CN106155078A - A kind of power transmission line inspection flight avoiding device and many rotors line walking unmanned plane - Google Patents
A kind of power transmission line inspection flight avoiding device and many rotors line walking unmanned plane Download PDFInfo
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Abstract
The present invention is applicable to the communications field, provides a kind of power transmission line inspection flight avoiding device and many rotors line walking unmanned plane, and this device includes: ultrasonic sensor；Range cells, for the distance between the reception Time Calculation flight avoiding device according to the reflection signal of telecommunication and barrier；Flight control units, for determining state of flight according to distance, generates corresponding flight control instruction；Flying power unit, for performing corresponding state of flight according to flight control instruction.The barrier of the six direction of unmanned plane is found range respectively by the present invention by ultrasonic wave, resolve the distance between barrier by the echo reception time, the electronic speed regulation meter controlling respectively again on horn adjusts motor speed, thus adjust the lift of each horn, carry out urgent avoidance, control six rotor wing unmanned aerial vehicle hoverings, retrogressing, rotate or left and right flight, it is to avoid unmanned plane will not cause aircraft crash out of control by collision obstacle.
Description
Technical field
The invention belongs to the communications field, particularly relate to a kind of power transmission line inspection flight avoiding device and many rotors
Line walking unmanned plane.
Background technology
In recent years, the sustained and rapid development of Chinese national economy proposes increasingly higher requirement to power industry.
China has formed North China, northeast, Central China, northwest and south electric network totally 6 transprovincially district's electrical networks at present, exceedes
The transmission line of electricity of 700000 km.Vast yet with China territory, with a varied topography, Plain is few, hills and mountain
District is more, and meteorological condition is complicated, and porcelain insulator quality is not sufficiently stable, in order to safely and reliably power,
Line walking safeguards that automation and modernization demonstrate its urgency day by day.
The current first uses limited vehicle-mounted method, is transported to from the trouble point judging in advance with handlebar personnel
Nearer position, then investigation place is gone on foot by personnel, but this method not only can not expire in time
Foot emergency eliminating require, even and if personnel reach the position of fault and be also difficult to high tower, high pressure etc.
Equipment carries out investigation and analyzes.
It two is to use manned helicopter to carry out line walking, but has people's helicopter quantity few at present, and
And needing provisional application, scheduling time length and maintenance cost expensive, personal safety risk is also bigger；
Its three be use unmanned plane realize power-line patrolling, but existing unmanned plane does not has Emergency avoidance device,
In the air in operation process, the barriers such as friendship cross-line, trees, building and massif can be run into unavoidably, though
Right unmanned plane is had along physical features flight function by GPS navigation, but owing to GPS exists error, is holding
It is possible that deviate the situation of prearranged heading during row task, and when long-distance flight, due to
Ground potential difference on the line of flight is very big, and change frequency is higher, can frequently result in the serious consequence hitting mountain；Closely
During distance flight, also normal because of circuit overstocked, it is impossible to avoid in time circuit and cause short road to fall machine phenomenon, it is impossible to
Realize that the line walking of transmission line of electricity is safeguarded safe efficiently.
Content of the invention
The purpose of the embodiment of the present invention is to provide a kind of power transmission line inspection flight avoiding device, it is intended to solve
Existing unmanned plane is during power-line patrolling, and prominent barrier of meeting cannot avoid in time, the problem causing falling machine.
The embodiment of the present invention is achieved in that a kind of power transmission line inspection flight avoiding device, described device
Including:
Ultrasonic sensor, for launching ultrasonic wave, and the reflection echo that will receive according to the transmitting signal of telecommunication
Be converted to reflect the signal of telecommunication；
Range cells, is used for generating the described transmitting signal of telecommunication and receives the reflection signal of telecommunication, and according to described instead
Distance between the reception Time Calculation flight avoiding device of electric signal and described barrier, described range finding list
Unit transmitting terminal be connected with the input of described ultrasonic sensor, the reflection end of described range cells with described
The output of ultrasonic sensor connects；
Flight control units, for determining state of flight according to described distance, generates corresponding flight control and refers to
Order, described flight control instruction includes hovering signal, backing signal, progress signal, signal for turn；Described
The input of flight control units is connected with the output of described range cells；
Flying power unit, for performing corresponding state of flight according to described flight control instruction, described flies
The input of action edge unit is connected with the output of described flight control units.
