CN105045287B - A kind of multi-rotor unmanned aerial vehicle and operating method based on the accurate line of fall inspection of ultrasonic wave - Google Patents
A kind of multi-rotor unmanned aerial vehicle and operating method based on the accurate line of fall inspection of ultrasonic wave Download PDFInfo
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- CN105045287B CN105045287B CN201510467368.3A CN201510467368A CN105045287B CN 105045287 B CN105045287 B CN 105045287B CN 201510467368 A CN201510467368 A CN 201510467368A CN 105045287 B CN105045287 B CN 105045287B
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Abstract
The present invention provides a kind of multi-rotor unmanned aerial vehicle based on the accurate line of fall inspection of ultrasonic wave, including body, and body upper part is provided with the hitch for including hanger bar, driving wheel, driven pulley and two connecting plates；The parallel setting of principal and subordinate wheel, the central point line that the two is formed are parallel with transmission line of electricity；Driving wheel wheel shaft is by intrinsic motor driven systems powered motion so that the spill annulus formed respectively outside both principal and subordinate wheels can while be slidingly fitted with transmission line of electricity；Two connecting plates set with respect to central point line and mutually fixed with principal and subordinate wheel wheel shaft；One is being provided with camera and at least one ultrasonic radar towards central point line side side among two connecting plates；Hanger bar is fixed on driving wheel on the side of central point line side.Implement the present invention, the accurate line of fall on transmission line of electricity, reduce multi-rotor unmanned aerial vehicle power consumption, extend cruising time, reach the purpose of long-time stable inspection.
Description
Technical field
The present invention relates to unmanned plane and electric inspection process technical field, more particularly to one kind to be based on the accurate line of fall inspection of ultrasonic wave
Multi-rotor unmanned aerial vehicle and operating method.
Background technology
The icing of overhead transmission line, wave, break, floating object affects the safe operation of power network often, with country
It is proposed of the grid company on building " strong intelligent grid " strategical planning, the inspection operation to transmission line of electricity proposes higher
It is required that therefore overhead transmission line automation and intelligent walking operation have become be badly in need of solve important topic.
In recent years, due to the miniaturization and lightweight of sensor and being gradually improved for flight control system, unmanned plane skill
Art has obtained quick development, and new idea and technical method is provided for the inspection operation of transmission line of electricity.At present, more rotors without
It is man-machine due to its machine maneuverability, hoverning stability it is high and the advantages that wind loading rating is strong so that it is in polling transmission line operation
In be widely used, but have the disadvantage that：Due to the light-weighted technical bottleneck of power supply be present, so as to cause cruising time compared with
It is short, the inspection operation of the long-time stable on transmission line of electricity can not be realized.
The content of the invention
Technical problem to be solved of the embodiment of the present invention is, there is provided a kind of based on the more of the accurate line of fall inspection of ultrasonic wave
Rotor wing unmanned aerial vehicle and operating method, being capable of the accurate line of fall, reduction multi-rotor unmanned aerial vehicle power consumption, extension continuation of the journey on transmission line of electricity
Time, reach the purpose of long-time stable inspection.
In order to solve the above-mentioned technical problem, the embodiments of the invention provide a kind of based on the more of the accurate line of fall inspection of ultrasonic wave
Rotor wing unmanned aerial vehicle, it is engaged with transmission line of electricity, and the multi-rotor unmanned aerial vehicle includes body, and the body upper part, which is provided with, to be included hanging
Peg, driving wheel, the hitch of driven pulley and two connecting plates；Wherein,
Driving wheel setting parallel with the driven pulley, and the central point line of the two formation and the transmission line of electricity
It is parallel；Wherein, the driving wheel wheel shaft is by the intrinsic motor driven systems powered motion so that the driving wheel and
The spill annulus formed respectively outside both driven pulleys can while be slidingly fitted with the transmission line of electricity；
Described two connecting plates are relatively arranged on the both sides of the central point line, wherein, the both ends difference of a connecting plate
The one end for being located at the central point line side with the driving wheel wheel shaft and the driven pulley wheel shaft is mutually fixed, another connecting plate
To be located at one end of the central point line opposite side with the driving wheel wheel shaft and the driven pulley wheel shaft respectively mutually solid at both ends
It is fixed；And among described two connecting plates one towards be provided with the central point line side side with it is described defeated for determining
Camera that the ground wire video frequency following system of electric line position is engaged and it is at least one with for detecting the hitch
The ultrasonic radar that the ultrasonic ranging system of distance is engaged between the transmission line of electricity；
The hanger bar is fixed on the driving wheel on the central point line side side..
Wherein, the hanger bar is located at described central point line the same side with the camera and the ultrasonic radar.
