies operations number, reduce work risk.
The invention is not restricted to the observation to live detection body, monitoring or supervision, to other object, as: Large Oil Storage facility, the observation of laying special stress on protecting historical relic, anti-terrorism place, large-scale crowd massing ground etc., monitoring or supervision, applicable equally.
Accompanying drawing explanation
Fig. 1 is the structural representation of unmanned airship control device of the present invention.
Fig. 2 is the structural representation of rope pulling appliance of the present invention.
Fig. 3 is the structured flowchart that ship of the present invention carries device.
Fig. 4 is the structured flowchart of telechiric device of the present invention.
Fig. 5 is the diagram of each parameter of the present invention.
Fig. 6 is the catenary curve figure of hawser in the present invention.
Embodiment
See Fig. 1, the unmanned airship control device of observation live detection body, include rope pulling appliance 2, the dirigible 1 be connected with rope pulling appliance 2 by hawser 3, the ship be arranged on dirigible 1 carry device 4 and telechiric device 5;
See Fig. 4, telechiric device 5 includes micro-control unit 51, the remote control buttons 52 be connected with micro-control unit 51 respectively, display screen 53 and storer 54; Display screen 53 is for showing human-computer interaction interface and video observing measurement information, and remote control buttons 52 is flown for typing controling parameters and remote control airship, and micro-control unit 51 is for the treatment of various data and realize centralized control, storer 54 use store video information.
See Fig. 2, rope pulling appliance 2 comprises motor 21, the reel 22 be connected with motor 21, motor control panel 23, be installed on the photoelectricity meter counter 24 on reel 22 and electric brake sheet 25, pulling force sensor 26, rope pulling appliance altimeter 27, the hand-operated rocker arm 28 be connected with reel 22, and for connecting the driving belt 29 of motor 21 and reel 22; Hawser 3 to be wound on reel 22 and to be exported by pulling force sensor 26; Motor control panel 23, photoelectricity meter counter 24, electric brake sheet 25, pulling force sensor 26, rope pulling appliance altimeter 27 are all connected with the micro-control unit 51 of telechiric device; Motor control panel 23 is for controlling forward and backward and the velocity of rotation of motor, hawser 3 length that photoelectricity meter counter 24 is released for measuring reel 22, electric brake sheet 25 is for locking spool turns, pulling force sensor 26 is for measuring the pulling force suffered by hawser 3, rope pulling appliance altimeter 27 is for measuring the sea level elevation residing for rope pulling appliance, and hand-operated rocker arm 28 rotates for hand rotation reel 22.Reel 22 has hand control and automation two kinds of modes of operation, when hand-operated rocker arm 28 launches, motor control panel 23 is invalid for the control of motor 21, reel 22 manually rocking arm 28 pairs of reels 22 carries out manual scrolling, when hand-operated rocker arm 28 is regained, motor control panel 23 is effective for the control of motor 21, automatically can control reel 22.Hand-operated rocker arm 28 links mutually with Electric Machine Control machinery switch, and when hand-operated rocker arm 28 is opened, motor control panel 23 disconnects the control to motor 21; When hand-operated rocker arm 23 is regained, motor control panel 23 is communicated with the control to motor 21.
Hawser 3 selects very soft Kev to draw nylon wire, and quality is soft, and rigidity is little, and it hangs on aerial geometric configuration not by its rigidity effects, substantially meets built on stilts catenary feature, adopts built on stilts catenary equation to be described calculating in application.
See Fig. 3, ship carries device 4 and includes control panel 41, the dirigible altimeter 42 be connected respectively with control panel 41, video camera 43, dirigible controller 44, battery 45 and ship carry radio receiving transmitting module 46, ship is carried radio receiving transmitting module 46 and is connected with the micro-control unit 51 of telechiric device by remote-control radio transceiver module 55, and remote-control radio transceiver module 55 is connected with the micro-control unit 51 of telechiric device by internal bus; Dirigible altimeter 42 is for measuring the sea level elevation residing for dirigible 1, video camera 43 is for observing live detection body 6, dirigible controller 44 is for controlling the flight of dirigible 1, realize the advance of dirigible 1, rotation, suspension, control panel 41 is for controlling the work of dirigible altimeter 42 and video camera 43, interconnect with dirigible controller 44, for indirectly controlling the flare maneuver of dirigible 1, ship carries radio receiving transmitting module 46 for carrying out wireless telecommunications between telechiric device simultaneously.