The another object of the embodiment of the present invention is, provides a kind of many rotors line walking unmanned plane, including aircraft master
Body and multiple horn, described unmanned plane also includes the power transmission line inspection flight avoiding device in above-described embodiment；
Wherein, flight control units is in described aircraft body, and it is ultrasonic that each described horn is provided with one
Wave sensor, a range cells and a flying power unit.
The embodiment of the present invention is respectively provided with ultrasonic sensor and survey on each horn of six rotor wing unmanned aerial vehicles
Away from unit, respectively the barrier of the six direction of unmanned plane is found range by ultrasonic wave, connect by echo
Resolve the distance between barrier between the time receiving, then six the electronic speed regulation meters controlling respectively on six horns come
Adjust six motor speeds, thus adjust the lift of each horn, carry out urgent avoidance, control six rotors
Unmanned plane hovering, retrogressing, rotation or left and right flight, it is to avoid unmanned plane will not cause aircraft by collision obstacle
Crash out of control.This device uses device cost cheap, and the principle that converts between various data is simple, it is easy to accomplish
With universal, and do not affected by ambient light, can quickly be identified for barrier farther out, to more closely hindering
The thing is hindered also effectively to avoid, it is to avoid unmanned plane owing to GPS exists error, causes deviation during line walking
Prearranged heading, is colliding with transmission line of electricity through handing over cross-line to cause, is falling machine, improve line walking and safeguard
Security and efficiency.
Brief description
The structure chart of the power transmission line inspection flight avoiding device that Fig. 1 provides for the embodiment of the present invention；
The structure of range cells in the power transmission line inspection flight avoiding device that Fig. 2 provides for the embodiment of the present invention
Figure；
Ultrasonic wave emission control in the power transmission line inspection flight avoiding device that Fig. 3 provides for the embodiment of the present invention
The exemplary circuit figure of module；
In the power transmission line inspection flight avoiding device that Fig. 4 provides for the embodiment of the present invention, ultrasonic wave receives conversion
The exemplary circuit figure of module；
The side block diagram of a rotor in many rotors line walking unmanned plane that Fig. 5 provides for the embodiment of the present invention.
Detailed description of the invention
In order to make the purpose of the present invention, technical scheme and advantage clearer, below in conjunction with accompanying drawing and reality
Execute example, the present invention is further elaborated.Only it should be appreciated that specific embodiment described herein
It only in order to explain the present invention, is not intended to limit the present invention.Additionally, each reality of invention described below
As long as execute technical characteristic involved in mode each other do not constitute conflict just can be mutually combined.
The barrier of the six direction of unmanned plane is found range respectively by the embodiment of the present invention by ultrasonic wave, logical
Cross the distance between the resolving of echo reception time and barrier, then the electronic speed regulation meter controlling respectively on horn comes
Adjust motor speed, thus adjust the lift of each horn, carry out urgent avoidance, control six rotors unmanned
Machine hovering, retrogressing, rotation or left and right flight, it is to avoid unmanned plane will cause aircraft out of control by collision obstacle
Crash.
It is described in detail below in conjunction with the realization to the present invention for the specific embodiment:
Fig. 1 shows the structure of the power transmission line inspection flight avoiding device that the embodiment of the present invention provides, in order to
It is easy to explanation, illustrate only part related to the present invention.
As one embodiment of the invention, this power transmission line inspection flight avoiding device can apply to any unmanned
In machine, in particularly six rotor line walking unmanned planes, this power transmission line inspection flight avoiding device includes:
Ultrasonic sensor 11, is used for launching ultrasonic wave according to the transmitting signal of telecommunication, and by being reflected back of receiving
Ripple is converted to reflect the signal of telecommunication；
In embodiments of the present invention, ultrasonic sensor 11 can include transmitters and receivers, has transmission
With the double action receiving ultrasonic wave.
As one embodiment of the invention, ultrasonic sensor 11 can use piezoelectric-type ultrasonic wave transducer real
Existing.Piezoelectric-type ultrasonic wave transducer is that electric energy and ultrasonic wave are mutually converted, i.e. by the principle utilizing piezo-electric effect
When launching ultrasonic wave, convert electrical energy into ultrasonic wave and launch, when receiving echo, then will be super
Acoustic vibration is converted into the signal of telecommunication.
