CN105717944A - Unmanned plane device with high-voltage equipment intelligent avoidance function and application method thereof - Google Patents
Unmanned plane device with high-voltage equipment intelligent avoidance function and application method thereof Download PDFInfo
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- CN105717944A CN105717944A CN201610087928.7A CN201610087928A CN105717944A CN 105717944 A CN105717944 A CN 105717944A CN 201610087928 A CN201610087928 A CN 201610087928A CN 105717944 A CN105717944 A CN 105717944A
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- 230000005684 electric field Effects 0.000 claims abstract description 127
- 230000005540 biological transmission Effects 0.000 claims abstract description 19
- 230000006698 induction Effects 0.000 claims description 36
- 238000007689 inspection Methods 0.000 claims description 14
- 230000005611 electricity Effects 0.000 claims description 8
- 238000012544 monitoring process Methods 0.000 claims description 8
- 230000003187 abdominal effect Effects 0.000 claims description 6
- 230000015607 signal release Effects 0.000 claims description 6
- 238000002955 isolation Methods 0.000 claims description 4
- 206010014357 Electric shock Diseases 0.000 claims description 3
- 230000007257 malfunction Effects 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 208000033999 Device damage Diseases 0.000 description 1
- 239000003990 capacitor Substances 0.000 description 1
- 230000034994 death Effects 0.000 description 1
- 231100000517 death Toxicity 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000012212 insulator Substances 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 229910052573 porcelain Inorganic materials 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
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Abstract
The invention relates to an unmanned plane device with a high-voltage equipment intelligent avoidance function and an application method thereof. The unmanned plane device with the high-voltage equipment intelligent avoidance function comprises an unmanned plane. An electric field sensor, an AD signal converter, a control module, an unmanned plane controller, a wireless receiver and an alarm apparatus are installed on the unmanned plane. The control module is connected with the electric field sensor through the AD signal converter. The control module is also connected with the unmanned plane controller and the alarm apparatus. The control module is also connected with the wireless receiver through a wireless receiver loop switch. The unmanned plane is controlled by ground crews through a remote controller. The unmanned plane is controlled to fly above a transformer substation or above an electric power high-voltage tower and an electric power high-voltage transmission line, and inspect and monitor the electric power high-voltage equipment below. According to the invention, the electric field intensity of the electric power high-voltage equipment is sensed by the electric field sensor, so that the unmanned plane is enabled to automatically avoid the electric power high-voltage equipment when the ground remote control operation errors happen or the remote controller malfunctions.
Description
Technical field
The present invention relates to a kind of unmanned plane make an inspection tour, monitoring power high voltage apparatus, particularly a kind of have intelligence and evade unmanned plane device and the application method of high voltage equipment.
Background technology
The domestic existing unmanned plane that converting station electric power high pressure equipment and power high-tension transmission line are carried out tour monitoring, all it is entirely ground staff's remote manipulation, unmanned plane does not have design and installation prevent from touching evading and protecting apparatus of power high voltage equipment by mistake, once occur ground remote control manipulator that operational error occurs, or remote control unit malfunctioning time, unmanned plane is likely to touching power high voltage equipment out of control, light then cause unmanned plane to be smashed by high-tension electricity and fall, power high voltage device damage, the little area of electrical network has a power failure, heavy then ground staff's injures and deaths can be caused, electrical network high pressure equipment damages, the serious accident of electric grid large area power cut.
Summary of the invention
It is an object of the invention to provide and a kind of there is intelligence evade unmanned plane device and the application method of high voltage equipment, by electric field induction device induction power high pressure equipment electric field intensity, thus controlling unmanned plane when ground remote control operational error or remote controller are malfunctioning so that unmanned plane evades power high voltage equipment automatically.
