CN105159316A - Three dimensional electric field difference obstacle avoidance method for patrolling charged transmission line by unmanned helicopter - Google Patents
Three dimensional electric field difference obstacle avoidance method for patrolling charged transmission line by unmanned helicopter Download PDFInfo
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- CN105159316A CN105159316A CN201510582234.6A CN201510582234A CN105159316A CN 105159316 A CN105159316 A CN 105159316A CN 201510582234 A CN201510582234 A CN 201510582234A CN 105159316 A CN105159316 A CN 105159316A
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Abstract
The invention discloses a three dimensional electric field difference obstacle avoidance method for patrolling charged transmission lines by an unmanned helicopter, and the method comprises the steps of installing three electric field sensors on the unmanned helicopter in the patrol line; electric field intensity values measured by the three electric field sensors are collected to a data acquisition processor; the data acquisition processor comprises a DSP module; the electric field sensors and a signal acquisition processing unit enter into the DSP data processing module; the DSP data processing module outputs the values to the unmanned helicopter flight control system; an instruction is sent from inside the DSP data processor based on a certain algorithm and a strategy to avoid lead through the airborne flight control system to adjust the flight height and direction of the unmanned helicopter; obstacle avoidance to high tension transmission lines by the unmanned helicopter can be realized; the unmanned helicopter can be prevented from deviating a predetermined course and bumping into transmission lines while patrolling the charged transmission lines; and the safety of the unmanned helicopter patrol system and the transmission lines can be guaranteed.
Description
Technical field
The present invention relates to the three-dimensional electric field difference barrier-avoiding method that a kind of depopulated helicopter barrier-avoiding method, particularly a kind of depopulated helicopter patrol and examine charged transmission line of electricity.
Background technology
Along with the construction scale of the high pressure of China's electrical network, UHV (ultra-high voltage) and extra-high voltage grid progressively expands, total distance of ultra-high-tension power transmission line also increases day by day, patrolling and examining the safety of transmission of electricity of transmission line of electricity is more and more important, transmission line equipment ensures that the safe and stable operation of electrical network is most important, along with electric pressure improves, overhead line structures height is more and more higher, and the operation of patrolling and examining of transmission line of electricity needs to carry out quickly and efficiently.Current patrolling method, more advanced is adopt depopulated helicopter to carry out line walking, during current depopulated helicopter line walking, often relate to depopulated helicopter and keep away barrier, existing depopulated helicopter keeps away barrier, as a kind ofly in patent " CN201210222437 " patrol and examine the band point differential electric field obstacle avoidance system of wire and method for unmanned plane " be that the change of electric field intensity by detecting unmanned plane present position contrast with simulation result, and then carry out position detection and judgement.In testing process, patent " CN201210222437 " utilizes the rate of change of the difference of two electric field intensity in transmission line of electricity cross section, when unmanned plane flies at transmission line of electricity, require unmanned plane flight parallel with transmission line of electricity, in fact may not on a horizontal line, so the flight safety of result to unmanned plane of this detection method gained has limitation.
Summary of the invention
The object of the invention is to overcome the deficiencies in the prior art part, and provide a kind of three dimensions of depopulated helicopter to transmission pressure that can realize to keep away barrier, when avoiding depopulated helicopter to patrol and examine live wire, because GPS navigation error or flying height cause the generation of depopulated helicopter and transmission line of electricity collision situation not, ensure that a kind of depopulated helicopter of the safety of depopulated helicopter and transmission line of electricity patrols and examines the three-dimensional electric field difference barrier-avoiding method of charged transmission line of electricity.