See Fig. 1-Fig. 5, based on the control method of the unmanned airship control device of observation live detection body, comprise the following steps:
(1), first unmanned airship control device is transported near live detection body 6 operation field, the sea level elevation H2 of rope pulling appliance 2 is measured by rope pulling appliance altimeter 27, laser range finder measures the distance D1 between rope pulling appliance 2 and live detection body 6, and this distance value is entered in telechiric device 5, typing safe distance D_max, line density ρ in telechiric device 5 simultaneously, telechiric device draws the maximum operation radius Lmax of dirigible; Safe distance between dirigible 1 and live detection body 6 must not be less than D_max, the value of D_max is generally determined according to the electric pressure of live detection body 6, for test empirical value, but high as far as possible in order to make the video observation sharpness of live detection body 1, the observed range D between dirigible 1 and live detection body 6 should reduce as far as possible;
In order to job safety, require that the distance D between dirigible 1 and live detection body 6 meets: D>D_max; Because D=D1-D2; Wherein D2 is the distance between dirigible 1 and rope pulling appliance 2; So D=D1-D2>D_max, i.e. D2<D1-D_max; The theorem of hypotenuse is less than again according to the straight flange of right-angle triangle, and the shortest formula of straight line between 2, can draw: D2<L1<L, so, in the worst cases, as long as when L<D1-D_max meets, D2<L<D1-D_max can be met, reach the requirement of safety work, at this moment L is the maximum operation radius Lmax of dirigible 1;
Under this condition, the surplus length D_byd exceeding safe distance D_max is: D_byd=D-D_max=D1-D2-D_max; So,
when H is larger, surplus length D_byd is larger, and also namely observed range is far away, and the sharpness of video observation is by influenced.In order to reduce the distance of D_byd, telechiric device 5 can by the distance of folding and unfolding hawser 3 Dynamic controlling D2;
(2), ship carries device 4 starting up, lift-off inflated by dirigible 1, rope pulling appliance 2 measures released cable length L by photoelectricity meter counter 24 simultaneously, ship carries the control panel 41 of device by the sea level elevation H1 of dirigible altimeter 42 in real time residing for measurement dirigible, and open video camera 43 and make a video recording, simultaneous altitude information H1 and video information carry radio receiving transmitting module 46 by ship successively, remote-control radio transceiver module 55 radios to telechiric device 5, the control panel 41 that ship carries device receives the dirigible steering order that telechiric device 5 sends simultaneously, and control airship flight by dirigible controller 44, advance is had in controlling, rotate, hovering,
(3), remote control buttons 52 remote control airship 1 of manual operation telechiric device is close to live detection body 6 gradually, telechiric device 5 can automatically control reel 22 by motor control panel 23 simultaneously and slowly release hawser 3, and measure the pulling force suffered by hawser 3 by pulling force sensor 26, when released cable length L exceedes maximum operation radius Lmax, rope pulling appliance 2 is by by the tensile force f suffered by hawser 3 and line density ρ, and in conjunction with catenary formula, calculate dirigible 1 apart from the distance D2 of rope pulling appliance 2 and the dirigible 1 distance D apart from live detection body 6; When D is less than safe distance D_max, telechiric device 5 controls motor control panel 23 and regains hawser, and when D is greater than safe distance D_max, telechiric device 5 controls motor control panel and releases hawser.
Wherein, catenary formula is:
wherein a=ρ/F, ρ are the density of hawser, the pulling force of F suffered by hawser; Namely have: y=sinh (ax), if X=ax, obtain y=sinh (X) (see Fig. 6), then by its inverse function:
can obtain:
Wherein, H=H1-H2.
When dirigible 1 is near safe distance D_max, operating personnel are observed by the 53 pairs of live detection bodies 6 of the display screen on telechiric device, and simultaneously that the video information received is stored into storer 54 is for subsequent use for telechiric device; When remote control trouble appears to dirigible 1 in operation, or when telechiric device 5 breaks down, the folding and unfolding of hawser 3 can be carried out by the hand-operated rocker arm 28 on rope pulling appliance 2, safe retraction dirigible 1 aloft.
Claims (10)
1. observe the unmanned airship control device of live detection body, it is characterized in that: include rope pulling appliance, the dirigible be connected with rope pulling appliance by hawser, the ship be arranged on dirigible carry device and telechiric device, described rope pulling appliance, ship carry device and be all connected with telechiric device.