Wherein, the hitch also plunders the wing including side, and it is in semiellipse ring-type that the wing is plunderred in the side, and with being hanged away from described
The connecting plate of peg is mutually fixed.
Wherein, the ultrasonic radar has two, and described two ultrasonic radars are located at the both sides of the camera respectively.
Wherein, the hanger bar is made by hollow carbon fiber material.
Wherein, the driving wheel and the driven pulley are made by nylon material.
The embodiment of the present invention additionally provides a kind of multi-rotor unmanned aerial vehicle operating method based on the accurate line of fall inspection of ultrasonic wave,
It realizes that methods described includes in foregoing multi-rotor unmanned aerial vehicle：
Multi-rotor unmanned aerial vehicle lift-off VNAV is opened, is obtained by camera in ground wire video frequency following system defeated
The image of electric line, and according to the image of the transmission line of electricity got, determine the position of the transmission line of electricity；
According to the position of the transmission line of electricity of the determination, the multi-rotor unmanned aerial vehicle flying height is adjusted, until described obtain
The image for the transmission line of electricity got is located in the ground wire video frequency following system image district default first altitude calibration line and pre-
If the second altitude calibration line between untill；
Open ultrasonic radar transmitting ultrasonic pulse, detected in real time by ultrasonic ranging system more rotors nobody
The distance between hitch and the transmission line of electricity on machine, and work as and detect between the hitch and the transmission line of electricity
Distance when being less than default threshold value, adjust the multi-rotor unmanned aerial vehicle state of flight, it is slowly drop to the power transmission line
Lu Shang；
After multi-rotor unmanned aerial vehicle line of fall success, stop the rotor work of the multi-rotor unmanned aerial vehicle, start motor
Drive system driving driving wheel slides on the transmission line of electricity, realizes the multi-rotor unmanned aerial vehicle automatic running on transmisson line.
Wherein, methods described further comprises：
When the preset gravity sensing system detectio of the multi-rotor unmanned aerial vehicle to the multi-rotor unmanned aerial vehicle is in weightless shape
During state, the multi-rotor unmanned aerial vehicle line of fall failure is determined, then reopens the multi-rotor unmanned aerial vehicle lift-off VNAV.
Wherein, the default threshold value is 20cm.
Implement the embodiment of the present invention, have the advantages that：
In embodiments of the present invention, ground wire video frequency following system is determined because multi-rotor unmanned aerial vehicle can be gathered by camera
Middle hitch can accurately be hung to the relative altitude of transmission line of electricity by ultrasonic radar to transmission line of electricity directional transmissions
Mechanism so as to ensure the accurate line of fall of multi-rotor unmanned aerial vehicle, and treats multi-rotor unmanned aerial vehicle to the horizontal range of transmission line of electricity
The line of fall success after, can further be slided by motor driven systems driving wheel on transmission line of electricity, realize more rotors nobody
Machine automatic detecting, so as to reduce power consumption, cruising time is extended, reach the purpose of long-time stable inspection.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is the required accompanying drawing used in technology description to be briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments of invention, for those of ordinary skill in the art, without having to pay creative labor, according to
These accompanying drawings obtain other accompanying drawings and still fall within scope of the invention.
Fig. 1 is the frontal planar of the multi-rotor unmanned aerial vehicle provided in an embodiment of the present invention based on the accurate line of fall inspection of ultrasonic wave
Structural representation；
Fig. 2 is the rear plan of the multi-rotor unmanned aerial vehicle provided in an embodiment of the present invention based on the accurate line of fall inspection of ultrasonic wave
Structural representation；
Fig. 3 is the multi-rotor unmanned aerial vehicle operating method provided in an embodiment of the present invention based on the accurate line of fall inspection of ultrasonic wave
Flow chart；
Fig. 4 should for the multi-rotor unmanned aerial vehicle operating method provided in an embodiment of the present invention based on the accurate line of fall inspection of ultrasonic wave
The floor map calibrated with grid locational in scene；
Fig. 5 should for the multi-rotor unmanned aerial vehicle operating method provided in an embodiment of the present invention based on the accurate line of fall inspection of ultrasonic wave
Another floor map calibrated with grid locational in scene；
Fig. 6 should for the multi-rotor unmanned aerial vehicle operating method provided in an embodiment of the present invention based on the accurate line of fall inspection of ultrasonic wave
The another floor map calibrated with grid locational in scene；
In figure：1- hanger bars, 2- driving wheels, 3- driven pulleys, 4- connecting plates, 5- cameras, 6- ultrasonic radars, 7- are plunderred side
The wing, K- transmission lines of electricity, L- multi-rotor unmanned aerial vehicle bodies.
