CN106155071A - A kind of unmanned plane for line patrolling maintenance - Google Patents
A kind of unmanned plane for line patrolling maintenance Download PDFInfo
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- CN106155071A CN106155071A CN201610554885.9A CN201610554885A CN106155071A CN 106155071 A CN106155071 A CN 106155071A CN 201610554885 A CN201610554885 A CN 201610554885A CN 106155071 A CN106155071 A CN 106155071A
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- 238000012423 maintenance Methods 0.000 title claims abstract description 19
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims abstract description 60
- 230000005540 biological transmission Effects 0.000 claims abstract description 57
- 239000011159 matrix material Substances 0.000 claims description 13
- 230000033001 locomotion Effects 0.000 claims description 6
- 238000001514 detection method Methods 0.000 claims description 4
- 230000008439 repair process Effects 0.000 claims description 4
- 230000005611 electricity Effects 0.000 claims description 3
- 238000000465 moulding Methods 0.000 claims description 2
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- 238000012544 monitoring process Methods 0.000 description 10
- 230000008859 change Effects 0.000 description 5
- 230000002159 abnormal effect Effects 0.000 description 3
- 238000004891 communication Methods 0.000 description 2
- 238000012937 correction Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000007689 inspection Methods 0.000 description 2
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- 238000005516 engineering process Methods 0.000 description 1
- 239000002917 insecticide Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 239000000575 pesticide Substances 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
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Classifications
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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
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
-
- 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
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Traffic Control Systems (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a kind of unmanned plane for line patrolling maintenance, belong to unmanned plane field, unmanned plane includes flight control system, thermal camera and laser cruise module, described thermal camera is controlled by described flight control system, infrared image for captured in real-time power transmission line, and by described infrared image real-time Transmission to described flight control system, distance parameter that described laser cruise module is detected and angle parameter real-time Transmission are to described flight control system so that described flight control system controls described unmanned plane along power transmission line direction cruise.Above-mentioned unmanned plane disclosed by the invention has the function carrying out cruise along power transmission line, and can detect the fault of power transmission line during cruise, and manipulation is flexibly, and manpower and materials cost is greatly reduced.
Description
Technical field
The present invention relates to unmanned plane field, particularly relate to a kind of unmanned plane for line patrolling maintenance.
Background technology
In order to ensure electric power resource smooth delivery of power, it usually needs regularly power transmission line overhauled and safeguard, to ensure
The stable power-supplying of power supply department, reduces because having a power failure suddenly the economic loss caused.Traditionally, for inspection and the inspection of power transmission line
Repair typically require electrician climb up electricity tower detect, this mode not only efficiency is low, and the personal safety to electrician causes
Certain threat, especially at ice and snow weather.
Chinese patent literature publication number CN104554726A discloses a kind of agriculture and forestry special intelligent unmanned plane, including unmanned
Machine body, wing, unmanned plane head, pesticide sprayer, fixed support, many propeller aircrafts are connected to body by lowering or hoisting gear
Centre, many propeller aircrafts include supporting pallet, telescopic shaft, small rotary wing, and described small rotary wing is by six distributions
Constituting around pallet supporting, propeller is made up of be distributed in surrounding four, and described motor is positioned on the downside of propeller, described
Being provided with sensor on the downside of motor, omnidirectional camera is positioned on the downside of unmanned plane head.This unmanned plane, relies on many rotors to carry
Dynamic, in terms of agriculture and forestry, play detection insect pest and the effect sprayed insecticide, but this be suitable only for agricultural operating mode, it is difficult to be satisfied
The demand of line walking, it is impossible to realize the fault detect of power transmission line.
Summary of the invention
In order to overcome the defect of prior art, the technical problem to be solved is that proposing one examines for line walking
The unmanned plane repaiied, has the function carrying out cruise along power transmission line, and can be to power transmission line during cruise
Fault is detected, and manipulation is flexibly, and manpower and materials cost is greatly reduced.
