CN104898696B - High pressure based on electric-field intensity rate of change is the same as tower list back transmission line unmanned plane inspection barrier-avoiding method - Google Patents
High pressure based on electric-field intensity rate of change is the same as tower list back transmission line unmanned plane inspection barrier-avoiding method Download PDFInfo
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Abstract
The invention discloses a kind of high pressure based on electric-field intensity rate of change with tower list back transmission line unmanned plane inspection barrier-avoiding method, it proposes the theory that brand-new transmission line of electricity surrounding electric field change rate of strength is then mainly determined by arrangement of conductor and pylon structure and thus draws barrier-avoiding method, so as to improve the accuracy of avoidance, barrier-avoiding method can be greatly simplified.
Description
Technical field
The present invention relates to a kind of unmanned plane inspection barrier-avoiding method, particularly a kind of high pressure based on electric-field intensity rate of change is same
Tower list back transmission line unmanned plane inspection barrier-avoiding method.
Background technology
As the rapid development of China's power network, ultra-high-tension power transmission line voltage class more and more higher, transmission of electricity length are increasingly longer
And the topography and geomorphology passed through also becomes to become increasingly complex.Unmanned vehicle has the advantage not limited by terrain environment, Fei Xiao
Than high advantage, at the same the aircraft that need not worry surprisingly crash caused by persons on board injures and deaths problem.Therefore patrolled to improve power network
The efficiency of inspection, while to solve the practical threat that disaster takes place frequently to power grid security in recent years, high-tension electricity is carried out using unmanned plane
Line data-logging has become a kind of urgent demand, and can progressively substitute manual inspection, greatly improves routing inspection efficiency.
Unmanned plane inspection, it is important that one side be exactly safety problem, for the ease of transmission line malfunction analyzing and diagnosing, nothing
The circuit of shooting fine definition and the photo of shaft tower are required during man-machine inspection, therefore, requiring that unmanned plane will be as far as possible during inspection
Close transmission line of electricity or shaft tower, but it is nearer with transmission line of electricity or shaft tower, certainly exist the potential safety hazard of another aspect：Due to nothing
Flying speed can typically reach 18~54Km/h during man-machine inspection, therefore be once just likely to circuit or iron Close approach
Circuit or steel tower in shock, so as to cause the electric power accidents such as large-area power-cuts.
For above-mentioned contradiction, in order to shorten the distance of unmanned plane and transmission line of electricity or shaft tower etc. as far as possible, ensure simultaneously
Enough securities, unmanned plane must just have a set of highly sensitive obstacle avoidance system, when distance between unmanned plane and line walking target
During more than safe distance, signal is sent in time, while gives unmanned plane central control system, and requires that the safe distance will be as far as possible
It is small, it can be become apparent from so as to the photo of shooting, facilitate the fault diagnosis of staff.
Obstacle avoidance system generally has infrared collision prevention, ultrasonic wave collision prevention, laser collision prevention, Radar Collision Avoidance, three-dimensional map at present
GPRS avoidances and avoidance based on transmission line of electricity electromagnetic field principle are several.The operating distance of infrared collision prevention is most short, in outdoor strong light
It can not use substantially down；The coverage of ultrasonic wave collision prevention be difficult more than 10 meters, and because hung on helicopter, rotor pair
The interference of air causes using increasingly difficult；Laser collision prevention distance can reach more than 200 meters, but due to being point reflection, wire
Diameter very little, even with high-velocity scanning, it is also difficult to guarantee to obtain reflected signal, therefore actual detection distance is big gives a discount
Button；In addition the reflection on dark object is much smaller, and even without reflection, for example reflection on vegetation also influences with regard to very little
Detection range；Sunlight also produces severe jamming to laser, just cannot get reflected light at all in some cases.Radar Collision Avoidance system
At home and abroad there is research, be mainly used for the active collision prevention of automobile, but have how reflection radar wave filters, how to identify
The problem of avoidance target, and volume to be present larger for radar avoidance equipment, the problems such as heavier-weight, for unmanned plane, due to
Space and load are all extremely limited, therefore are applied in unmanned plane avoidance and the defects of very big be present.GPRS based on three-dimensional map is kept away
Barrier is difficult then accurately to synthesize mainly due to three-dimensional map, while surface structures etc. has mutability and changes random and irregularities
The features such as, it is impossible to it is this real-time update three-dimensional map, while the memory space of three-dimensional map requirement is too big, reads very slow grade side
The reason for face, therefore three-dimensional map GPRS Robot dodge strategies are also not suitable for unmanned plane inspection avoidance.