Embodiment
To make the object, technical solutions and advantages of the present invention clearer, the present invention is made into one below in conjunction with accompanying drawing
It is described in detail on step ground.
The direction and position term that the present invention is previously mentioned, for example, " on ", " under ", "front", "rear", "left", "right", " interior ", "
Outside ", " top ", " bottom ", " side " etc., only it is the direction or position of refer to the attached drawing.Therefore, the direction used and position term
It is to illustrate and understand the present invention, rather than the limitation to invention protection domain.
As depicted in figs. 1 and 2, be the embodiment of the present invention in, proposition it is a kind of based on the more of the accurate line of fall inspection of ultrasonic wave
Rotor wing unmanned aerial vehicle, it is engaged with transmission line of electricity K, and multi-rotor unmanned aerial vehicle includes body L, and body L tops, which are provided with, includes hanger bar
1st, the hitch of driving wheel 2, driven pulley 3 and two connecting plates 4；Wherein,
Driving wheel 2 and 3 parallel setting of driven pulley, and the two central point line formed is parallel with transmission line of electricity K；Its
In, the wheel shaft of driving wheel 2 is by the motor driven systems powered motion in body L so that both driving wheel 2 and driven pulley 3 outer portion
The spill annulus not formed can be slidingly fitted with transmission line of electricity K simultaneously；
Two connecting plates 4 are relatively arranged on the both sides of central point line, wherein, the both ends of a connecting plate 3 respectively with actively
Take turns 2 wheel shafts and the wheel shaft of driven pulley 3 be located at one end of central point line side and mutually fixed, the both ends of another connecting plate 4 respectively with master
One end that the wheel shaft of driving wheel 2 and the wheel shaft of driven pulley 3 are located at central point line opposite side is mutually fixed；And one among two connecting plates 4
Towards be provided with the side of central point line side with for determining that the ground wire video frequency following system of transmission line of electricity K positions is engaged
Camera 5 and it is at least one with for detecting the ultrasonic ranging system phase of distance between hitch and transmission line of electricity K
The ultrasonic radar 6 of cooperation；
Hanger bar 1 is fixed on driving wheel 2 on the side of central point line side.
It should be noted that motor driven systems include the parts such as power supply, motor, wireless receiver, transmission mechanism composition,
The transmission mechanism can be connected with the wheel shaft of driving wheel 2, can realize by the instruction of the remote control of multi-rotor unmanned aerial vehicle and open, stop
Etc. holding function, so as to drive the wheel shaft of driving wheel 2 to rotate by transmission mechanism so that driving wheel 2 can be on transmission line of electricity K back and forth
Motion carries out automatic detecting, reduces multi-rotor unmanned aerial vehicle body L power consumption, extends cruising time, reach long-time stable
The purpose of inspection.
It should be noted that camera 4 and ultrasonic radar 5 can use the phase of wire and multi-rotor unmanned aerial vehicle body L
Close device to be attached, each coordinate so as to realize with corresponding system, after the location drawing picture that transmission line of electricity K is gathered such as camera 4,
Ground wire video frequency following system is returned to by wire.
In one embodiment, the hanger bar 1 of gravity needed for main carrying suspension multi-rotor unmanned aerial vehicle is by hollow carbon fiber
Material is made, and driving wheel 2 and driven pulley 3 are made by nylon material, is connected between two wheel shafts of driving wheel 2 by first
The connecting plate 4 of fishplate bar 3 and second connects, and can resist under inclined wind load or produce in the horizontal plane when multi-rotor unmanned aerial vehicle is gone off course
Moment of torsion, ensure the reliability of the line of fall.
For the ease of the extension of wire management and service life, and ensure multi-rotor unmanned aerial vehicle state of flight, therefore hang
Bar 1 is located at central point line the same side with camera 5 and ultrasonic radar 6 so that related wire can pass through hanger bar 1
Inner chamber is connected with multi-rotor unmanned aerial vehicle body L.
In order to constrain and guide the security of the multi-rotor unmanned aerial vehicle line of fall, increase the reliability of the multi-rotor unmanned aerial vehicle line of fall,
Therefore hitch also plunders the wing 7 including side, and it is in semiellipse ring-type that the wing 7 is plunderred in the side, and with the phase of connecting plate 3 of remote hanger bar 1
It is fixed.
In order to strengthen the accuracy of ranging between hitch and transmission line of electricity K, therefore ultrasonic radar 6 has two, and two
Individual ultrasonic radar 6 is located at the both sides of camera 5 respectively.