For achieving the above object, the technical scheme is that a kind of there is intelligence evade the unmanned plane device of high voltage equipment, including unmanned plane, described unmanned plane is provided with electric field induction device, AD signal adapter, controls module, unmanned aerial vehicle (UAV) control device, radio receiver, alarm, described control module is connected with electric field induction device through AD signal adapter, described control module is also connected with unmanned aerial vehicle (UAV) control device, alarm respectively, and described control module is also connected with radio receiver through radio receiver circuit switching；Unmanned plane is controlled by remote controller by ground staff, thus controlling unmanned plane in transformer station overhead or at power high voltage shaft tower, power high-tension transmission line flying overhead, and the power high voltage equipment below unmanned plane is maked an inspection tour, monitoring, high voltage electric field field intensity can be sensed when unmanned plane is near power high voltage equipment, power high voltage equipment electric pressure is more high, distance is more near, electric field strength is more big, the electric field intensity signal that sensing receives is passed to AD signal adapter by electric field induction device, AD signal adapter converts digital signal to by being transmitted, by electric field induction device, the electric field intensity signal come, and by this digital data transmission to controlling module, control module is preset with the first electric field intensity warning and arranges value, second electric field intensity is reported to the police and is arranged value, when the electric field intensity signal that the sensing that is installed on unmanned plane electric field induction apparatus receives reach the first electric field intensity report to the police value is set time, control module control alarm and send alarm sound and flash signal, when electric field intensity signal arranges value lower than the first electric field intensity warning, alarm signal releases；When being installed on unmanned plane electric field induction apparatus closer to power high voltage equipment, its electric field intensity signal of receiving of sensing reaches the second electric field intensity and reports to the police when arranging value, control module and automatically control disconnection of wireless electricity receptor circuit switching, cutting off ground remote control operation unmanned aerial vehicle (UAV) control device signal, flight is evaded in the direction that control module is weakened toward electric field intensity by unmanned aerial vehicle (UAV) control device control unmanned plane simultaneously；When unmanned plane is away from power high voltage equipment in running, the electric field induction device electric field intensity signal that receives of sensing drop to the second electric field intensity report to the police arrange value below time, control module and automatically terminate the control to unmanned plane avoiding action, and turn on automatically unmanned aerial vehicle radio receptor circuit switching, recover the ground remote control signal remote manipulation to unmanned aerial vehicle (UAV) control device, unmanned plane is made can automatically to evade operating power high voltage equipment all the time within the scope of safe distance, avoid due to the error of unmanned aerial vehicle operator, or ground remote controller malfunctioning time unmanned plane touching run power high voltage equipment danger, the personal safety of powerful guarantee staff and the safe operation of electrical network high pressure equipment.
In an embodiment of the present invention, described power high voltage equipment includes: main transformer, sleeve pipe, transformer, chopper, isolation switch, spark gap, high-voltage conducting wires, ultra-high-tension power transmission line, terminal, wire clamp, power high voltage equipment is in operation and can form electric field about, electric pressure is more high, more near near power high voltage equipment, electric field intensity is more big, and vice versa.
In an embodiment of the present invention, described unmanned plane includes depopulated helicopter and fixed-wing unmanned plane, and described unmanned plane abdominal part place is provided with photographic head, in order to power high voltage equipment below is maked an inspection tour, monitored by photographic head by unmanned plane.
In an embodiment of the present invention, described control module is PLC.
