CN105912024B - A kind of the electromagnetic field localization method and device of overhead transmission line patrol UAV - Google Patents
A kind of the electromagnetic field localization method and device of overhead transmission line patrol UAV Download PDFInfo
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Abstract
A kind of the electromagnetic field localization method and device of overhead transmission line patrol UAV, according to the mathematical relationship of electromagnetic field vector and distance, determine the spatial position between unmanned plane and transmission line of electricity by measuring the magnetic vector and electric field intensity of unmanned plane present position.By radio transmission apparatus by the spatial position data between acquired unmanned plane and transmission line of electricity, it is transferred to terminal control system.Magnetic vector is measured using three-component method, measures electric field intensity using three axis Orthogonal Methods.The present invention can effectively improve the accuracy to patrol UAV positioning, avoid and visually observe bring uncertainty, reach safe and efficient effect, while improving the intelligence degree of line walking.
Description
Technical field
The invention belongs to power transmission line inspection unmanned plane field, in particular to a kind of overhead transmission line patrol UAV
Electromagnetic field localization method and device are mainly used for the positioning of overhead transmission line patrol UAV.
Background technique
The overlay area of overhead power line is wide, passes through that region is with a varied topography and natural environment is severe.Power line, shaft tower
For a long time in field exposure, the constantly infringement by extraneous factors such as mechanical tension, material aging, lightning stroke, filths is easy to cause and leads
The generation of the failures such as ground wire is stranded, fitting burn into insulator is damaged, shaft tower inclination, such as finds not in time and is repaired, more
It changes, eventually results in major accident, seriously threaten the safety and stabilization of electric system.In order to grasp route operation conditions and and
When exclude route potential risk, need regular visit transmission line of electricity, at any time grasp route protection area environmental change situation, it is fast
Speed finds simultaneously to remove a hidden danger, and prevents major accident, it is ensured that the safety of power supply and reliable.
The development of unmanned air vehicle technique provides new mobile platform for the line walking of overhead power line.Utilize UAV flight
Inspection device carries out line walking, the advantage for having traditional line walking mode incomparable: 1) it is unmanned, it not can cause casualties,
It is highly-safe；2) it is not limited by geographical conditions, even if encountering earthquake, the natural calamities such as flood still can be to devastated
Power circuit carry out inspection；3) line walking speed is fast, per hour up to tens kilometers.Unmanned plane more pacifies polling transmission line
Entirely, at low cost, it is high-efficient, and can find defect existing for transmission line of electricity in time, it solves manual inspection there are inspections and is " blind
The problem of area ".Unmanned plane can carry multiple sensors and make an inspection tour to transmission line of electricity, can be by analysis unmanned plane to transmission of electricity
The audiovisual materials (infrared, ultraviolet, visible light) of route shooting, obtain defect existing for transmission line of electricity, discovery and elimination as early as possible
The hidden danger being likely to occur.However, patrol UAV is only a stain in human eye when far from operator at present, this
When be difficult to judge the relative position of unmanned plane and transmission line of electricity, influence control of the staff to patrol UAV flight path.
But present most of unmanned plane power-line patrolling project many places are in the scientific research stage, and there are still some problems for unmanned plane inspection.Line walking without
When man-machine execution task, because being located near transmission line wire, it is in the environment of stronger electric and magnetic fields, can makes
Unmanned machine operation is compared harsh electromagnetic interference, and performance is influenced, and may make inspection operation that can not be normally carried out, sternly
The even unmanned plane of weight crashes, and causes larger economic loss；On the other hand, there is different patrol tasks different inspections to want
Ask, for example, require in regular visit or special inspection it is as more as possible to the Image Acquisition of target point, to the condition of a disaster inspection or
Need unmanned plane that can rapidly monitor to target point when fault inspection.And maximum inspection distance and limited time.It is above-mentioned to ask
Topic to when unmanned machine operation Path selection and spatial position selection it is related, therefore, to unmanned plane in polling transmission line
Path planning and spatial position positioning research, and it is very heavy to unmanned plane routing inspection efficiency, safety and health low cost is improved
It wants.Although unmanned plane line walking will receive the limitation of the conditions such as aviation application, body load-carrying and bad weather, with unmanned plane skill
The high speed development of art, these problems can be resolved.This technology of unmanned plane is applied to power circuit polling, including is melted
Multiple technical fields such as electronics, communication, image recognition are closed, a whole set of unmanned plane inspection system is formed, electricity can be mitigated significantly
The human input of power line walking, while inspection quickly and safely can be implemented to route again, it is a up-and-coming research direction,
And there is important practical value.