Range cells 12, is used for generating the transmitting signal of telecommunication and receives the reflection signal of telecommunication, and according to reflection telecommunications
Number reception Time Calculation flight avoiding device and barrier between distance, the transmitting terminal of range cells 12 with
The input of ultrasonic sensor 11 connects, and the reflection end of range cells 12 is defeated with ultrasonic sensor 11
Go out end to connect；
Flight control units 13, for determining state of flight according to distance, generates corresponding flight control instruction,
Flight control instruction includes hovering signal, backing signal, progress signal, signal for turn；Flight control units
The input of 13 is connected with the output of range cells 12；
Flying power unit 14, for performing corresponding state of flight, flying power according to flight control instruction
The input of unit 14 is connected with the output of flight control units 13.
Flying power unit 14 can include the devices such as motor, screw and velometer.
In embodiments of the present invention, unmanned plane is when carrying out patrolling transmission line of electricity, works as supersonic sensing
When device 11 detects barrier on the direction of place, ultrasonic wave reflects to form echo, supersonic sensing through barrier
Device 11 send after receiving reflection echo reflection the signal of telecommunication to range cells 12, range cells 12 is according to reflection
The reception time of the signal of telecommunication and the distance launched between the time difference calculating unmanned plane of the signal of telecommunication and barrier, and
This distance is sent to flight control units 13 as electronic signals, and flight control units 13 resolves should be away from
From signal, according to the change of this distance signal, the electronic speed regulation meter in control flying power unit 14 adjusts
Motor speed, and then adjust the lift of each horn, carry out urgent avoidance.Certainly, flying power unit
14 can also control unmanned plane carries out hovering, advances, retreats and the state change such as turning, thus effectively keeps away
Allow barrier.
When ultrasonic sensor 11 detect barrier more and more remote when, flight control units 13 does not change existing
Have flight directive, when ultrasonic sensor 11 detect barrier increasingly nearer when, then flight control units
13 export the instruction of urgent avoidance, and control flying power unit 14 makes hovering or the action away from barrier,
I.e. when distance barrier is increasingly nearer, flight control units 13 can be to the supersonic sensing detecting barrier
The electronic speed regulation meter of device 11 place horn increases the instruction of electric current, detects the ultrasonic sensor of barrier
The motor speed of 11 place horns can become big, increases lift, thus reaches hovering or be accelerated away from barrier
Purpose.
The barrier of the six direction of unmanned plane is found range respectively by the embodiment of the present invention by ultrasonic wave, logical
Cross the distance between the resolving of echo reception time and barrier, then the electronic speed regulation meter controlling respectively on horn comes
Adjust motor speed, thus adjust the lift of each horn, carry out urgent avoidance, control six rotors unmanned
Machine hovering, retrogressing, rotation or left and right flight, it is to avoid unmanned plane will cause aircraft out of control by collision obstacle
Crash.
This device uses device cost cheap, and the principle that converts between various data is simple, it is easy to accomplish and universal,
And do not affected by ambient light, can quickly be identified for barrier farther out, nearlyer barrier also can
Effectively avoid, it is to avoid unmanned plane owing to GPS exists error, causes deviateing prearranged heading during line walking,
Colliding with transmission line of electricity through handing over cross-line to cause, falling machine, improve the security that line walking safeguards and
Efficiency.
Fig. 2 shows range cells in the power transmission line inspection flight avoiding device that the embodiment of the present invention provides
Structure, for convenience of description, illustrate only part related to the present invention.
As one embodiment of the invention, range cells 12 includes:
Ultrasonic wave drives module 121, is used for generating ultrasonic drive frequency；
Processing module 122, for generating emissioning controling signal, processing module 122 according to ultrasonic drive frequency
Selection end A1 and ultrasonic wave drive the output of module 121 to be connected, the serial communication of processing module 122
The output that end is range cells 12 and flight control units 13 wireless connection；
As one embodiment of the present invention, chip processor AT89S51 and peripheral components (resistance thereof can be used
R6 and electric capacity C7) constitute processing module 122.
Ultrasonic wave emission control module 123, launches the signal of telecommunication for generating according to emissioning controling signal, ultrasonic
The input of ripple emission control module 123 is connected with the output of processing module 122, ultrasonic wave emission control
The output of module 123 is the transmitting terminal of range cells 12；
Ultrasonic wave receives modular converter 124, processes signal for the reflection signal of telecommunication of reception is converted to reflection,
Process signal for processing module 122 according to emissioning controling signal and reflection and calculate ultrasonic reflections time and barrier
Hindering thing distance, the input that ultrasonic wave receives modular converter 124 is the receiving terminal of range cells 12, ultrasonic wave
The output receiving modular converter 124 is connected with the input of processing module 122.