For reaching this purpose, the present invention by the following technical solutions:
The invention provides a kind of unmanned plane for line patrolling maintenance, including flight control system, thermal camera and swash
Light cruise module, described thermal camera is controlled by described flight control system, for the infrared image of captured in real-time power transmission line,
And by described infrared image real-time Transmission to described flight control system, the distance parameter that described laser cruise module is detected
With angle parameter real-time Transmission to described flight control system so that described flight control system controls described unmanned plane along defeated
Electric wire direction cruise.
Further, described flight control system includes the decision-making that flight control computer electrically connects with described flight control computer
Control module and the steering gear system electrically connected with described flight control computer, described Decision Control module and described infrared photography
Machine, described laser cruise module are connected, for the infrared image letter gathering described thermal camera, described laser cruise module
Number, laser signal be digitized, and generate decision parameters, described flight control computer is based on carrying out described decision parameters
Calculate, and generate servos control instruction, and by the instruction transmission of described servos control to described steering gear system, described steering gear system is used for
Control unmanned plane and carry out described cruise.
Further, described steering gear system includes roll control motor, the driftage rudder being sequentially connected electrically with described flight control computer
Machine, pitch-control motor and throttle steering wheel, described roll control motor is used for driving described unmanned plane to carry out rotary movement, described driftage rudder
Machine is used for driving described unmanned plane to carry out driftage and repairs, and described pitch-control motor is used for driving described unmanned plane to carry out pitching motion,
Described throttle steering wheel is for controlling the aperture of described unmanned plane throttle.
Further, described steering gear system electrically connects with described Decision Control module, and it is anti-that described steering gear system sends steering wheel
Feedback signal is to described Decision Control module.
Laser dot-matrix module that further, described laser cruise module includes electrically connecting with described flight control system,
The photodetector electrically connected with described flight control system, described laser dot-matrix module is used for sending laser dot-matrix, described light
Electric explorer is for receiving by the laser hindering thing reflection.
Further, described laser cruise module also includes that amplifier, one end of described amplifier control with described flight
System electrically connects, and its other end electrically connects with described photodetector, and described amplifier is for amplifying described photodetector
Detection signal.
Further, also include that triones navigation system or GPS navigation system, described triones navigation system or described GPS lead
Boat system electrically connects with described Decision Control module, for generating the geographical coordinate of described unmanned plane.
Further, also include that power module, described power module electrically connect with described flight control computer, for described
Flight control computer provides power supply.
Further, also including ground monitoring platform and radio transmission system, described ground monitoring platform is by described
Radio transmission system and described Decision Control module carry out radio communication, it is achieved the control to described unmanned plane of the ground monitoring platform
System.
The invention have the benefit that
The unmanned plane for line patrolling maintenance that the present invention provides, it is provided with thermal camera, and thermal camera can be real
Time shooting power transmission line infrared image, due to when power transmission line occurs abnormal, such as: resistance is excessive and is short-circuited, will certainly
Cause infrared image to change, therefore the trouble point on power transmission line can be determined by the change of infrared image.It is upper that the present invention provides
State unmanned plane, be also provided with laser cruise module, its with flight control system with the use of, laser cruise module energy detecting real-time
Distance and angle signal, from the distance of power transmission line and angle, are sent to flight control system by unmanned plane, in order to flight controls system
System controls unmanned plane and adjusts flight attitude timely, thus realizes unmanned plane and carry out cruise along power transmission line, it is ensured that in nothing
Man-machine patrol and examine during, each part of power transmission line all will not be missed.
Accompanying drawing explanation
Fig. 1 is the structural representation of the unmanned plane for line patrolling maintenance that the specific embodiment of the invention provides.
In figure: 1, flight control system；2, thermal camera；3, laser cruise module；11, flight control computer；12, decision-making
Control module；13, steering gear system；131, roll control motor；132, yaw control motor；133, pitch-control motor；134, throttle steering wheel；31、
Laser dot-matrix module；32, photodetector；33, amplifier；4, triones navigation system；5, power module；6, ground monitoring is put down
Platform；7, radio transmission system.
Detailed description of the invention
Further illustrate technical scheme below in conjunction with the accompanying drawings and by detailed description of the invention.