2. the unmanned airship control device of observation live detection body according to claim 1, it is characterized in that: described rope pulling appliance comprises motor, the reel be connected with motor, motor control panel, be arranged at the photoelectricity meter counter on reel, pulling force sensor, and rope pulling appliance altimeter; Described cable takeup is on reel and exported by pulling force sensor; Described motor control panel, photoelectricity meter counter, pulling force sensor are all connected with telechiric device with rope pulling appliance altimeter.
3. the unmanned airship control device of observation live detection body according to claim 1, it is characterized in that: described ship carries device and includes control panel, the dirigible altimeter be connected respectively with control panel, video camera, dirigible controller, battery and ship carry radio receiving transmitting module, and described ship is carried radio receiving transmitting module and is connected with telechiric device by remote-control radio transceiver module.
4. the unmanned airship control device of observation live detection body according to claim 1, it is characterized in that: described telechiric device includes micro-control unit, the remote control buttons be connected with micro-control unit respectively, display screen and storer, described rope pulling appliance, ship carry device and are all connected with micro-control unit.
5. the unmanned airship control device of observation live detection body according to claim 2, it is characterized in that: described rope pulling appliance also comprises and being arranged on reel and the electric brake sheet be connected with telechiric device, the hand-operated rocker arm be connected with reel, and for connecting the driving belt of motor and reel.
6. the unmanned airship control device of observation live detection body according to claim 1, is characterized in that: described hawser selects nylon rope or Kev stay cord.
7., based on the control method of the unmanned airship control device of observation live detection body, it is characterized in that: comprise the following steps:
(1), first unmanned airship control device is transported near live detection body operation field, the sea level elevation H2 of rope pulling appliance is measured by rope pulling appliance altimeter, laser range finder measures the distance D1 between rope pulling appliance and live detection body, and this distance value is entered in telechiric device, typing safe distance D_max, line density ρ in telechiric device simultaneously, telechiric device draws the maximum operation radius Lmax of dirigible, wherein, Lmax<D1-D_max, D_max are empirical value;
(2), ship carries device starting up, dirigible inflation lift-off, rope pulling appliance measures released cable length L by photoelectricity meter counter simultaneously, the control panel that ship carries device measures the sea level elevation H1 residing for dirigible in real time by dirigible altimeter, and open video camera and make a video recording, simultaneous altitude information H1 and video information radio to telechiric device, and the control panel that ship carries device receives the dirigible steering order that telechiric device sends simultaneously, and control airship flight by dirigible controller;
(3), manual operation telechiric device remote control airship is close to live detection body gradually, the reel that telechiric device can control rope pulling appliance automatically by motor control panel slowly releases hawser, and measure the pulling force suffered by hawser by pulling force sensor, when released cable length L exceedes maximum operation radius Lmax, rope pulling appliance is by by the tensile force f suffered by hawser and line density ρ, and in conjunction with catenary formula, calculate the distance D2 of dirigible distance rope pulling appliance and the distance D of dirigible distance live detection body; When D is less than safe distance D_max, telechiric device controls motor control panel and regains hawser, and when D is greater than safe distance D_max, telechiric device controls motor control panel and releases hawser.
8. the control method of the unmanned airship control device of observation live detection body according to claim 1, is characterized in that: described catenary formula is
wherein a=ρ/F, ρ are the density of hawser, the pulling force of F suffered by hawser; Namely have: y=sinh (ax), if X=ax, obtain y=sinh (X), then by its inverse function:
can obtain:
Wherein, H=H1-H2.
9. the control method of the unmanned airship control device of observation live detection body according to claim 1, is characterized in that: the dirigible steering order that in described step (2), telechiric device sends includes advance, rotates and hovering.
10. the control method of the unmanned airship control device of observation live detection body according to claim 1, it is characterized in that: when described dirigible is near safe distance, operating personnel are observed live detection body by the display screen on telechiric device, and the video information received is stored into memory ready by telechiric device simultaneously; When remote control trouble appears to dirigible in operation, or when telechiric device breaks down, carried out the folding and unfolding of hawser by the hand-operated rocker arm on rope pulling appliance aloft, safe retraction dirigible.
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| TWI699310B (en) * | 2017-02-28 | 2020-07-21 | 美商洛伊馬汀公司 | Airborne payload control system |
| US11230389B2 (en) | 2017-02-28 | 2022-01-25 | Lockheed Martin Corporation | System and method of blade-tip facilitated aircraft capture |
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