Present invention also offers and a kind of based on described above, there is the application method that intelligence evades the unmanned plane device of high voltage equipment, comprise the steps,
1) as required make an inspection tour, monitoring power high voltage equipment electric pressure, to control module pre-set first electric field intensity report to the police arrange value and the second electric field intensity warning value is set；
2) opening remote control unmanned plane lift-off, and along power high voltage equipment overhead in transformer station, or ultra-high-tension power transmission line overhead, keep certain height and speed carries out spiraling or cruising flight along the line, by the photographic head installed under unmanned plane abdominal part, power high voltage equipment and ultra-high-tension power transmission line are maked an inspection tour, monitored；
3) the electric field induction device on unmanned plane runs the electric field intensity that power high voltage equipment sends sympathetically, and electric field signal sends to AD signal adapter, and AD signal adapter transmits to controlling module after electric field intensity signal is converted into digital signal；
4) when unmanned plane is near power high voltage equipment, and during close to power high voltage equipment electric pressure safe distance, when electric field intensity reaches the first electric field intensity warning, value is set, control module control alarm on unmanned plane sends warning and blows a whistle and flash signal, and warning ground remote control operator's remotely pilotless machine keeps certain safe distance with power high voltage equipment；
5) when unmanned plane leaves power high voltage equipment danger warning distance, alarm signal releases；
6) when unmanned plane, ground remote control personnel, operational error occurs, or remote control unit is malfunctioning, unmanned plane is out of control to power high voltage equipment close to when being likely to Danger Electric shock risk distance, the electric field intensity signal that the sensing that is now installed on unmanned plane electric field induction apparatus receives reaches the second electric field intensity and reports to the police and arrange value, control module automatic disconnection of wireless electricity receptor circuit switching, cut off ground remote control operation radio wave signal, control module by unmanned aerial vehicle (UAV) control device simultaneously, control unmanned plane and fly toward the direction that electric field intensity weakens；
7) when unmanned plane is away from power high voltage equipment in running, the electric field induction device electric field intensity signal that receives of sensing drop to the second electric field intensity report to the police arrange value below time, control module and automatically terminate the control to unmanned plane, and turn on automatically unmanned aerial vehicle radio receptor circuit switching, recover the ground remote control signal remote manipulation to unmanned plane.
Compared to prior art, the method have the advantages that the present invention passes through the electric field induction device induction power high pressure equipment electric field intensity being installed on unmanned plane, thus controlling unmanned plane when ground remote control operational error or remote controller are malfunctioning so that unmanned plane evades power high voltage equipment automatically.
Accompanying drawing explanation
Fig. 1 is that the present invention has intelligence and evades the unmanned plane of power high voltage apparatus and make an inspection tour work sheet in converting station electric power high pressure equipment overhead.
Fig. 2 is that the present invention has intelligence and evades the unmanned plane tour work sheet to power high-tension transmission line of power high voltage apparatus.
Fig. 3 is that the present invention has intelligence and evades the unmanned plane of power high voltage apparatus when being remained above safe distance with power high voltage equipment, and intelligence evades high voltage electric field device fundamental diagram.
Fig. 4 be the present invention when have intelligence evade power high voltage apparatus unmanned plane arrive arrange power high voltage equipment security alarm distance time, alert operation schematic diagram.
Fig. 5 be the present invention when the unmanned plane having intelligence and evading power high voltage apparatus arrives the power high voltage equipment risk distance arranged, control module and automatically control unmanned plane and evade high voltage electric field fundamental diagram.
In figure: 1-unmanned plane, 2-photographic head, 3-electric field induction device, 4-radio receiver, 5-main transformer, 6-main transformer high-voltage side outlet wire, 7-main transformer low-voltage side outlet, 8-spark gap, 9-sleeve pipe, 10-isolation switch, 11-chopper, 12-transformer, 13-bus, 14-capacitor, 15-wire clamp, 16-high voltage line iron tower, 17-high voltage transmission line, 18-porcelain insulator, 19-controls module, 20-alarm, 21-radio wave, 22-radio receiver, 23-high-tension electricity induction field, 24-radio receiver circuit switching, 25-unmanned aerial vehicle (UAV) control device, 26-AD signal adapter.
Detailed description of the invention
Below in conjunction with accompanying drawing, technical scheme is specifically described.