Embodiment one
As it is shown in figure 1, in embodiment one provide a kind of unmanned plane for line patrolling maintenance, including flight control system 1,
Thermal camera 2 and laser cruise module 3, thermal camera 2 is controlled by flight control system 1, for captured in real-time power transmission line
Infrared image, and infrared image real-time Transmission is analyzed to flight control system 1, so that it is determined that the fault of power transmission line
Point.Distance parameter and angle parameter real-time Transmission that laser cruise module 3 is detected control to flight control system 1, flight
Distance parameter and angle parameter that system 1 obtains according to it adjust its flight attitude in real time, thus realize flight control system 1 and control
Unmanned plane processed is along power transmission line direction cruise, and cruise ensure that thermal camera 2 is clapped in real time along power transmission line direction
Take the photograph the infrared image of power transmission line, and infrared image is sent in real time to flight control system 1, without omitting the arbitrary of power transmission line
Part.Owing to when power transmission line occurs abnormal, such as: power transmission line is short-circuited, short circuit would generally cause at power transmission line short circuit
Heat drastically raises, thus causes infrared image to differ markedly from the power transmission line of normal segments, therefore when flight control system 1 finds
When infrared image is abnormal, the geographic location signal at this should be recorded, and monitoring platform 6 sends the letter finding trouble point earthward
Number, in order to trouble point is examined by staff, and this mode can be greatly shortened the time of power transmission line maintenance, improves maintenance effect
Rate.
The reaction so that flight control system 1 makes decisions timely, further, flight control system 1 includes flying
Control computer 11, Decision Control module 12 and steering gear system 13, Decision Control module 12 and steering gear system 13 are all counted with flying to control
Calculation machine 11 electrically connects.Decision Control module 12 is connected with thermal camera 2, laser cruise module 3, for thermal camera 2,
Infrared image signal, laser signal that laser cruise module 3 gathers are digitized, and generate decision parameters, and decision-making are joined
Number transmission calculates to flight control computer 11, and flight control computer 11 generates servos control after calculating decision parameters and refers to
Order, and by servos control instruction transmission to steering gear system 13, namely flight control computer 11 is for calculating decision parameters, and
Generation servos control instructs, thus realizes the control to steering gear system 13, adjusts the flight attitude of unmanned plane.
Steering gear system 13, for controlling the flight attitude of unmanned plane, is mainly used in controlling unmanned plane and carries out determining in the present embodiment
Speed cruise.In order to realize the control to unmanned plane timing cruise, further, steering gear system 13 includes depending on flight control computer 11
The roll control motor 131 of secondary electrical connection, yaw control motor 132, pitch-control motor 133 and throttle steering wheel 134, roll control motor 131, driftage
Steering wheel 132, pitch-control motor 133 and throttle steering wheel 134 are controlled by flight control computer 11, are receiving flight control computer 11
After servos control instruction, can control unmanned plane carry out rolling, dive, draw high, the action such as corrections, accelerator open degree correction of going off course, guarantor
The flight that card unmanned plane is stable.It follows that roll control motor 131 is used for driving unmanned plane to carry out rotary movement；Yaw control motor 132
Repair for driving unmanned plane to carry out driftage；Pitch-control motor 133 is used for driving unmanned plane to carry out pitching motion；Throttle steering wheel 134
For controlling the aperture of unmanned plane throttle.
In order to form closed loop control, it is ensured that the servos control instruction of unmanned plane and decision parameters are further revised,
Further, steering gear system 13 electrically connects with Decision Control module 12, and steering gear system 13 sends steering wheel feedback signal to decision-making
Control module 12, thus further provide for stability and the reliability of unmanned plane during flying, it is ensured that steering gear system 13 stability and high efficiency
Operating.