Preferably, ultrasonic wave drives module 121 to include:
Electric capacity C5, electric capacity C6 and crystal oscillator J1；
One end of crystal oscillator J1 is that ultrasonic wave drives the output of module 121 to be connected with one end of electric capacity C6, electricity
Holding the other end ground connection of C6, the other end of crystal oscillator J1 is grounded by electric capacity C5.
In embodiments of the present invention, can be driven as ultrasonic wave by the signal of timer generation fixed frequency,
The frequency of oscillation of usual above-mentioned crystal oscillator J1 may be set in about 12M.
Preferably, seeing Fig. 3, ultrasonic wave emission control module 123 includes:
Resistance R1, resistance R2, the first NAND gate NOT1, the second NAND gate NOT2, the 3rd NAND gate
NOT3, the 4th NAND gate NOT4 and the 5th NAND gate NOT5；
The input of the first NAND gate NOT1 is that the input of ultrasonic wave emission control module 123 is simultaneously with the
The input of the input of two NAND gates NOT2 and the 5th NAND gate NOT5 connects, the first NAND gate NOT1
Output simultaneously with the input of the input of the 3rd NAND gate NOT3 and the 4th NAND gate NOT4 even
Connecing, the output of the 3rd NAND gate NOT3 is connected with one end of resistance R1, and the other end of resistance R1 connects
Supply voltage VCC, the output of the 4th NAND gate NOT4 is the just defeated of ultrasonic wave emission control module 123
Going out end, the output of the second NAND gate NOT2 is the negative output terminal of ultrasonic wave emission control module 123, the
The output of five NAND gates NOT5 one end with the output of the second NAND gate NOT2 and resistance R2 simultaneously
Connecting, the other end of resistance R2 connects supply voltage VCC.
Preferably, seeing Fig. 4, ultrasonic wave receives modular converter 124 and includes:
Resistance R3, resistance R4, resistance R5, electric capacity C1, electric capacity C2, electric capacity C3, electric capacity C4 and turn
Change chip U1；
First pin of conversion chip U1 is positive input terminal and the electric capacity C4 that ultrasonic wave receives modular converter 124
One end connect, the other end of electric capacity C4 be ultrasonic wave receive the negative input end of modular converter 124 simultaneously with
Electric capacity C1, electric capacity C2, electric capacity C3 one end connect, the other end of electric capacity C4 also with conversion chip U1
The 4th pin connect, the other end of electric capacity C1 is by second pin of resistance R5 and conversion chip U1 even
Connecing, the other end of electric capacity C2 is connected with the 3rd pin of conversion chip U1, the other end of electric capacity C3 and core
6th pin of piece connects, and the 7th pin of conversion chip U1 is that ultrasonic wave receives the defeated of modular converter 124
Go out end to be connected with one end of resistance R3, while the other end of resistance R3 with the 8th pin of conversion chip U1,
One end of resistance R4 connects, and the other end of resistance R4 is connected with the 5th pin of conversion chip U1.
As one embodiment of the invention, conversion chip U1 can use CX20106A infrared receiver chip or
TCT40-10 Series Ultrasonic conversion chip realizes.
In embodiments of the present invention, chip processor AT89S51 controls ultrasonic by the inverted device of P1.0 pin
The transmission of ripple, then chip processor AT89S51 ceaselessly detects INT0 pin, when the level of INT0 pin
It is considered as ultrasonic wave when being become low level from high level to have returned.The data that counter is counted are exactly ultrasonic wave
The time experienced, can be obtained by the distance between sensor and barrier by conversion.
The principle of range finding typically uses transit time method TOF (timeofflight).First measure ultrasonic wave from send out
Be mapped to run into barrier and return the experienced time, then the speed being multiplied by ultrasonic wave just obtain the sound source of two times with
Distance between barrier.Ultrasonic ranging is applicable to the measurement of high-precision middle and long distance.Because ultrasonic wave exists
Spread speed in normal air is 331.45 meter per seconds, is responsible for timing by single-chip microcomputer, and single-chip microcomputer uses 12.0M
Crystal oscillator J1, therefore the certainty of measurement of this device can reach grade in theory.