The present Research of ultra-high-tension power transmission line surrounding electric field intensity is as described below at present both at home and abroad：
At present, the research both at home and abroad to transmission line of electricity electromagnetic field is primarily focused on below transmission line of electricity apart from 6 meters of ground height
Electromagnetic field around the electromagnetic field intensity and barrier of degree, main research carry out the staff of operations involving high pressure and lived in
The influence of residents ' health below transmission line of electricity.But based on the theoretical progress unmanned plane line walking avoidance of ultra-high-tension power transmission line electric-field intensity
The research of this respect is also less at present.By literature search, nobody is carried out using ultra-high-tension power transmission line electric-field intensity theory at present
The research of machine line walking Robot dodge strategy number of patent application be 201210222359.4 and 201210222437.0 patent in
Refer to and derive.This two patents are carrying out avoidance and to enter horizontal high voltage defeated based on ultra-high-tension power transmission line electric-field intensity is theoretical respectively
Electric line electric-field intensity rate of change carries out avoidance and has been described and illustrate respectively, is specially：Using obtaining around transmission line of electricity
Electromagnetic field numeric distribution in the range of certain distance, and then the electric-field intensity that electric field measurement equipment is detected, then pass through DSP numbers
Electric-field intensity is generated electric-field intensity change rate score by a series of processing according to processing module, then contrasted with simulation result,
This signal is passed into flight control system.In the patent by the use of electric-field intensity rate of change as unique parameter of unmanned plane avoidance, and
And also show that different voltage class transmission lines of electricity carry out the parameter limit value of avoidances with theoretical simulation analysis contrast by emulating, respectively
For：220KV transmission line of electricity electric-field intensity rates of change limit value is 29；500KV transmission line of electricity electric-field intensity rates of change limit value is 56；
750KV transmission line of electricity electric-field intensity rates of change limit value is 77；1000KV transmission line of electricity electric-field intensity rates of change limit value is 81.Work as inspection
When measuring electric-field intensity rate of change and being less than the limit value, avoidance is sent by flight control system and instructed, forces unmanned aerial vehicle platform to change and flies
Line direction, to avoid unmanned plane from being collided with transmission line of electricity, avoid accident.
The transmission line of electricity of each voltage class has all been carried out simulation calculation by this Robot dodge strategy that prior art proposes, then
According to measurement result compared with simulation result.This computational methods, which have led to various voltage class, to be entered respectively
Row simulation calculation cause workload increase and simulation calculation it is cumbersome, be unfavorable for the application of engineering in practice.
The content of the invention
It is an object of the invention to overcome the deficiencies in the prior art part, and a kind of of offer need to be according to arrangement of conductor
Avoidance of classifying is carried out, and the high pressure based on electric-field intensity rate of change without distinguishing transmission line of electricity voltage class is fed back with tower list
Electric line unmanned plane inspection barrier-avoiding method.
High pressure based on electric-field intensity rate of change is the same as tower list back transmission line unmanned plane inspection barrier-avoiding method, there is provided Yi Zhongji
In the ultra-high-tension power transmission line unmanned plane inspection obstacle avoidance system of electric-field intensity rate of change, it includes patrol unmanned machine, patrol unmanned
Machine is provided with electric field obstacle avoidance apparatus, and the device includes DSP data processing modules, electric field measurement sensor, the signal being sequentially connected
Processing unit and A/D conversion units, A/D conversion units are connected with DSP data processing module inputs, DSP data processing modules
Output end is connected with airborne flight control system.