In order to realize the unmanned plane tracking to power transmission line position, thus realize cruise, further, laser cruise mould
Block 3 includes that laser dot-matrix module 31 and photodetector 32, laser dot-matrix module 31 and photodetector 3 all control system with flight
System 1 electrical connection, more specifically, all electrically connects with Decision Control module 12.Laser dot-matrix module 31 is matched with photodetector 32
Using, laser dot-matrix module 31 is used for sending laser dot-matrix, and photodetector 32 is for receiving by the laser hindering thing reflection.Swash
After light lattice module 31 sends laser dot-matrix, power transmission line can be encountered, namely power transmission line is above-mentioned obstruction thing, thus reflect,
Photodetector 32 then receives above-mentioned reflection, the reflection laser received by the photodetector 32 of diverse location, can sentence
The disconnected distance signal hindering thing and angle signal, then distance signal and angle signal are transmitted to Decision Control module 12, thus
Generate distance parameter and angle parameter.
Due to photodetector 32, to receive laser signal generally the least, therefore in order to be amplified laser signal, more enters
One step, laser cruise module 3 also includes that amplifier 33, one end of amplifier 33 electrically connect with flight control system 1, its another
End electrically connects with photodetector 32, and amplifier 33 is for amplifying the detection signal of photodetector 32, thus facilitates decision-making control
Molding block 12 adjusts the distance signal and angle signal processes, and avoids distorted signals.
In order to obtain the real time position of unmanned plane, the above-mentioned unmanned plane provided in embodiment one also includes triones navigation system
4 or GPS navigation system, triones navigation system 4 or GPS navigation system electrically connect with Decision Control module 12, be used for generating unmanned
The geographical coordinate of machine, and Decision Control module 12 can be by the position signalling real-time Transmission of unmanned plane to ground monitoring platform 6, for ground
Face staff grasps the position of unmanned plane in real time.
The above-mentioned unmanned plane provided in embodiment one also includes that power module 5, power module 5 are electrically connected with flight control computer 11
Connect, for providing power supply to flight control computer 11.
Unmanned plane is manipulated by surface personnel for convenience, and the above-mentioned unmanned plane provided in embodiment one also includes
Ground monitoring platform 6 and radio transmission system 7, ground monitoring platform 6 is by radio transmission system 7 and Decision Control module
12 carry out radio communication, it is achieved the ground monitoring platform 6 control to unmanned plane, and infrared image can also pass through wireless radio transmission
System 7 real-time Transmission is to ground monitoring platform 6, and that understands power transmission line in real time for surface personnel patrols and examines situation.
In sum, the unmanned plane for line patrolling maintenance of a kind of offer of embodiment, it is provided with thermal camera 2, infrared
Video camera 2 can the infrared image of captured in real-time power transmission line so that surface personnel can be by the change of infrared image
Change and determine the trouble point on power transmission line.The above-mentioned unmanned plane of a kind of offer of embodiment, is also provided with laser cruise module 3, laser
Cruise module 3 can detecting real-time unmanned plane from the distance of power transmission line and angle, and distance and angle signal are sent to flight control
System 1 processed, in order to flight control system 1 controls unmanned plane and adjusts flight attitude timely, thus realizes unmanned plane along transmission of electricity
Line carries out cruise.
The present invention is described with reference to the preferred embodiments, and those skilled in the art know, without departing from the present invention's
In the case of spirit and scope, these features and embodiment can be carried out various change or equivalence is replaced.The present invention is not by this
The restriction of specific embodiment disclosed in place, other embodiments fallen in claims hereof broadly fall into present invention protection
Scope.
Claims (8)
1. for a unmanned plane for line patrolling maintenance, including flight control system (1), it is characterised in that:
Also include thermal camera (2) and laser cruise module (3)；
Described thermal camera (2) is controlled by described flight control system (1), for the infrared image of captured in real-time power transmission line,
And by described infrared image real-time Transmission to described flight control system (1)；
Distance parameter that described laser cruise module (3) is detected and angle parameter real-time Transmission are to described flight control system
(1) so that described flight control system (1) controls described unmanned plane along power transmission line direction cruise.