What deserves to be explained is, ultrasonic wave emission control module 123 can also use above-mentioned ultrasonic wave to receive conversion
The circuit structure of module 124 realizes, the input that wherein ultrasonic wave receives modular converter 124 is that ultrasonic wave is sent out
Penetrating the output of control module 123, the output that ultrasonic wave receives modular converter 124 is that ultrasonic wave launches control
The input of molding block 123.
As one embodiment of the present invention, in conjunction with Fig. 2, range cells 12 can also include:
Alarm module 125, for sending alarm signal, warning circuit when obstacle distance is less than preset value
It is connected with the warning output P4.0 of processing module 122；
Digital display module 126, for real-time display UAV Attitude data, the height of such as unmanned plane, speed,
Luffing angles etc., the drive end of digital display module 126 is connected with the display end of processing module 122.
Preferably, digital display module 126 includes:
Group of four figures pipe J2 and the first switching tube Q1, second switch pipe Q2, the 3rd switching tube Q3, the 4th
Switching tube Q4；
Each drive end of group of four figures pipe J2 is respectively with the first switching tube Q1 to the 4th switching tube Q4's
Input connects, the output of the first switching tube Q1 to the 4th switching tube Q4 simultaneously with supply voltage VCC
Connecting, the control end of the first switching tube Q1 to the 4th switching tube Q4 drives with the multiple of digital display module 126 respectively
Moved end.
The section pin of group of four figures pipe J2 is all connected with the long numeric data end of single-chip microcomputer (processing module), monolithic
By the drive end of group of four figures pipe J2, machine realizes that display drives, realize LED numeral by dynamic scan method
Display.
The barrier of the six direction of unmanned plane is found range respectively by the embodiment of the present invention by ultrasonic wave, logical
Cross the distance between the resolving of echo reception time and barrier, then the electronic speed regulation meter controlling respectively on horn comes
Adjust motor speed, thus adjust the lift of each horn, carry out urgent avoidance, control six rotors unmanned
Machine hovering, retrogressing, rotation or left and right flight, it is to avoid unmanned plane will cause aircraft out of control by collision obstacle
Crash.
This device uses device cost cheap, and the principle that converts between various data is simple, it is easy to accomplish and universal,
And do not affected by ambient light, can quickly be identified for barrier farther out, nearlyer barrier also can
Effectively avoid, it is to avoid unmanned plane owing to GPS exists error, causes deviateing prearranged heading during line walking,
Colliding with transmission line of electricity through handing over cross-line to cause, falling machine, improve the security that line walking safeguards and
Efficiency.
Fig. 5 shows the side-looking structure of a rotor in many rotors line walking unmanned plane that the embodiment of the present invention provides,
For convenience of description, illustrate only part related to the present invention.
As one embodiment of the invention, this many rotors line walking unmanned plane, including aircraft body 1 and multiple horn
Power transmission line inspection flight avoiding device in 2, and above-described embodiment；
Wherein, flight control units 13 is in aircraft body 1, and each horn 2 is provided with a ultrasonic wave
Sensor the 11st, a range cells 12 and a flying power unit 14.
Preferably, ultrasonic sensor 11 is fixedly connected on the end of horn 2, and range cells 12 is fixing even
Being connected to the junction of horn 2 and aircraft body 1, flying power unit 14 is fixed on the top of horn 2.
In embodiments of the present invention, six rotor wing unmanned aerial vehicles are used to realize patrolling transmission line of electricity, Qi Zhongliu
Individual horn 2 end fixedly mounts a ultrasonic sensor 11 respectively, and each ultrasonic sensor 11 all connects
Connecing a range cells 12, six range cells 12 are all connected with flight control units 13, respectively to unmanned plane
The barrier of six direction find range, ultrasonic wave reflects to form echo through barrier, and six ultrasonic waves pass
Sensor 11 sends the reflection signal of telecommunication respectively to the range finding list on corresponding six horns 2 after receiving reflection echo
Unit 12, range cells 12 calculates six according to the time that receives of the reflection signal of telecommunication with the time difference of the transmitting signal of telecommunication
Distance respectively and between barrier for the individual horn 2, and this distance is all sent to as electronic signals flight
Control unit 13, flight control units 13 resolves this distance signal, according to the change of this distance signal, point
Kong Zhi not adjust six motor speeds by six electronic speed regulation meters on six horns 2, thus adjust each
The lift of horn 2, carries out urgent avoidance, controls six rotor wing unmanned aerial vehicle hoverings, retrogressing, rotates or left and right
Flight, it is to avoid unmanned plane will not cause aircraft crash out of control by collision obstacle.