The airborne flight control system includes flight control system airborne control computer, it respectively with digital compass, three axis accelerometer
Instrument, three axis accelerometer, satellite positioning module, barometertic altimeter, rotating speed measuring sensor, PCM remote-control receivers, servos control
Device, data radio station, steering engine controller are connected with Servo-controller, and data radio station then communicates with earth station.
The electric field obstacle avoidance apparatus will integrally be in middle position immediately below patrol unmanned machine body, and its step is：
Step 1：Before unmanned plane inspection live wire, staff is in advance according to the arranging situation of transmission line of electricity, artificial choosing
Unmanned plane Robot dodge strategy under the fixed arrangement mode, described unmanned plane Robot dodge strategy concrete mode include：(1) positive triangle arranges
High pressure and UHV transmission line under mode, when detecting that the electric-field intensity rate of change at unmanned plane body is more than or equal to
15.5V/m2When should just send avoidance instruction；It is on the contrary then illustrate that unmanned plane is in safety zone, without sending avoidance instruction；
(2) high pressure and UHV transmission line under inverted triangle arrangement mode, when detect the electric-field intensity at unmanned plane body become
Rate is more than or equal to 26.3V/m2When should just send avoidance instruction；It is on the contrary then illustrate that unmanned plane is in safety zone, without hair
Go out avoidance instruction；(3) high pressure and UHV transmission line under horizontally arranged mode, when detecting the electricity at unmanned plane body
Field intensity rate of change is more than or equal to 46.7V/m2When should just send avoidance instruction；It is on the contrary then illustrate that unmanned plane is in place of safety
Domain, without sending avoidance instruction；
Step 2：During patrol unmanned machine inspection live wire, fuselage is substantially parallel with transmission line of electricity direction；
Step 3：Surveyed electric-field intensity is changed rate score input signal processing unit by electric field measurement sensor, extracts work
It is sent into after electric-field intensity rate of change value in the range of frequency in DSP data processing modules；Evaluation algorithm in DSP data processing modules
It is as follows：
Take the electric-field intensity change rate score that power frequency electric field measurement module measuresMake the following judgment：
Wherein：E is electric-field intensity virtual value (unit V/m), and x is distance (unit of the unmanned plane apart from side item wire：Rice),It is rate of change (the unit V/m of electric-field intensity to x first derivative for electric-field intensity virtual value2)。
1) under positive triangle arrangement mode：
Then export " safety " instruction；
Then export " avoidance " instruction；
2) under inverted triangle arrangement mode：
Then export " safety " instruction；
Then export " avoidance " instruction；
3) under horizontally arranged mode:
Then export " safety " instruction；
Then export " avoidance " instruction；
Step 4：Avoidance instruction is exported to airborne flight control system by DSP data processing modules, and then by steering engine for unmanned plane control
Device processed control Servo-controller carries out next step action, instruct for " safety " when, continuation current flight task；Instruct as " avoidance "
When, first unmanned plane is hovered, judges to send the instruction of " making a return voyage on former road " or " adjusting route temporarily " by the video passed back in real time.
Instant invention overcomes think transmission line of electricity surrounding electric field change rate of strength mainly by transmission line of electricity electricity in the prior art
This wrong views for pressing grade to determine, it is proposed that brand-new transmission line of electricity surrounding electric field change rate of strength is then mainly by line conductor row
Thus row mode and the theory of pylon structure decision simultaneously draw barrier-avoiding method, so as to improve the accuracy of avoidance, can greatly simplify
Barrier-avoiding method.