Unmanned plane for line patrolling maintenance the most according to claim 1, it is characterised in that:
Described flight control system (1) includes the decision-making control that flight control computer (11) electrically connects with described flight control computer (11)
Molding block (12) and the steering gear system (13) electrically connected with described flight control computer (11)；
Described Decision Control module (12) is connected with described thermal camera (2), described laser cruise module (3), for institute
State thermal camera (2), infrared image signal that described laser cruise module (3) gathers, laser signal are digitized, and raw
Become decision parameters；
Described flight control computer (11) is for calculating described decision parameters, and generates servos control instruction, and by described
Servos control instruction transmission is to described steering gear system (13)；
Described steering gear system (13) is used for controlling unmanned plane and carries out described cruise.
Unmanned plane for line patrolling maintenance the most according to claim 2, it is characterised in that:
Described steering gear system (13) includes roll control motor (131), the driftage rudder being sequentially connected electrically with described flight control computer (11)
Machine (132), pitch-control motor (133) and throttle steering wheel (134)；
Described roll control motor (131) is used for driving described unmanned plane to carry out rotary movement；
Described yaw control motor (132) is used for driving described unmanned plane to carry out driftage and repairs；
Described pitch-control motor (133) is used for driving described unmanned plane to carry out pitching motion；
Described throttle steering wheel (134) is for controlling the aperture of described unmanned plane throttle.
Unmanned plane for line patrolling maintenance the most according to claim 2, it is characterised in that:
Described steering gear system (13) electrically connects with described Decision Control module (12)；
Described steering gear system (13) sends steering wheel feedback signal to described Decision Control module (12).
Unmanned plane for line patrolling maintenance the most according to claim 1, it is characterised in that:
Described laser cruise module (3) includes laser dot-matrix module (31) and the institute electrically connected with described flight control system (1)
State the photodetector (32) that flight control system (1) electrically connects；
Described laser dot-matrix module (31) is used for sending laser dot-matrix；
Described photodetector (32) is for receiving by the laser hindering thing reflection.
Unmanned plane for line patrolling maintenance the most according to claim 5, it is characterised in that:
Described laser cruise module (3) also includes amplifier (33)；
One end of described amplifier (33) electrically connects with described flight control system (1), its other end and described photodetector
(32) electrical connection, described amplifier (33) is used for amplifying the detection signal of described photodetector (32).
Unmanned plane for line patrolling maintenance the most according to claim 2, it is characterised in that:
Also include triones navigation system (4) or GPS navigation system；
Described triones navigation system (4) or described GPS navigation system electrically connect with described Decision Control module (12), are used for generating
The geographical coordinate of described unmanned plane.
Unmanned plane for line patrolling maintenance the most according to claim 2, it is characterised in that:
Also include power module (5)；
Described power module (5) electrically connects with described flight control computer (11), for providing electricity to described flight control computer (11)
Source.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610554885.9A CN106155071A (en) | 2016-07-12 | 2016-07-12 | A kind of unmanned plane for line patrolling maintenance |
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| CN201610554885.9A CN106155071A (en) | 2016-07-12 | 2016-07-12 | A kind of unmanned plane for line patrolling maintenance |
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Cited By (5)
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| CN106914360A (en) * | 2016-11-28 | 2017-07-04 | 国网江西省电力公司景德镇供电分公司 | A kind of power line node gluing coagulation system based on unmanned plane |
| CN106959701A (en) * | 2017-05-03 | 2017-07-18 | 成都大学 | The unmanned plane power-line patrolling system guided based on electric field ranging and Semi-active LASER |
| CN108810487A (en) * | 2018-07-02 | 2018-11-13 | 重庆电力高等专科学校 | A kind of data docking record system of unmanned plane Image Acquisition information classification |
| CN109387741A (en) * | 2018-10-18 | 2019-02-26 | 国网河北省电力有限公司沧州供电分公司 | Line fault emergency repair method based on BEI-DOU position system |
| CN111882928A (en) * | 2020-06-28 | 2020-11-03 | 西安工程大学 | Ultraviolet light-based line patrol unmanned aerial vehicle anti-collision system and method |
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| CN111882928A (en) * | 2020-06-28 | 2020-11-03 | 西安工程大学 | Ultraviolet light-based line patrol unmanned aerial vehicle anti-collision system and method |
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