In the mode of existing manual inspection, there is many " blind areas ", expend many manpower and material resources, be not able to satisfy smart grid
The demand of developing the economy property and safety；Inspection is carried out to overhead transmission line by the way of artificial, in the ring of field complexity
Under border, threat of staff's personal safety vulnerable to other factors in nature, and when existing unmanned plane line walking, due to it
Position inaccurate cannot reach the technical requirements to line walking；Because patrol UAV can be only achieved most preferably under suitable distance
Line walking as a result, to supporting our the correct judgements to route operating condition.At present when unmanned plane line walking, because naked eyes cannot
Unmanned plane is accurately judged at a distance from overhead line, optimum efficiency is not achieved, huge prestige will all be generated to overhead line and unmanned plane
The side of body.
The shortcomings that prior art: the prior art is only one-sided to detect electric field or magnetic field, exists in three-dimensional imaging and misses
Difference.When overhead line Current Voltage variation when, the measurement data of one-side field, without measurement judgement can dependence.It utilizes
Although GPSRTK technology can obtain the navigation information of centimetre class precision, it is maked somebody a mere figurehead in transmission line of electricity and installs multiple bases on steel tower
Quasi- subsystem not only improves route operation cost, returns the upper tower operation of O&M service personnel and brings many puzzlements, does not meet
Line construction principle.
Unmanned plane positioning system at present has the visual performance using machine vision simulation people, and it is fixed to realize with vision algorithm
Position；GPS positioning, such as a kind of patent " power-line patrolling UAV Navigation System based on GPS RTK technology " (number of patent application
201410100706.5) navigation system proposed, it includes one or more unmanned plane movement stations, base station subsystem and ground
Face station Monitor And Control Subsystem, plurality of base station subsystem are arranged on power circuit pylon, will using reference subsystem
GPS differential data is transmitted to movement station；Differential electric field barrier-avoiding method (number of patent application 201210222437.0) etc..The country is to small-sized
Unmanned plane accurate positioning is simultaneously few, most of to be also in the primary stage.Currently, both at home and abroad to high voltage electricity transmission conductive wire electromagnetic environment
Research and analysis have achieved certain achievement, but main research direction is high voltage electricity transmission conductive wire electromagnetic environment to human body and band
The influence of electric operating personnel, and the interference to some electronic instruments.Realize that unmanned plane positions using the electromagnetic environment of overhead line
It is only referred in rare document and patent, " one kind is used for unmanned plane to the patent that for example number of patent application is 201210222437.0
The differential electric field obstacle avoidance system and method for inspection live wire " the differential electric field measurement that utilizes is referred to evade conducting wire, it is adopted
Be the identical field measurement device of two-way, electric field strength at two measured by certain mode, and calculating difference with
Available data compares, to obtain the distance between unmanned plane and conducting wire.The patent is mentioned that a kind of pair of different voltages grade
Conducting wire around electric field change do that simulation calculation distance of wire is closer, and Calculation results are more accurate.The data measured are same
Existing emulation data compare, and can carry out position detection and judgement.
Summary of the invention
In order to meet the needs of positioning when using unmanned plane inspection to it, find a kind of using unmanned plane present position
Magnetic vector and electric field intensity method, the present invention provide a kind of overhead transmission line patrol UAV electromagnetic field localization method and
Device, the mathematical relationship according to electromagnetic field vector and distance determine the spatial position between patrol UAV and transmission line of electricity, solve
Certainly be difficult to the naked eye to position when current unmanned plane inspection its at a distance from overhead line caused by problem.It can effectively improve to line walking
The accuracy of unmanned plane positioning avoids and visually observes bring uncertainty, reaches safe and efficient effect, improve simultaneously
The intelligence degree of line walking.