As Figure 1-5, the present invention a kind of has intelligence and evades the unmanned plane device of high voltage equipment, including unmanned plane, described unmanned plane is provided with electric field induction device, AD signal adapter, controls module, unmanned aerial vehicle (UAV) control device, radio receiver, alarm, described control module is connected with electric field induction device through AD signal adapter, described control module is also connected with unmanned aerial vehicle (UAV) control device, alarm respectively, and described control module is also connected with radio receiver through radio receiver circuit switching；Unmanned plane is controlled by remote controller by ground staff, thus controlling unmanned plane in transformer station overhead or at power high voltage shaft tower, power high-tension transmission line flying overhead, and the power high voltage equipment below unmanned plane is maked an inspection tour, monitoring, high voltage electric field field intensity can be sensed when unmanned plane is near power high voltage equipment, power high voltage equipment electric pressure is more high, distance is more near, electric field strength is more big, the electric field intensity signal that sensing receives is passed to AD signal adapter by electric field induction device, AD signal adapter converts digital signal to by being transmitted, by electric field induction device, the electric field intensity signal come, and by this digital data transmission to controlling module, control module is preset with the first electric field intensity warning and arranges value, second electric field intensity is reported to the police and is arranged value, when the electric field intensity signal that the sensing that is installed on unmanned plane electric field induction apparatus receives reach the first electric field intensity report to the police value is set time, control module control alarm and send alarm sound and flash signal, when electric field intensity signal arranges value lower than the first electric field intensity warning, alarm signal releases；When being installed on unmanned plane electric field induction apparatus closer to power high voltage equipment, its electric field intensity signal of receiving of sensing reaches the second electric field intensity and reports to the police when arranging value, control module and automatically control disconnection of wireless electricity receptor circuit switching, cutting off ground remote control operation unmanned aerial vehicle (UAV) control device signal, flight is evaded in the direction that control module is weakened toward electric field intensity by unmanned aerial vehicle (UAV) control device control unmanned plane simultaneously；When unmanned plane is away from power high voltage equipment in running, the electric field induction device electric field intensity signal that receives of sensing drop to the second electric field intensity report to the police arrange value below time, control module and automatically terminate the control to unmanned plane avoiding action, and turn on automatically unmanned aerial vehicle radio receptor circuit switching, recover the ground remote control signal remote manipulation to unmanned aerial vehicle (UAV) control device, unmanned plane is made can automatically to evade operating power high voltage equipment all the time within the scope of safe distance, avoid due to the error of unmanned aerial vehicle operator, or ground remote controller malfunctioning time unmanned plane touching run power high voltage equipment danger, the personal safety of powerful guarantee staff and the safe operation of electrical network high pressure equipment.
Described power high voltage equipment includes: main transformer, sleeve pipe, transformer, chopper, isolation switch, spark gap, high-voltage conducting wires, ultra-high-tension power transmission line, terminal, wire clamp, power high voltage equipment is in operation and can form electric field about, electric pressure is more high, more near near power high voltage equipment, electric field intensity is more big, and vice versa.Described unmanned plane includes depopulated helicopter and fixed-wing unmanned plane, and described unmanned plane abdominal part place is provided with photographic head, in order to power high voltage equipment below is maked an inspection tour, monitored by photographic head by unmanned plane.Described control module is PLC or other microcontrollers.
Present invention also offers and a kind of based on described above, there is the application method that intelligence evades the unmanned plane device of high voltage equipment, comprise the steps,
1) as required make an inspection tour, monitoring power high voltage equipment electric pressure, to control module pre-set first electric field intensity report to the police arrange value and the second electric field intensity warning value is set；
2) opening remote control unmanned plane lift-off, and along power high voltage equipment overhead in transformer station, or ultra-high-tension power transmission line overhead, keep certain height and speed carries out spiraling or cruising flight along the line, by the photographic head installed under unmanned plane abdominal part, power high voltage equipment and ultra-high-tension power transmission line are maked an inspection tour, monitored；
3) the electric field induction device on unmanned plane runs the electric field intensity that power high voltage equipment sends sympathetically, and electric field signal sends to AD signal adapter, and AD signal adapter transmits to controlling module after electric field intensity signal is converted into digital signal；
4) when unmanned plane is near power high voltage equipment, and during close to power high voltage equipment electric pressure safe distance, when electric field intensity reaches the first electric field intensity warning, value is set, control module control alarm on unmanned plane sends warning and blows a whistle and flash signal, and warning ground remote control operator's remotely pilotless machine keeps certain safe distance with power high voltage equipment；
5) when unmanned plane leaves power high voltage equipment danger warning distance, alarm signal releases；
6) when unmanned plane, ground remote control personnel, operational error occurs, or remote control unit is malfunctioning, unmanned plane is out of control to power high voltage equipment close to when being likely to Danger Electric shock risk distance, the electric field intensity signal that the sensing that is now installed on unmanned plane electric field induction apparatus receives reaches the second electric field intensity and reports to the police and arrange value, control module automatic disconnection of wireless electricity receptor circuit switching, cut off ground remote control operation radio wave signal, control module by unmanned aerial vehicle (UAV) control device simultaneously, control unmanned plane and fly toward the direction that electric field intensity weakens；
7) when unmanned plane is away from power high voltage equipment in running, the electric field induction device electric field intensity signal that receives of sensing drop to the second electric field intensity report to the police arrange value below time, control module and automatically terminate the control to unmanned plane, and turn on automatically unmanned aerial vehicle radio receptor circuit switching, recover the ground remote control signal remote manipulation to unmanned plane.