Go to illustrate the avoidance scheme based on electric-field intensity rate of change in terms of two below：
The electric-field intensity change of the ultra-high-tension power transmission line of different voltage class under same arrangement of conductor is analyzed first
Rate changing rule is consistent, so as to illustrate only carry out classification avoidance according to arrangement of conductor, and it is defeated without distinguishing
Electric line voltage class；Secondly, by analyzing its nothing based on electric-field intensity rate of change to single time super-pressure of same tower and extra-high voltage
Man-machine avoidance scheme, it is divided into tower according to arrangement of conductor under three kinds of positive triangle, inverted triangle and level arrangement modes for single time and keeps away
The research of barrier scheme.
1st, different voltage class ultra-high-tension power transmission line electric-field intensity rate of change analysis of trend
Its surrounding electric field intensity is carried out by super-pressure 500kV and extra-high voltage the 1000kV transmission line of electricity for aligning triangle arrangement
The simulation analysis of rate of change, research influence the principal element of electric-field intensity rate of change.
(1) positive triangle arrangement 500kV ultra-high-tension power transmission line electric-field intensity rate of change analysis
Positive triangle arranges 500kV ultra-high-tension power transmission line models：A phases and B phases terrain clearance are 36 meters, and horizontal span is
19.08 meters；C phases laterally occupy A phases and B phases center, and terrain clearance is 43.5 meters；Two ground wire terrain clearances are 51 meters, laterally across
Spend for 18.6 meters.As shown in Figure 1.
Draw the electric-field intensity rate of change of the transmission line of electricity with distance d (unit V/m by theory analysis emulation2) (refer to nothing
The distance of man-machine fuselage and side item wire, unit：Rice) variation tendency line chart it is as shown in Figure 2.
(2) positive triangle arrangement 1000kV ultra-high-tension power transmission line electric-field intensity rate of change analysis
Positive triangle arranges 1000kV UHV transmission line models：A phases and B phases terrain clearance are 48.7 meters, horizontal span
For 31 meters；C phases laterally occupy A phases and B phases center, and terrain clearance is 67.1 meters；Two ground wire terrain clearances are 80.7 meters, laterally across
Spend for 27.8 meters.As shown in Figure 3.
Draw the electric-field intensity rate of change of the transmission line of electricity with distance d (unit V/m by theory analysis emulation2) (refer to nothing
The distance of man-machine fuselage and side item wire, unit：Rice) variation tendency line chart it is as shown in Figure 4.
The rotor length of large-scale unmanned plane at present is considered typically at 4 meters (radiuses), so determining large-scale unmanned plane and side item
The minimum distance of wire is 24 meters, i.e., should just send avoidance when the distance of unmanned aerial vehicle body and side item wire is less than 24 meters refers to
Order；Otherwise avoidance instruction need not be sent.
It is can be seen that from Fig. 2 and Fig. 4 electric-field intensity rate of change graphic correlations under positive triangle arranging situation, 500kV superelevation
Pressure transmission line and its electric-field intensity rate of change of 1000kV UHV transmission lines are with distance d (unmanned aerial vehicle body and side item wire
Distance) changing rule with trend be consistent.In addition, for 500kV extra high voltage networks, when unmanned aerial vehicle body distance
During 24 meters of side item wire, its electric-field intensity rate of change is 15.528V/m2；For 1000kV UHV transmission lines, work as unmanned plane
When fuselage is apart from 24 meters of side item wire, its electric-field intensity rate of change is 15.7V/m2；That is 500kV superelevation under positive triangle arrangement mode
As the limit value of pressure transmission line and the avoidance parameter (electric-field intensity rate of change) of 1000kV UHV transmission lines is substantially
, i.e., all it is 15.5V/m2Left and right.Therefore for the 500kV extra high voltage networks and 1000kV UHV transmissions of positive triangle arrangement
Circuit can be 15.5V/m according to electric-field intensity rate of change limit value2Carry out avoidance.When electric-field intensity rate of change is more than 15.5V/
m2When, illustrate that the distance of unmanned aerial vehicle body and side item wire is less than i.e. 24 meters of limit avoidance distance, should now send avoidance and refer to
Order；Otherwise when electric-field intensity rate of change is less than 15.5V/m2When then illustrate that unmanned plane is in safe distance, without sending avoidance
Instruction.