The technical scheme adopted by the invention is that:
A kind of electromagnetic field localization method of overhead transmission line patrol UAV, by the magnetic for measuring unmanned plane present position
Field vector and electric field intensity determine the sky between unmanned plane and transmission line of electricity according to the mathematical relationship of electromagnetic field vector and distance
Between position.By radio transmission apparatus by the spatial position data between acquired unmanned plane and transmission line of electricity, it is transferred to end
End control system.
Magnetic vector is measured using three-component method, measures electric field intensity using three axis Orthogonal Methods.
When the distance between unmanned plane and transmission line of electricity are less than 0.5m or are greater than 2m, alarm signal will be issued, and remind
Operator adjusts flight path.
When unmanned plane is less than 0.5m at a distance from transmission line of electricity, prompt operator towards the direction tune of distance increase
It is whole；When unmanned plane is greater than 2m at a distance from transmission line of electricity, operator is prompted to adjust towards the reduced direction of distance.
A kind of electromagnetic field positioning device of overhead transmission line patrol UAV, including magnetic vector measuring device, electric field
Device for measuring vector quantity, radio transmission apparatus, warning device, terminal control system.
Magnetic vector measuring device, electric field intensity measuring device are mounted on the bracket of unmanned plane；Radio transmission apparatus
Emitter is mounted in the fuselage of unmanned plane；The emitter and reception device of radio transmission apparatus are connected by wireless network
It connects.
Reception device, warning device, the terminal control system of radio transmission apparatus are mounted in ground level control room.
The magnetic field detecting coil that magnetic vector measuring device is disposed vertically two-by-two by three forms.
Electric field intensity measuring device is made of three orthogonal insulating epoxy sticks.
The electromagnetic field localization method and device, advantage of a kind of overhead transmission line patrol UAV of the present invention are:
1: the present invention is realized overhead transmission line patrol UAV and is positioned using electromagnetic vector, can be by electric around it
The detection in magnetic field meets determination of the unmanned plane operator to patrol UAV position, can safely and efficiently work；
2: positioning system used in the present invention is can effectively to keep away using electric field intensity and magnetic vector and visually observe institute's band
The uncertainty come, improves the accuracy of positioning.A kind of guarantee is provided for patrol UAV normal work；
3: proposed by the present invention to be determined between patrol UAV and overhead line by measuring the method for electric field, magnetic vector
Distance, successfully solve human eye directly observe bring inconvenience, the degree of automation is improved using electronic surveying device, is skill
The performance of art progress.Can provide for unmanned plane and be positioned under different flight environment of vehicle, for overhead transmission line line walking bring it is new
Technological means solves the problems, such as that current unmanned plane applies to encountered in Practical Project.
4: two kinds of vector positionings that the present invention uses still can accurately determine in unmanned plane flight not parallel with conducting wire
Still it is capable of the operation of safety and stability, it can be achieved that when unmanned plane such as changes direction at the special circumstances in position.
Detailed description of the invention
Fig. 1 is the electromagnetic field positioning device schematic diagram of power transmission line inspection unmanned plane of the present invention.
Fig. 2 is magnetic field measuring device structural schematic diagram of the invention.
Fig. 3 is field measurement device structural schematic diagram of the invention.
Fig. 4 is the electromagnetic field positioning device operation schematic diagram of power transmission line inspection unmanned plane of the invention.
1- unmanned plane；1.1- unmanned aerial vehicle body；1.2-- bracket；2- magnetic vector measuring device；2.1- detection of magnetic field line
Circle；3- electric field intensity measuring device；3.1- insulating epoxy stick；4- radio transmission apparatus；4.1- emitter；4.2- reception device
4.2；4.3- wireless network；5- warning device；6- terminal control system；7- transmission line of electricity；8- magnetic vector；9- electric field intensity.
Specific embodiment
A kind of electromagnetic field localization method of overhead transmission line patrol UAV passes through measurement 1 present position of unmanned plane
Magnetic vector 8 and electric field intensity 9, according to the mathematical relationship of electromagnetic field vector and distance, determine unmanned plane 1 and transmission line of electricity 7 it
Between spatial position.