When ultrasonic sensor detect barrier more and more remote when, output detectable signal can more and more weak when,
Range cells 12 resolves barrier can be increasing to the distance of same direction horn 2, is then converted to numeral letter
Number input to flight control units 13, then flight control units 13 does not change the instruction that aircraft is flying,
Continue walking operation flight；
When ultrasonic sensor detect barrier increasingly nearer when, output detectable signal can increasingly stronger when,
Range cells 12 resolves barrier can be increasingly nearer to the distance of same direction horn 2, be then converted to numeral letter
Number input to flight control units 13, then flight control units 13 makes the instruction of urgent avoidance, gives six electricity
Sub-velometer, controls six motor speeds, makes hovering or the action away from barrier, i.e. work as distance
When barrier is increasingly nearer, range cells 12 can be to the ultrasonic sensor 11 place machine detecting barrier
The electronic speed regulation meter of arm increases the instruction of electric current, detects the ultrasonic sensor 11 place horn of barrier
Motor speed can become big, increases lift, thus reaches hovering or be accelerated away from barrier purpose.
The embodiment of the present invention is respectively provided with ultrasonic sensor and survey on each horn of six rotor wing unmanned aerial vehicles
Away from unit, respectively the barrier of the six direction of unmanned plane is found range by ultrasonic wave, connect by echo
Resolve the distance between barrier between the time receiving, then six the electronic speed regulation meters controlling respectively on six horns come
Adjust six motor speeds, thus adjust the lift of each horn, carry out urgent avoidance, control six rotors
Unmanned plane hovering, retrogressing, rotation or left and right flight, it is to avoid unmanned plane will not cause aircraft by collision obstacle
Crash out of control.
This device uses device cost cheap, and the principle that converts between various data is simple, it is easy to accomplish and universal,
And do not affected by ambient light, can quickly be identified for barrier farther out, nearlyer barrier also can
Effectively avoid, it is to avoid unmanned plane owing to GPS exists error, causes deviateing prearranged heading during line walking,
Colliding with transmission line of electricity through handing over cross-line to cause, falling machine, improve the security that line walking safeguards and
Efficiency.
These are only presently preferred embodiments of the present invention, not in order to limit the present invention, all the present invention's
Any modification, equivalent and the improvement etc. made within spirit and principle, should be included in the guarantor of the present invention
Within the scope of protecting.
Claims (10)
1. a power transmission line inspection flight avoiding device, it is characterised in that described device includes:
Ultrasonic sensor, for launching ultrasonic wave, and the reflection echo that will receive according to the transmitting signal of telecommunication
Be converted to reflect the signal of telecommunication；
Range cells, is used for generating the described transmitting signal of telecommunication and receives the reflection signal of telecommunication, and according to described instead
Distance between the reception Time Calculation flight avoiding device of electric signal and described barrier, described range finding list
Unit transmitting terminal be connected with the input of described ultrasonic sensor, the reflection end of described range cells with described
The output of ultrasonic sensor connects；
Flight control units, for determining state of flight according to described distance, generates corresponding flight control and refers to
Order, described flight control instruction includes hovering signal, backing signal, progress signal, signal for turn；Described
The input of flight control units is connected with the output of described range cells；
Flying power unit, for performing corresponding state of flight according to described flight control instruction, described flies
The input of action edge unit is connected with the output of described flight control units.
2. device as claimed in claim 1, it is characterised in that described ultrasonic sensor is that piezoelectric type surpasses
Acoustic wave transducer.
3. device as claimed in claim 2, it is characterised in that described range cells includes:
Ultrasonic wave drives module, is used for generating ultrasonic drive frequency；
Processing module, for generating emissioning controling signal, described process mould according to described ultrasonic drive frequency
The end that selects of block drives the output of module to be connected with described ultrasonic wave, the serial communication end of described processing module
Output and described flight control units wireless connection for described range cells；
Ultrasonic wave emission control module, launches the signal of telecommunication for generating according to described emissioning controling signal, described
The input of ultrasonic wave emission control module is connected with the output of described processing module, and described ultrasonic wave is launched
The output of control module is the transmitting terminal of described range cells；
Ultrasonic wave receives modular converter, processes signal for the reflection signal of telecommunication of reception is converted to reflection, with
For described processing module according to described emissioning controling signal and reflection process signal calculate the ultrasonic reflections time and
Obstacle distance, the input that described ultrasonic wave receives modular converter is the receiving terminal of described range cells, institute
The output stating ultrasonic wave reception modular converter is connected with the input of described processing module.