The above analysis, study the same tower list back transmission line unmanned plane inspection avoidance plan based on electric-field intensity rate of change
When slightly, for the different voltage class transmission lines of electricity under same arrangement of conductor, its Robot dodge strategy is the same, therefore can not
Consider voltage class, and the unmanned plane avoidance plan under each arrangement of conductor is determined according to the arrangement mode of wire
Slightly.
Mainly there are three kinds i.e. positive triangle arrangement, inverted triangle arrangement and water with tower list back transmission line arrangement of conductor at present
Flat arrangement mode.Studied below by taking 500kV extra high voltage networks as an example and electric-field strength is based under its each arrangement of conductor
Spend the avoidance scheme of rate of change, because Robot dodge strategy is unrelated with voltage class, the same type arrangements of conductors side of other voltage class
As formula with the Robot dodge strategy of this patent 500kV extra high voltage networks is.
2nd, analyzed with Robot dodge strategy under single time different conductor arrangement mode of tower
Mainly there are positive triangle arrangement, inverted triangle with single time super-pressure of tower and leads of ultra-high voltage power transmission lines arrangement mode at present
Arrangement and horizontally arranged three kinds of main arrangement modes, are studied it respectively by taking 500kV extra high voltage networks as an example below
Unmanned plane inspection Robot dodge strategy.
The rotor length of large-scale unmanned plane at present is considered typically at 4 meters (radiuses), so determining large-scale unmanned plane and side item
The minimum distance of wire is 24 meters, i.e., should just send avoidance when the distance of unmanned aerial vehicle body and side item wire is less than 24 meters refers to
Order；Otherwise avoidance instruction need not be sent.
(1) Robot dodge strategy is analyzed under positive triangle arrangement mode
Positive triangle arranges 500kV extra high voltage network models：A phases and B phases terrain clearance are 36 meters, and horizontal span is
19.08 meters；C phases laterally occupy A phases and B phases center, and terrain clearance is 43.5 meters；Two ground wire terrain clearances are 51 meters, laterally across
Spend for 18.6 meters.As shown in Figure 1.
Electric-field intensity rate of change (the unit V/m of the transmission line of electricity is drawn by theory analysis emulation2) with distance d (refer to nothing
The distance of man-machine fuselage and side item wire, unit：Rice) variation tendency line chart it is as shown in Figure 2.
Figure it is seen that as the distance of unmanned plane and side item wire increases, its electric-field intensity rate of change is gradual
Reduce.According to unmanned plane and 24 meters of the safe distance of side item wire, compares figure 2 is as can be seen that its corresponding 24 meters of safe distance
Electric-field intensity rate of change be 15.5V/m2Left and right.Therefore high pressure and UHV transmission line under positive triangle arrangement mode, when
Detect that the electric-field intensity rate of change at unmanned plane body is more than or equal to 15.5V/m2When should just send avoidance instruction；It is on the contrary then
Illustrate that unmanned plane is in safety zone, without sending avoidance instruction.
(2) Robot dodge strategy is analyzed under inverted triangle arrangement mode
Inverted triangle arranges 500kV ultra-high-tension power transmission line models：A phases and B phases terrain clearance are 43.5 meters, and horizontal span is
19.08 meters；C phases laterally occupy A phases and B phases center, and terrain clearance is 36 meters；Two ground wire terrain clearances are 51 meters, horizontal span
For 18.6 meters.As shown in Figure 5.
Electric-field intensity rate of change (the unit V/m of the transmission line of electricity is drawn by theory analysis emulation2) with distance d (refer to nothing
The distance of man-machine fuselage and side item wire, unit：Rice) variation tendency line chart it is as shown in Figure 6.