A kind of depopulated helicopter patrols and examines the three-dimensional electric field difference barrier-avoiding method of charged transmission line of electricity, depopulated helicopter is provided with electric field intensity measuremenrt sensor, DSP data processor, three identical electric field measurement loop, roads, each electric field measurement loop comprises the electric field measurement sensor, the signal processing unit that connect successively, DSP data processor.DSP data processor output terminal is connected with system for flight control computer, and described electric field obstacle avoidance apparatus entirety will be in middle position and position, oblique upper immediately below patrol unmanned helicopter body, the symmetrical installation in beneath two-way electric field measurement loop, and its concrete steps are:
(1) when operation depopulated helicopter patrols and examines live wire, fuselage should keep horizontal direction, and flies along transmission line of electricity; The installing space of note three electric field measurement sensors is respectively a, b, c, and inputs DSP data processor; Electric field measurement sensor is sent in DSP data processor by after the process of surveyed electric field intensity numerical signal;
(2) according to the electric field intensity data that electric field measurement sensor gathers, carry out keeping away barrier and judge; Detailed process is:
A. simulation calculation, sets up electric Field Calculation model to transmission pressure, utilizes Electric Field Numerical Calculation software Ansys to carry out simulation calculation, obtains the electric field intensity numeric distribution of transmission line of electricity certain distance, wherein, and electric field intensity rate of change k
1, k
3limit value be respectively k
1(220)=43V/m
2, k
3(220)=160V/m
2, k
1(500)=63V/m
2, k
3(500)=371V/m
2;
B. barrier and height control judgement is kept away.The evaluation algorithm of DSP data processor is as follows: at a time T, is designated as n respectively after three electric field measurement sensors record the treated conversion of numerical value
1, n
2, n
3, input DSP data processor draws following decision instruction:
time, export " safety " instruction to flight control system;
time, export " safety " instruction to flight control system;
time, export " laterally keeping away barrier " instruction;
time, export " highly too low keep away barrier " instruction;
C. barrier and height control action command is kept away.DSP sends instruction to flight control system, when instruction is " safety ", continues current flight task; When instruction is for " laterally keep away barrier " or " highly too low keep away barrier ", first depopulated helicopter is hovered, by judging the instruction sending " oppositely flying " or " hoisting depth keeps away barrier ".
Surveyed electric field intensity numerical value is input to signal gathering unit by electric field measurement sensor by barrier-avoiding method of the present invention, be transferred to DSP data processor, data carry out certain algorithm computing in processor, what generate keeps away barrier and height control decision instruction input flight control system, by safety, height control with keep away barrier instruction and send to steering engine controller, control the state of flight of depopulated helicopter.Meanwhile, flight control system airborne control computer can together to be undertaken between land station by data radio station mutual by keeping away information that barrier judges.
In sum, the present invention's following advantage compared to existing technology:
1) the present invention devises a kind of three-dimensional electric field difference barrier-avoiding method of patrolling and examining live wire for depopulated helicopter, utilizes this system, can realize keeping away barrier when depopulated helicopter patrols and examines live wire, ensures the safety of depopulated helicopter line walking.
2) depopulated helicopter patrols and examines the three-dimensional electric field difference obstacle avoidance system of live wire, belongs to passive measurement, avoids some shortcomings of active type measure, and the accuracy that such as can overcome other equipment detection methods is low, equipment volume, weight problems of too.
3) above-mentioned depopulated helicopter patrols and examines the three-dimensional electric field measurement barrier-avoiding method of live wire, is the power frequency electric field measuring transmission line of electricity, can collects stronger signal and data, have good interference free performance.For the transmission pressure of 220kV, 500kV electric pressure, provide the simulation result for contrasting judgement.
Accompanying drawing explanation
Fig. 1 is structure and the data flowchart that depopulated helicopter patrols and examines the electric field measurement obstacle avoidance system of live wire.
Fig. 2 electric field intensity measuremenrt sensor arrangenent diagram.
Fig. 3 is 220kV transmission pressure horizontal direction space electric field rate of change correspondence emulation graph of a relation.
Fig. 4 is that 220kV transmission pressure is respectively 30m place vertical direction space electric field rate of change apart from limit phase conductor horizontal range.
Fig. 5 is 220kV steel tower figure.
Fig. 6 is 500kV transmission pressure horizontal direction space electric field rate of change correspondence emulation graph of a relation.
Fig. 7 is that 500kV transmission pressure is respectively 30m place vertical direction space electric field rate of change apart from limit phase conductor horizontal range;
Fig. 8 is 500kV steel tower figure.
In Fig. 1, each several part original paper is respectively: l, electric field measurement sensor, 2, signal acquisition module, 3, DSP data processor, 4, boat Ore-controlling Role computer for controlling, 5, gyrostabilized platform, 6, servo control division equipments, 7, communication part, 8, satellite positioning module, 9, steering engine controller, 10, electric field obstacle avoidance apparatus.
Embodiment
Below in conjunction with embodiment, the present invention is described in more detail.
Embodiment 1:
In figure l, it comprises patrol unmanned helicopter, depopulated helicopter is provided with electric field obstacle avoidance apparatus 10, this device comprises DSP data processor 3, three identical electric field measurement loop, roads, each electric field measurement loop comprises the electric field measurement sensor l, signal acquisition module 2 and DSP data processor 3, DSP data processor 3 output terminal that connect successively and is connected with flight control system 4.
Electric-field sensor A and B is installed in immediately below depopulated helicopter body and is symmetrically arranged, and electric-field sensor C is contained in depopulated helicopter and surveys top position, the symmetrical installation in A, B two-way electric field measurement loop.