4. device as claimed in claim 3, it is characterised in that described ultrasonic wave drives module to include:
Electric capacity C5, electric capacity C6 and crystal oscillator；
One end of described crystal oscillator is that described ultrasonic wave drives the output of module to connect with one end of described electric capacity C6
Connecing, the other end ground connection of described electric capacity C6, the other end of described crystal oscillator is grounded by described electric capacity C5.
5. device as claimed in claim 3, it is characterised in that described ultrasonic wave emission control module includes:
Resistance R1, resistance R2, the first NAND gate, the second NAND gate, the 3rd NAND gate, the 4th NAND gate
With the 5th NAND gate；
The input of described first NAND gate be described ultrasonic wave emission control module input simultaneously with described
The input of the input of the second NAND gate and described 5th NAND gate connects, the output of described first NAND gate
End is connected with the input of described 3rd NAND gate and the input of described 4th NAND gate simultaneously, and the described 3rd
The output of NAND gate is connected with one end of described resistance R1, and the other end of described resistance R1 connects power supply electricity
Pressure, the output of described 4th NAND gate is the positive output end of described ultrasonic wave emission control module, described the
The output of two NAND gates is the negative output terminal of described ultrasonic wave emission control module, described 5th NAND gate
Output is connected with one end of the output of described second NAND gate and described resistance R2 simultaneously, described resistance
The other end of R2 connects supply voltage.
6. device as claimed in claim 3, it is characterised in that described ultrasonic wave receives modular converter and includes:
Resistance R3, resistance R4, resistance R5, electric capacity C1, electric capacity C2, electric capacity C3, electric capacity C4 and turn
Change chip；
First pin of described conversion chip is that described ultrasonic wave receives the positive input terminal of modular converter and described electricity
The one end holding C4 connects, and the other end of described electric capacity C4 is the negative input that described ultrasonic wave receives modular converter
End is connected with described electric capacity C1, described electric capacity C2, one end of described electric capacity C3 simultaneously, described electric capacity C4
The other end be also connected with the 4th pin of described conversion chip, the other end of described electric capacity C1 passes through resistance
R5 is connected with the second pin of described conversion chip, the other end of described electric capacity C2 and described conversion chip
3rd pin connects, and the other end of described electric capacity C3 is connected with the 6th pin of described chip, described conversion
7th pin of chip is that one end of output and described resistance R3 that described ultrasonic wave receives modular converter connects
Connect, the other end of described resistance R3 simultaneously with the 8th pin of described conversion chip, the one of described resistance R4
End connects, and the other end of described resistance R4 is connected with the 5th pin of described conversion chip.
7. device as claimed in claim 3, it is characterised in that described range cells also includes:
Alarm module, for sending alarm signal, described warning when described obstacle distance is less than preset value
Circuit is connected with the warning output of described processing module；
Digital display module, for real-time display UAV Attitude data, the drive end of described digital display module with described
The display end of processing module connects.
8. device as claimed in claim 7, it is characterised in that described digital display module includes:
Group of four figures pipe and the first switching tube, second switch pipe, the 3rd switching tube, the 4th switching tube；
Each drive end of described group of four figures pipe connects with the input of described first to fourth switching tube respectively
Connecing, the output of described first to fourth switching tube is connected with supply voltage simultaneously, and described first to fourth opens
Close the control end multiple drive ends with described digital display module respectively of pipe.
9. the line walking unmanned plane of rotor more than, including aircraft body and multiple horn, it is characterised in that described
Unmanned plane also includes the power transmission line inspection flight avoiding device as described in any one of claim 1 to 8；
Wherein, flight control units is in described aircraft body, and it is ultrasonic that each described horn is provided with one
Wave sensor, a range cells and a flying power unit.
10. unmanned plane as claimed in claim 9, it is characterised in that described ultrasonic sensor is fixing even
Being connected to the end of described horn, described range cells is fixedly connected on the junction of described horn and aircraft body,
Described flying power unit is fixed on the top of described horn.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510168564.0A CN106155078A (en) | 2015-04-10 | 2015-04-10 | A kind of power transmission line inspection flight avoiding device and many rotors line walking unmanned plane |
Applications Claiming Priority (1)
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