From fig. 6, it can be seen that as the distance of unmanned plane and side item wire increases, its electric-field intensity rate of change is gradual
Reduce.According to unmanned plane and 24 meters of the safe distance of side item wire, compares figure 6 is as can be seen that its corresponding 24 meters of safe distance
Electric-field intensity rate of change be 26.3V/m2Left and right.Therefore high pressure and UHV transmission line under inverted triangle arrangement mode, when
Detect that the electric-field intensity rate of change at unmanned plane body is more than or equal to 26.3V/m2When should just send avoidance instruction；It is on the contrary then
Illustrate that unmanned plane is in safety zone, without sending avoidance instruction.
(3) Robot dodge strategy is analyzed under horizontally arranged mode
Horizontally arranged 500kV ultra-high-tension power transmission lines model：A phases, B phases and C phases terrain clearance are 33 meters, between two-phase laterally
Span is 11.5 meters；Two ground wire terrain clearances are 37 meters, and horizontal span is 20 meters.As shown in Figure 7.
Draw the electric-field intensity rate of change of the transmission line of electricity with distance d (unit V/m by theory analysis emulation2) (refer to nothing
The distance of man-machine fuselage and side item wire, unit：Rice) variation tendency line chart it is as shown in Figure 8.
From figure 8, it is seen that as the distance of unmanned plane and side item wire increases, its electric-field intensity rate of change is gradual
Reduce.According to unmanned plane and 24 meters of the safe distance of side item wire, compares figure 8 is as can be seen that its corresponding 24 meters of safe distance
Electric-field intensity rate of change be 46.7V/m2Left and right.Therefore high pressure and UHV transmission line under horizontally arranged mode, work as inspection
Measure the electric-field intensity rate of change at unmanned plane body and be more than or equal to 46.7V/m2When should just send avoidance instruction；It is on the contrary then say
Bright unmanned plane is in safety zone, without sending avoidance instruction.
In summary, present invention advantage following compared with prior art：
1. the present invention is proposed according to electric-field intensity rate of change as avoidance parameter, and to a variety of overhead transmission lines
Arrangement of conductor is calculated.It is divided into equilateral triangle arrangement mode, del according to main arrangement mode single time with tower
Arrangement mode, three kinds of horizontally arranged mode sort research its Robot dodge strategy, so as to simplify unmanned plane inspection Robot dodge strategy.
2. because electric-field intensity is mainly determined by the voltage class of transmission line of electricity, influenceed by the trend distribution and change of circuit
Less, remaining barrier and in space is typically all uncharged body, so the electric field in space is mainly caused by transmission line of electricity,
Therefore use electric-field intensity rate of change as unmanned plane inspection avoidance parameter in by space remaining barrier and electric network swim become
Changing influences less, accuracy raising.
3. the unmanned plane obstacle avoidance system based on electric-field intensity rate of change is according to transmission line of electricity surrounding electric field environment particularity
Design, and it is component small volume used, simple light, ultrasonic ranging, infrared distance measurement and Laser Distance Measuring Equipment can either be overcome
The problem of accuracy is low is detected, and can enough overcomes microwave radar range equipment volume, weight excessive, is not easy to UAV flight's
Drawback.
4. the invention sums up transmission line of electricity difference by analyzing the electric-field intensity rate of change around transmission line of electricity
Robot dodge strategy in the case of arrangement mode, while provide the safe distance of unmanned plane and power transmission line roadside phase conductor.
Brief description of the drawings
Fig. 1 is 500kV UHV transmission line positive triangle arrangement of conductor dimensional orientation figure (units：Millimeter).
Fig. 2 is electric-field intensity rate of change variation tendency under 500kV UHV transmission line positive triangle arrangement modes.
Fig. 3 is 1000kV UHV transmission line positive triangle arrangement of conductor dimensional orientation figure (units：Millimeter).
Fig. 4 is electric-field intensity rate of change variation tendency under 1000kV UHV transmission line positive triangle arrangement modes.
Fig. 5 is 500kV extra high voltage network inverted triangle arrangement of conductor dimensional orientation figure (units：Millimeter).