Electric field measurement sensors A, B, C are respectively by surveyed electric field intensity numerical value input signal acquisition module 2, the electric field intensity numerical value measured is input to DSP data processor 3 (three electric field measurement loops are all like this), according to algorithm process described in above-mentioned steps b, the judged result input flight control system computer for controlling 4 generated, and then barrier will be kept away and attitude regulating command sends to steering engine controller 9, adjust the state of flight of unmanned helicopter platform.Meanwhile, flight control system computing machine can by status information, and it is mutual with land station to keep away the information that barrier judges.
The step of height control of the present invention and barrier-avoiding method is:
Step one: install electric-field sensor.When depopulated helicopter patrols and examines live wire, electric field obstacle avoidance apparatus 16 entirety comprises three part A, B, C, wherein A, part B is in middle position immediately below depopulated helicopter body and symmetrical and C is positioned at top position, depopulated helicopter side, three electric field measurement sensor l as shown in Figure l, three signal acquisition process 2, adopt the three-dimensional electric field difference obstacle avoidance system of above-mentioned installation method, when depopulated helicopter patrols and examines live wire, fuselage need be substantially parallel with transmission pressure direction (all like this when general depopulated helicopter patrols and examines live wire, the effective of three electric field intensity quantity difference can be ensured like this).Remember that three electric field measurement sensors A, B, C installing space are for being respectively AB=a, BC=b, AC=c.
Step 2: three electric field measurement sensor l installing space a, b, c are inputted DSP data processor.
Step 3: the data gathered according to electric field measurement sensor l in electric field obstacle avoidance apparatus 10, carries out the judgement keeping away barrier and height control instruction.
A. simulation calculation.
Electric Field Calculation model is set up to transmission pressure, utilizes Electric Field Numerical Calculation software ANSYS to carry out simulation calculation, obtain the electric field intensity numeric distribution of transmission line of electricity certain distance.The limit value (in following formula k1, k3 value) of a setting electric field intensity rate of change, emulation draws, k1 (220)=43V/m2, k3 (220)=160V/m2, k1 (500)=63V/m2, k3 (500)=371V/m2 is corresponded to respectively to the electric field intensity rate of change limit value of 220kV, 500kV transmission pressure.
B. barrier and height control judgement is kept away.
The evaluation algorithm of DSP data processor is as follows:
When depopulated helicopter patrols and examines live wire, at a time, three electric field measurement sensors record numerical value (being designated as n1, n2, n3 respectively) and are input to DSP data processor, make the following judgment computing:
time, export " safety " instruction to flight control system;
time, export " safety " instruction to flight control system;
time, export " laterally keeping away barrier " instruction;
time, export " highly too low keep away barrier " instruction;
Wherein, k1, k3 are respectively the limit value of electric field intensity rate of change.
C. barrier and height control action command is kept away.DSP sends instruction to flight control system, when instruction is " safety ", continues current flight task; When instruction is for " keeping away barrier and height control ", first depopulated helicopter is hovered, by judging the instruction sending " height control " or " hoisting depth keeps away barrier ".
Electric field measurement sensor l is by after surveyed electric field intensity numerical value input signal acquisition process 2, be input to DSP data processor 4 (three electric field measurement loops are all like this), according to algorithm process described in above-mentioned steps b, the decision instruction input flight control system airborne computer 4 generated, controls servo 6 by adjustment flight and goes change of flight state.
In above-mentioned steps a, corresponding k1, k3 value of different electric pressure transmission line of electricity is different; To the wire of the different line parameter circuit value (comprising wire spaced apart, wire height off the ground, wire type) of same electric pressure, electric field intensity numerical value slightly difference, calculates for k1, k3 value, as follows:
As a result one:
k1(220)＝43V/m2、k3(220)＝160V/m2，k1(500)＝63V/m2、k3(500)＝371V/m2。
Carry out simulation modeling to 220kV transmission pressure, obtaining Fig. 3 is 220kV transmission pressure horizontal direction space electric field rate of change correspondence emulation graph of a relation.
Get k1 for electric field intensity rate of change numerical value during distance wire 18m, get k1 for electric field intensity rate of change numerical value during distance horizontal wire 18m, i.e. k1 (220)=43V/m2.
Fig. 4 is that 220kV transmission pressure is respectively 30m place vertical direction space electric field rate of change apart from limit phase conductor horizontal range;
Get k3 for apart from wire surface level vertically ± 10m time electric field intensity rate of change numerical value, k3 (220)=160V/m2.