The mathematical relationship of electromagnetic field vector and distance determines by maxwell equation group below,
Wherein H, J, E, B, D are respectively magnetic field strength, current density, electric field strength, magnetic induction intensity, electric displacement vector；
X, y, z and x0, y0, z0It is three coordinate positions for being respectively rectangular coordinate system end and source.Magnetic field arrow is directly obtained by measurement
B (x, y, z) and electric field intensity E (x, y, z) are measured, then according to constitutive equation:
D (x, y, z)=ε E (x, y, z)
B (x, y, z=μ H (x, y, z)
Obtain magnetic field strength H (x, y, z) and electric displacement vector D (x, y, z), here ε, μ be respectively dielectric constant of air and
Magnetic conductivity.Above equation can acquire the relative position in field and source, that is, the sky between unmanned plane 1 and transmission line of electricity 7 has been determined
Between position.
By radio transmission apparatus 4 by the spatial position data between acquired unmanned plane 1 and transmission line of electricity 7, transmit
To terminal control system 6.
The mathematical relationship of electromagnetic field vector and distance determines by maxwell equation group below,
Wherein H, J, E, B, D are respectively magnetic field strength, current density, electric field strength, magnetic induction intensity, electric displacement vector；
X, y, z and x0, y0, z0It is three coordinate positions for being respectively rectangular coordinate system end and source.Magnetic field arrow is directly obtained by measurement
B (x, y, z) and electric field intensity E (x, y, z) are measured, then according to constitutive equation:
D (x, y, z)=ε E (x, y, z)
B (x, y, z=μ H (x, y, z)
Obtain magnetic field strength H (x, y, z) and electric displacement vector D (x, y, z), here ε, μ be respectively dielectric constant of air and
Magnetic conductivity.Above equation can acquire the relative position in field and source, that is, the sky between unmanned plane 1 and transmission line of electricity 7 has been determined
Between position.
Terminal control system 6 by with data-handling capacity computer and direction controller form.It is set by wireless transmission
The computer that the magnetic vector 8 and electric field intensity 9 that standby 4 reception device 4.2 receives pass to terminal control system 6 is analyzed
Then spatial position between unmanned plane 1 and transmission line of electricity 7 controls direction controller adjustment direction according to measurement data.
Magnetic vector 8 is measured using three-component method, measures electric field intensity 9 using three axis Orthogonal Methods.
When the distance between unmanned plane 1 and transmission line of electricity 7 are less than 0.5m or are greater than 2m, alarm signal will be issued, and mention
The operator that wakes up adjusts flight path.Distance is easy to happen the electric discharge of unmanned plane 1 Yu transmission line of electricity 7 when being lower than 0.5m, and distance
It is difficult to find line fault when greater than 2m.
When unmanned plane 1 is less than 0.5m at a distance from transmission line of electricity 7, prompt operator towards the direction tune of distance increase
It is whole；When unmanned plane 1 is greater than 2m at a distance from transmission line of electricity 7, operator is prompted to adjust towards the reduced direction of distance.
Distance is easy to happen the electric discharge of unmanned plane 1 Yu transmission line of electricity 7 when being lower than 0.5m, and when distance is greater than 2m is difficult to find
Line fault.
A kind of electromagnetic field positioning device of overhead transmission line patrol UAV, including magnetic vector measuring device 2, electric field
Device for measuring vector quantity 3, radio transmission apparatus 4, warning device 5, terminal control system 6.
Magnetic vector measuring device 2, electric field intensity measuring device 3 are mounted on the bracket 1.2 of unmanned plane 1；Wireless transmission
The emitter 4.1 of equipment 4 is mounted in the fuselage 1.1 of unmanned plane 1；Magnetic vector measuring device 2, electric field intensity measuring device
3 are connect with radio transmission apparatus 4 by wireless network 4.3.
Radio transmission apparatus 4 uses 2.4G transmitter, and frequency selectes width 300-800MHz, will be digital using COFDM
The signal that modulation-demodulation technique generates is sent.