Fig. 6 is electric-field intensity rate of change variation tendency under 500kV extra high voltage network inverted triangle arrangement modes.
Fig. 7 is 500kV extra high voltage network horizontal wire arrangement mode dimensional orientation figure (units：Millimeter).
Fig. 8 is electric-field intensity rate of change variation tendency under the horizontally arranged mode of 500kV extra high voltage networks.
Embodiment
The present invention is described in more detail with reference to embodiment.
Embodiment 1：
High pressure based on electric-field intensity rate of change is the same as tower list back transmission line unmanned plane inspection barrier-avoiding method, there is provided Yi Zhongji
In the ultra-high-tension power transmission line unmanned plane inspection obstacle avoidance system of electric-field intensity rate of change, it includes patrol unmanned machine, on unmanned plane
Provided with electric field obstacle avoidance apparatus, the device includes DSP data processing modules, electric field measurement sensor, the signal transacting being sequentially connected
Unit and A/D conversion units, A/D conversion units are connected with DSP data processing module inputs, the output of DSP data processing modules
End is connected with airborne flight control system.
The airborne flight control system includes flight control system airborne control computer, it respectively with digital compass, three axis accelerometer
Instrument, three axis accelerometer, satellite positioning module, barometertic altimeter, rotating speed measuring sensor, PCM remote-control receivers, servos control
Device, data radio station, steering engine controller are connected with Servo-controller, and data radio station then communicates with earth station.
The electric field obstacle avoidance apparatus will integrally be in middle position immediately below patrol unmanned machine body, and its step is：
Step 1：Before unmanned plane inspection live wire, staff is in advance according to the arranging situation of transmission line of electricity, artificial choosing
Unmanned plane Robot dodge strategy under the fixed arrangement mode, described unmanned plane Robot dodge strategy concrete mode include：(1) positive triangle arranges
High pressure and UHV transmission line under mode, when detecting that the electric-field intensity rate of change at unmanned plane body is more than or equal to
15.5V/m2When should just send avoidance instruction；It is on the contrary then illustrate that unmanned plane is in safety zone, without sending avoidance instruction；
(2) high pressure and UHV transmission line under inverted triangle arrangement mode, when detect the electric-field intensity at unmanned plane body become
Rate is more than or equal to 26.3V/m2When should just send avoidance instruction；It is on the contrary then illustrate that unmanned plane is in safety zone, without hair
Go out avoidance instruction；(3) high pressure and UHV transmission line under horizontally arranged mode, when detecting the electricity at unmanned plane body
Field intensity rate of change is more than or equal to 46.7V/m2When should just send avoidance instruction；It is on the contrary then illustrate that unmanned plane is in place of safety
Domain, without sending avoidance instruction；
Step 2：During patrol unmanned machine inspection live wire, fuselage is substantially parallel with transmission line of electricity direction；
Step 3：Surveyed electric-field intensity is changed rate score input signal processing unit by electric field measurement sensor, extracts work
It is sent into after electric-field intensity rate of change value in the range of frequency in DSP data processing modules；Evaluation algorithm in DSP data processing modules
It is as follows：
Take the electric-field intensity change rate score that power frequency electric field measurement module measuresMake the following judgment：
Wherein：E is electric-field intensity virtual value (unit V/m), and x is distance (unit of the unmanned plane apart from side item wire：Rice),It is rate of change (the unit V/m of electric-field intensity to x first derivative for electric-field intensity virtual value2)。
1) under positive triangle arrangement mode：
Then export " safety " instruction；
Then export " avoidance " instruction；
2) under inverted triangle arrangement mode：
Then export " safety " instruction；
Then export " avoidance " instruction；
3) under horizontally arranged mode:
Then export " safety " instruction；
Then export " avoidance " instruction；
Step 4：Avoidance instruction is exported to airborne flight control system by DSP data processing modules, and then by steering engine for unmanned plane control
Device processed control Servo-controller carries out next step action, instruct for " safety " when, continuation current flight task；Instruct as " avoidance "
When, first unmanned plane is hovered, judges to send the instruction of " making a return voyage on former road " or " adjusting route temporarily " by the video passed back in real time.