It is emulated data in Fig. 3 and Fig. 4.Three-dimensional electric field change rate of strength keeps away barrier and height adjustment system also according to presetting and cable space distance, can produce flight adjustment signal, describing the practicality of three-dimensional electric field intensity obstacle avoidance system and emulated data.
As a result two:
Carry out simulation modeling to 500kV transmission pressure, obtaining Fig. 6 is 500kV transmission pressure horizontal direction space electric field rate of change correspondence emulation graph of a relation.
Get k1 for electric field intensity rate of change numerical value during distance horizontal wire 22m, i.e. k1 (500)=63V/m2.
Fig. 7 is that 220kV transmission pressure is respectively 30m place vertical direction space electric field rate of change apart from limit phase conductor horizontal range.
Get k3 for electric field intensity rate of change numerical value during 22m vertical apart from wire surface level, i.e. k3 (500)=371V/m2.
It is emulated data in Fig. 6 and Fig. 7.Three-dimensional electric field change rate of strength keeps away barrier and height adjustment system also according to presetting and cable space distance, can produce flight adjustment signal, describing the practicality of three-dimensional electric field intensity obstacle avoidance system and emulated data.
By reference to the accompanying drawings the specific embodiment of the present invention is described although above-mentioned; but not limiting the scope of the invention; one of ordinary skill in the art should be understood that; on the basis of technical scheme of the present invention, those skilled in the art do not need to pay various amendment or distortion that creative work can make still within protection scope of the present invention.
It is same as the prior art that the present embodiment does not state part.
Claims (1)
1. a depopulated helicopter patrols and examines the three-dimensional electric field difference barrier-avoiding method of charged transmission line of electricity, it is characterized in that: on depopulated helicopter, be provided with electric field intensity measuremenrt sensor, DSP data processor, three identical electric field measurement loop, roads, each electric field measurement loop comprises the electric field measurement sensor connected successively, signal processing unit, DSP data processor, DSP data processor output terminal is connected with system for flight control computer, described electric field obstacle avoidance apparatus entirety will be in middle position and position, oblique upper immediately below patrol unmanned helicopter body, the beneath symmetrical installation in two-way electric field measurement loop, its concrete steps are:
(1) when patrol unmanned helicopter patrols and examines live wire, fuselage should keep horizontal direction, and flies along transmission line of electricity; The installing space of note three electric field measurement sensors is respectively a, b, c, and inputs DSP data processor; Electric field measurement sensor is sent in DSP data processor by after the process of surveyed electric field intensity numerical signal;
(2): the electric field intensity data gathered according to electric field measurement sensor, the judgement keeping away barrier and height control instruction is carried out; Detailed process is:
A. simulation calculation, sets up electric Field Calculation model to transmission pressure, utilizes Electric Field Numerical Calculation software ANSYS to carry out simulation calculation, obtains the electric field intensity numeric distribution of transmission line of electricity certain distance, wherein, and electric field intensity rate of change k
1, k
3limit value be respectively when voltage is 220kV, k
1=43V/m
2, k
3=160V/m
2, the k when voltage is 500kV
1=63V/m
2, k
3=371V/m
2;
B. keep away barrier and height control judgement, the evaluation algorithm of DSP data processor is as follows: at a time T, is designated as n respectively after three electric field measurement sensors record the treated conversion of numerical value
1, n
2, n
3, input DSP data processor draws following decision instruction:
time, export " safety " instruction to flight control system;
time, export " safety " instruction to flight control system;
time, export " laterally keeping away barrier " instruction;
time, export " highly too low keep away barrier " instruction;
C. keep away barrier and height control action command, send instruction to flight control system by DSP, when instruction is " safety ", continue current flight task; When instruction is for " laterally keep away barrier " or " highly too low keep away barrier ", first depopulated helicopter is hovered, by judging the instruction sending " oppositely flying " or " hoisting depth keeps away barrier ".
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| CN106774414A (en) * | 2016-12-30 | 2017-05-31 | 易瓦特科技股份公司 | Electric field avoiding type unmanned plane |
| CN108614579A (en) * | 2018-06-12 | 2018-10-02 | 重庆大学 | The method for early warning of AC power circuit is maked somebody a mere figurehead in a kind of unmanned plane collision avoidance |
| CN109782802A (en) * | 2019-01-30 | 2019-05-21 | 云南电网有限责任公司电力科学研究院 | A kind of unmanned plane line walking barrier-avoiding method and system based on electric-field sensor |
| CN111625021A (en) * | 2020-06-02 | 2020-09-04 | 广东电网有限责任公司 | Unmanned aerial vehicle power line patrol distance measurement system and method based on electromagnetic field |
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