Wireless network selects 433MHz frequency range wireless network, and the band transmissions data are up to several kilometers.
Reception device 4.2, warning device 5, the terminal control system 6 of radio transmission apparatus 4 are mounted in ground level control room.
Warning device 5 uses buzzer, is simultaneously emitted by vibration and sound, such as SFM-27 type DC6-24V electronic buzzer,
Alternative sounds can be issued according to different distance.
Magnetic vector measuring device 2 is made of three magnetic field detecting coils being disposed vertically two-by-two 2.1.It needs to measure magnetic field
Three components of vector 8, so needing three mutually orthogonal search coils.
Electric field intensity measuring device 3 is made of three orthogonal insulating epoxy sticks 3.1.Need to measure electric field intensity 8
Three components, so needing orthogonal insulating epoxy stick.
Embodiment:
According to magnetic vector measuring device 2 is made shown in Fig. 2, according to production electric field intensity measuring device 3 shown in Fig. 3；Point
Magnetic vector measuring device 2 and electric field intensity measuring device 3 are not mounted at the bracket 1.2 of unmanned plane 1；Magnetic vector is surveyed
Amount device 2 and electric field intensity measuring device 3 are connected to the emitter 4.1 of radio transmission apparatus 4 by transmission line, and will be wireless
The emitter 4.1 of transmission device 4 is mounted in the fuselage 1.1 of unmanned plane 1；By the reception device 4.2 of radio transmission apparatus 4,
Warning device 5, terminal control system 6 are mounted on ground level control room.
Start near the flight to transmission line of electricity 7 of unmanned plane 1, measures the magnetic vector 8 and electricity of 1 present position of unmanned plane at this time
Field vector 9, and the distance between itself and transmission line of electricity 7 are calculated in 0.5m between 2m with this；Continue to control unmanned plane 1 along defeated
Electric line 7 is flown, and when the operation of unmanned plane 1 to A point, detects that the distance between unmanned plane 1 and transmission line of electricity 7 are greater than 2m, report
Alarm device 5 is issued apart from excessive warning, and operator is prompted to adjust towards the reduced direction of distance；Continue to control 1 edge of unmanned plane
Transmission line of electricity 7 flies, and when the operation of unmanned plane 1 to B point, detects that the distance between unmanned plane 1 and transmission line of electricity 7 are less than
0.5m, warning device 5 is issued prompts operator to adjust towards the direction that distance increases apart from too small warning.
The present invention can effectively improve the accuracy to patrol UAV positioning, avoid that visually observe bring uncertain
Property, reach safe and efficient effect, while improving the intelligence degree of line walking.
Claims (3)
1. a kind of electromagnetic field localization method of overhead transmission line patrol UAV, it is characterised in that: by measuring unmanned plane (1)
The magnetic vector (8) and electric field intensity (9) of present position determine unmanned plane according to the mathematical relationship of electromagnetic field vector and distance
(1) spatial position between transmission line of electricity (7), by radio transmission apparatus (4) by acquired unmanned plane (1) and power transmission line
Spatial position data between road 7 is transferred to terminal control system (6).
2. a kind of electromagnetic field localization method of overhead transmission line patrol UAV according to claim 1, it is characterised in that:
Magnetic vector (8) are measured using three-component method, measure electric field intensity (9) using three axis Orthogonal Methods.
3. a kind of electromagnetic field localization method of overhead transmission line patrol UAV according to claim 1, it is characterised in that:
When unmanned plane (1) is less than 0.5m at a distance from transmission line of electricity (7), operator is prompted to adjust towards the direction that distance increases；
When unmanned plane (1) is greater than 2m at a distance from transmission line of electricity (7), operator is prompted to adjust towards the reduced direction of distance.
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| CN105912024A (en) | 2016-08-31 |
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Application publication date: 20160831 Assignee: Hubei Feiou Commercial Management Co.,Ltd. Assignor: CHINA THREE GORGES University Contract record no.: X2023980045280 Denomination of invention: An electromagnetic field positioning method and device for aerial transmission line inspection drones Granted publication date: 20190611 License type: Common License Record date: 20231102 |