It is above presently preferred embodiments of the present invention, all changes made according to technical solution of the present invention, when produced function is without departing from the scope of technical solution of the present invention, belong to protection scope of the present invention.
Claims (5)
1. one kind has intelligence and evades the unmanned plane device of high voltage equipment, it is characterized in that: include unmanned plane, described unmanned plane is provided with electric field induction device, AD signal adapter, controls module, unmanned aerial vehicle (UAV) control device, radio receiver, alarm, described control module is connected with electric field induction device through AD signal adapter, described control module is also connected with unmanned aerial vehicle (UAV) control device, alarm respectively, and described control module is also connected with radio receiver through radio receiver circuit switching；Unmanned plane is controlled by remote controller by ground staff, thus controlling unmanned plane in transformer station overhead or at power high voltage shaft tower, power high-tension transmission line flying overhead, and the power high voltage equipment below unmanned plane is maked an inspection tour, monitoring, high voltage electric field field intensity can be sensed when unmanned plane is near power high voltage equipment, power high voltage equipment electric pressure is more high, distance is more near, electric field strength is more big, the electric field intensity signal that sensing receives is passed to AD signal adapter by electric field induction device, AD signal adapter converts digital signal to by being transmitted, by electric field induction device, the electric field intensity signal come, and by this digital data transmission to controlling module, control module is preset with the first electric field intensity warning and arranges value, second electric field intensity is reported to the police and is arranged value, when the electric field intensity signal that the sensing that is installed on unmanned plane electric field induction apparatus receives reach the first electric field intensity report to the police value is set time, control module control alarm and send alarm sound and flash signal, when electric field intensity signal arranges value lower than the first electric field intensity warning, alarm signal releases；When being installed on unmanned plane electric field induction apparatus closer to power high voltage equipment, its electric field intensity signal of receiving of sensing reaches the second electric field intensity and reports to the police when arranging value, control module and automatically control disconnection of wireless electricity receptor circuit switching, cutting off ground remote control operation unmanned aerial vehicle (UAV) control device signal, flight is evaded in the direction that control module is weakened toward electric field intensity by unmanned aerial vehicle (UAV) control device control unmanned plane simultaneously；When unmanned plane is away from power high voltage equipment in running, the electric field induction device electric field intensity signal that receives of sensing drop to the second electric field intensity report to the police arrange value below time, control module and automatically terminate the control to unmanned plane avoiding action, and turn on automatically unmanned aerial vehicle radio receptor circuit switching, recover the ground remote control signal remote manipulation to unmanned aerial vehicle (UAV) control device, unmanned plane is made can automatically to evade operating power high voltage equipment all the time within the scope of safe distance, avoid due to the error of unmanned aerial vehicle operator, or ground remote controller malfunctioning time unmanned plane touching run power high voltage equipment danger, the personal safety of powerful guarantee staff and the safe operation of electrical network high pressure equipment.