As shown in figure 3, in the embodiment of the present invention, there is provided a kind of more rotors based on the accurate line of fall inspection of ultrasonic wave without
Human-machine operation method, it realizes that methods described includes in above-mentioned multi-rotor unmanned aerial vehicle：
Step S101, the multi-rotor unmanned aerial vehicle lift-off VNAV is opened, by camera in ground wire video tracking system
The image of transmission line of electricity is obtained in system, and according to the image of the transmission line of electricity got, determines the position of the transmission line of electricity
Put；
Step S102, according to the position of the transmission line of electricity of the determination, the multi-rotor unmanned aerial vehicle flying height is adjusted, directly
Image to the transmission line of electricity got is located at default first height school in the ground wire video frequency following system image district
Untill between directrix and default second altitude calibration line；
Step S103, ultrasonic radar transmitting ultrasonic pulse is opened, is detected in real time by ultrasonic ranging system described
The distance between hitch and the transmission line of electricity in multi-rotor unmanned aerial vehicle, and when detect the hitch with it is described defeated
When the distance between electric line is less than default threshold value, the multi-rotor unmanned aerial vehicle state of flight is adjusted, it is slowly drop to
On the transmission line of electricity；
Step S104, after multi-rotor unmanned aerial vehicle line of fall success, the rotor work of the multi-rotor unmanned aerial vehicle is stopped,
Start motor driven systems driving driving wheel to slide on the transmission line of electricity, realize the multi-rotor unmanned aerial vehicle automatic running on transmisson line.
In embodiments of the present invention, the camera of multi-rotor unmanned aerial vehicle ground wire video frequency following system is placed in multi-rotor unmanned aerial vehicle
(such as Fig. 4 is extremely among two connecting plates of hitch among the downside of one, during ensuring that transmission line of electricity is within altitude calibration line
Shown in Fig. 6), hitch side Lve Yi bottoms are in the upside of the transmission line of electricity.Ultrasonic ranging system is using double ultrasonic wave thunders
Up to arrangement, the both ends of the downside of multi-rotor unmanned aerial vehicle hitch connecting plate are horizontally arranged in, timing in ultrasonic ranging system
The crystal oscillator frequency of device is 10MHz, to ensure that precision reaches more than 1 μ s, so as to ensure that the range accuracy of ultrasonic ranging system can
Control realizes accurate measurement of the hitch to transmission line of electricity distance within 1mm.When the hitch pair of multi-rotor unmanned aerial vehicle
When transmission line of electricity distance is less than default threshold value (such as 20cm), multi-rotor unmanned aerial vehicle rotor rotating speed is reduced, it is started the line of fall, treats
After the success of the multi-rotor unmanned aerial vehicle line of fall, stop the rotor work of multi-rotor unmanned aerial vehicle, start motor driven systems and drive more rotors
The driving wheel of unmanned plane slides on transmission line of electricity, realizes multi-rotor unmanned aerial vehicle automatic running on transmisson line.
Wherein, methods described further comprises：
When the preset gravity sensing system detectio of the multi-rotor unmanned aerial vehicle to the multi-rotor unmanned aerial vehicle is in weightless shape
During state, the multi-rotor unmanned aerial vehicle line of fall failure is determined, then reopens the multi-rotor unmanned aerial vehicle lift-off VNAV.
Detailed process is that measuring multi-rotor unmanned aerial vehicle acceleration in the gravity sensing system of multi-rotor unmanned aerial vehicle is equal to
9.8m/s, judges that multi-rotor unmanned aerial vehicle is in state of weightlessness, that is, determines the failure of the multi-rotor unmanned aerial vehicle line of fall, multi-rotor unmanned aerial vehicle
Rotor is reworked immediately so that multi-rotor unmanned aerial vehicle enters hovering pattern.
Wherein, default threshold value is 20cm.
Implement the embodiment of the present invention, have the advantages that：
In embodiments of the present invention, ground wire video frequency following system is determined because multi-rotor unmanned aerial vehicle can be gathered by camera
Middle hitch can accurately be hung to the relative altitude of transmission line of electricity by ultrasonic radar to transmission line of electricity directional transmissions
Mechanism so as to ensure the accurate line of fall of multi-rotor unmanned aerial vehicle, and treats multi-rotor unmanned aerial vehicle to the horizontal range of transmission line of electricity
The line of fall success after, can further be slided by motor driven systems driving wheel on transmission line of electricity, realize more rotors nobody
Machine automatic detecting, so as to reduce power consumption, cruising time is extended, reach the purpose of long-time stable inspection.
Can be with one of ordinary skill in the art will appreciate that realizing that all or part of step in above-described embodiment method is
The hardware of correlation is instructed to complete by program, described program can be stored in a computer read/write memory medium,
Described storage medium, such as ROM/RAM, disk, CD.