The not described part of the present embodiment is same as the prior art.
Claims (1)
1. a kind of high pressure based on electric-field intensity rate of change is the same as tower list back transmission line unmanned plane inspection barrier-avoiding method, there is provided a kind of
Ultra-high-tension power transmission line unmanned plane inspection obstacle avoidance system based on electric-field intensity rate of change, it includes patrol unmanned machine；Described patrols
Inspection unmanned plane is provided with electric field obstacle avoidance apparatus upper, and the device includes DSP data processing modules, the electric field measurement sensing being sequentially connected
Device, signal processing unit and A/D conversion units, A/D conversion units are connected with DSP data processing module inputs, at DSP data
Reason module output end is connected with airborne flight control system；
The airborne flight control system includes flight control system airborne control computer, it respectively with digital compass, three-axis gyroscope, three
Axis accelerometer, satellite positioning module, barometertic altimeter, rotating speed measuring sensor, PCM remote-control receivers, steering engine controller, number
Conducted electricity platform, and steering engine controller is connected with Servo-controller, and data radio station then communicates with earth station,
The electric field obstacle avoidance apparatus will integrally be in middle position immediately below patrol unmanned machine body, and its step is：
Step 1：Before unmanned plane inspection live wire, for staff in advance according to the arranging situation of transmission line of electricity, artificial select should
Unmanned plane Robot dodge strategy under arrangement mode, described unmanned plane Robot dodge strategy concrete mode include：
(1) high pressure and UHV transmission line under positive triangle arrangement mode, when detecting the electric-field intensity at unmanned plane body
Rate of change is more than or equal to 15.5V/m2When should just send avoidance instruction；It is on the contrary then illustrate that unmanned plane is in safety zone, without
Send avoidance instruction；
(2) high pressure and UHV transmission line under inverted triangle arrangement mode, when detecting the electric-field strength at unmanned plane body
Degree rate of change is more than or equal to 26.3V/m2When should just send avoidance instruction；It is on the contrary then illustrate that unmanned plane is in safety zone, nothing
Avoidance instruction need to be sent；
(3) high pressure and UHV transmission line under horizontally arranged mode, when detecting the electric-field intensity at unmanned plane body
Rate of change is more than or equal to 46.7V/m2When should just send avoidance instruction；It is on the contrary then illustrate that unmanned plane is in safety zone, without
Send avoidance instruction；
Step 2：During patrol unmanned machine inspection live wire, fuselage is substantially parallel with transmission line of electricity direction；
Step 3：Surveyed electric-field intensity is changed rate score input signal processing unit by electric field measurement sensor, extracts power frequency model
It is sent into after enclosing interior electric-field intensity rate of change value in DSP data processing modules, the evaluation algorithm in DSP data processing modules is such as
Under：
Take the electric-field intensity change rate score that power frequency electric field measurement module measuresMake the following judgment：
Wherein：E is electric-field intensity virtual value, and E units are V/m, and x is unmanned plane apart from the distance of side item wire, and x units are rice,It is the rate of change of electric-field intensity to x first derivative for electric-field intensity virtual value,Unit is V/m2,
1) under positive triangle arrangement mode：
Then export " safety " instruction；
Then export " avoidance " instruction；
2) under inverted triangle arrangement mode：
Then export " safety " instruction；
Then export " avoidance " instruction；
3) under horizontally arranged mode:
Then export " safety " instruction；
Then export " avoidance " instruction；
Step 4：Avoidance instruction is exported to airborne flight control system by DSP data processing modules, and then by steering engine for unmanned plane controller
Control Servo-controller carry out next step action, instruct for " safety " when, continuation current flight task；Instruct for " avoidance " when, first
Unmanned plane is hovered, judges to send the instruction of " making a return voyage on former road " or " adjusting route temporarily " by the video passed back in real time.
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