2. according to claim 1 a kind of have intelligence and evade the unmanned plane device of high voltage equipment, it is characterized in that: described power high voltage equipment includes: main transformer, sleeve pipe, transformer, chopper, isolation switch, spark gap, high-voltage conducting wires, ultra-high-tension power transmission line, terminal, wire clamp, power high voltage equipment is in operation and can form electric field about, electric pressure is more high, more near near power high voltage equipment, electric field intensity is more big, and vice versa.
3. according to claim 1 a kind of have intelligence and evade the unmanned plane device of high voltage equipment, it is characterized in that: described unmanned plane includes depopulated helicopter and fixed-wing unmanned plane, described unmanned plane abdominal part place is provided with photographic head, in order to power high voltage equipment below is maked an inspection tour, monitored by photographic head by unmanned plane.
4. according to claim 1 a kind of have intelligence and evade the unmanned plane device of high voltage equipment, it is characterised in that: described control module is PLC.
5. one kind based on having the application method that intelligence evades the unmanned plane device of high voltage equipment described in Claims 1-4, it is characterised in that: comprise the steps,
1) as required make an inspection tour, monitoring power high voltage equipment electric pressure, to control module pre-set first electric field intensity report to the police arrange value and the second electric field intensity warning value is set；
2) opening remote control unmanned plane lift-off, and along power high voltage equipment overhead in transformer station, or ultra-high-tension power transmission line overhead, keep certain height and speed carries out spiraling or cruising flight along the line, by the photographic head installed under unmanned plane abdominal part, power high voltage equipment and ultra-high-tension power transmission line are maked an inspection tour, monitored；
3) the electric field induction device on unmanned plane runs the electric field intensity that power high voltage equipment sends sympathetically, and electric field signal sends to AD signal adapter, and AD signal adapter transmits to controlling module after electric field intensity signal is converted into digital signal；
4) when unmanned plane is near power high voltage equipment, and during close to power high voltage equipment electric pressure safe distance, when electric field intensity reaches the first electric field intensity warning, value is set, control module control alarm on unmanned plane sends warning and blows a whistle and flash signal, and warning ground remote control operator's remotely pilotless machine keeps certain safe distance with power high voltage equipment；
5) when unmanned plane leaves power high voltage equipment danger warning distance, alarm signal releases；
6) when unmanned plane, ground remote control personnel, operational error occurs, or remote control unit is malfunctioning, unmanned plane is out of control to power high voltage equipment close to when being likely to Danger Electric shock risk distance, the electric field intensity signal that the sensing that is now installed on unmanned plane electric field induction apparatus receives reaches the second electric field intensity and reports to the police and arrange value, control module automatic disconnection of wireless electricity receptor circuit switching, cut off ground remote control operation radio wave signal, control module by unmanned aerial vehicle (UAV) control device simultaneously, control unmanned plane and fly toward the direction that electric field intensity weakens；
7) when unmanned plane is away from power high voltage equipment in running, the electric field induction device electric field intensity signal that receives of sensing drop to the second electric field intensity report to the police arrange value below time, control module and automatically terminate the control to unmanned plane, and turn on automatically unmanned aerial vehicle radio receptor circuit switching, recover the ground remote control signal remote manipulation to unmanned plane.
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| CN106771713A (en) * | 2016-11-22 | 2017-05-31 | 国网山东省电力公司东营供电公司 | The online inspection device of electrification in high voltage and method |
| CN106774414A (en) * | 2016-12-30 | 2017-05-31 | 易瓦特科技股份公司 | Electric field avoiding type unmanned plane |
| CN107274510A (en) * | 2017-06-08 | 2017-10-20 | 广东容祺智能科技有限公司 | A kind of unmanned plane Power Line Inspection System based on electromagnetism avoidance |
| CN108762305A (en) * | 2018-06-12 | 2018-11-06 | 重庆大学 | The prior-warning device of AC power circuit is maked somebody a mere figurehead in a kind of unmanned plane collision avoidance |
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| CN110749932A (en) * | 2019-10-14 | 2020-02-04 | 国网辽宁省电力有限公司盘锦供电公司 | Near-electricity alarm |
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Application publication date: 20160629 |