The above disclosed power for being only a kind of preferred embodiment of the present invention, the present invention can not being limited with this certainly
Sharp scope, therefore the equivalent variations made according to the claims in the present invention, still belong to the scope that the present invention is covered.
Claims (2)
1. a kind of multi-rotor unmanned aerial vehicle operating method based on the accurate line of fall inspection of ultrasonic wave, it is characterised in that it is in more rotors
Realized in unmanned plane, the multi-rotor unmanned aerial vehicle includes body, and the body upper part, which is provided with, includes hanger bar (1), driving wheel
(2), driven pulley (3) and the hitch of two connecting plates (4)；Wherein,
The driving wheel (2) setting parallel with the driven pulley (3), and the two central point line for being formed and transmission line of electricity phase
It is parallel；Wherein, driving wheel (2) wheel shaft is by the intrinsic motor driven systems powered motion so that the driving wheel
(2) and both the driven pulley (3) outside spill annulus formed respectively can while be slidingly fitted with the transmission line of electricity；
Described two connecting plates (4) are relatively arranged on the both sides of the central point line, wherein, the both ends point of a connecting plate (4)
The one end for not being located at the central point line side with the driving wheel (2) wheel shaft and the driven pulley (3) wheel shaft is mutually fixed, separately
The both ends of one connecting plate (4) are located at the central point line with the driving wheel (2) wheel shaft and the driven pulley (3) wheel shaft respectively
One end of opposite side is mutually fixed；And among described two connecting plates (4) one towards on the central point line side side
Provided with for determining camera (5) that the ground wire video frequency following system of the grid locational is engaged and at least one
The ultrasonic wave thunder being engaged with for detecting the ultrasonic ranging system of distance between the hitch and the transmission line of electricity
Up to (6)；
The hanger bar (1) is fixed on the driving wheel (2) on the central point line side side；
Wherein, the ultrasonic radar (6) has two, and described two ultrasonic radars (6) are respectively positioned at the camera (5)
Both sides；
Methods described includes：
The multi-rotor unmanned aerial vehicle lift-off VNAV is opened, power transmission line is obtained in ground wire video frequency following system by camera
The image on road, and according to the image of the transmission line of electricity got, determine the position of the transmission line of electricity；
According to the position of the transmission line of electricity of the determination, the multi-rotor unmanned aerial vehicle flying height is adjusted, until described get
The image of transmission line of electricity be located in the ground wire video frequency following system image district default first altitude calibration line and default
Untill between second altitude calibration line；
Ultrasonic radar transmitting ultrasonic pulse is opened, is detected in real time in the multi-rotor unmanned aerial vehicle by ultrasonic ranging system
The distance between hitch and the transmission line of electricity, and when detect between the hitch and the transmission line of electricity away from
During from less than default threshold value, the multi-rotor unmanned aerial vehicle state of flight is adjusted, it is slowly drop on the transmission line of electricity；
After multi-rotor unmanned aerial vehicle line of fall success, stop the rotor work of the multi-rotor unmanned aerial vehicle, start motor driving
System drive driving wheel slides on the transmission line of electricity, realizes the multi-rotor unmanned aerial vehicle automatic running on transmisson line；
Wherein, methods described further comprises：
When the preset gravity sensing system detectio of the multi-rotor unmanned aerial vehicle to the multi-rotor unmanned aerial vehicle is in state of weightlessness,
The multi-rotor unmanned aerial vehicle line of fall failure is determined, then reopens the multi-rotor unmanned aerial vehicle lift-off VNAV.
2. the method as described in claim 1, it is characterised in that the default threshold value is 20cm.
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| CN110471452A (en) * | 2019-08-30 | 2019-11-19 | 华东师范大学 | A kind of unmanned aerial vehicle control system detecting power line |
| CN113933871B (en) * | 2021-10-15 | 2023-01-24 | 贵州师范学院 | Flood disaster detection system based on unmanned aerial vehicle and Beidou positioning |
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| JP4826785B2 (en) * | 2006-11-14 | 2011-11-30 | 国立大学法人神戸大学 | Flight type information processor |
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| CN103855644A (en) * | 2014-03-14 | 2014-06-11 | 刘凯 | Multi-rotary-wing intelligent inspection robot for overhead line |
| CN103941746A (en) * | 2014-03-29 | 2014-07-23 | 国家电网公司 | System and method for processing unmanned aerial vehicle polling image |
| CN104269777A (en) * | 2014-10-18 | 2015-01-07 | 国家电网公司 | Patrol robot system for overhead high-voltage transmission line |
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