CN106428618A - Performance detection system and performance detection method of unmanned aircraft for power transmission line in simulated high altitude environment - Google Patents
Performance detection system and performance detection method of unmanned aircraft for power transmission line in simulated high altitude environment Download PDFInfo
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- CN106428618A CN106428618A CN201510484323.7A CN201510484323A CN106428618A CN 106428618 A CN106428618 A CN 106428618A CN 201510484323 A CN201510484323 A CN 201510484323A CN 106428618 A CN106428618 A CN 106428618A
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Abstract
The invention provides a performance detection system and performance detection method of an unmanned aircraft for a power transmission line in simulated high altitude environment. The performance detection system comprises an environment simulation tank body, a pressure adjusting assembly being in sealing connection with the environment simulation tank body, and a flight detection device arranged in the environment simulation tank body, wherein a small unmanned rotorcraft is fixed on the flight detection device. The method comprises the following steps of: after air pressure environment of the environment simulation tank body is set to be detection altitude environment, controlling the unmanned aircraft arranged on the flight detection device to take off, starting timing until a battery is depleted, and recording the flight time and the flight state of the unmanned aircraft, so that the detection is completed. Through the adoption of the performance detection system and performance detection method disclosed by the invention, not only is the testing cost saved, but also the detection period is shortened; potential safety hazards to the unmanned aircraft during performance detection in an actual high altitude area are avoided; and the detection accuracy and the detection reliability of the unmanned aircraft in the simulated high altitude environment are improved.
Description
Technical field
The present invention relates to power transmission and transforming equipment operational management field is and in particular under a kind of simulating high altitude environment transmission line of electricity is no
Man-machine performance detecting system and method.
Background technology
The construction in high altitude localitiess for the transmission line of electricity is to the lifting quality of life of high altitude localitiess and having emphatically of economic benefit
Big meaning；But the maintenance in high altitude localitiess for the transmission line of electricity and monitoring problem are also due to the Special Geographic condition of high altitude localitiess
And become difficult；Therefore, small-sized rotor wing unmanned aerial vehicle is used for the transmission line of electricity of high altitude localitiess, solves High aititude
The maintenance of transmission line of electricity in area and monitoring；And high altitude environment flying quality content of the test be also test transmission line of electricity small-sized
The important component part of rotor wing unmanned aerial vehicle cruising inspection system flying quality test.
At present with regard to transmission line of electricity small-sized rotor wing unmanned aerial vehicle cruising inspection system high altitude flight performance test, mainly take scene
Method of testing (carries out test flight in actual high altitude localitiess), its high cost, and detection cycle is long, and due to place
Spaciousness easily causes the blind winged problem of unmanned plane, and then cannot ensure the accuracy to unmanned plane performance test.
Therefore, how to design a kind of low cost, detection cycle is short and accurately and effectively transmission line of electricity under simulating high altitude environment
The performance detecting system of unmanned plane or method, are those skilled in the art's problem demanding prompt solutions.
Content of the invention
In view of this, the present invention provide a kind of simulating high altitude environment under power transmission line unmanned machine performance detecting system and
Method, while saving testing cost, shortens detection cycle；Avoid unmanned plane to carry out in actual high altitude localitiess
Potential safety hazard during performance detection；And improve the accuracy of the detection of unmanned plane and reliability under simulating high altitude environment
Property.
The purpose of the present invention is achieved through the following technical solutions：
Under a kind of simulating high altitude environment, the performance detecting system of power transmission line unmanned machine is it is characterised in that described system bag
Include environmental simulation tank body and described environmental simulation tank body close proximity, pressure adjusting part that inside connects and be arranged on institute
State the flight detection means in environmental simulation tank body；
Small-sized rotor wing unmanned aerial vehicle is fixed in described flight detection means.
Preferably, described flight detection means includes the gimbal lever, the tank bottoms center being fixed in described environmental simulation tank body
Triangle body base, be arranged on the fixed platform of described gimbal lever one end；
The axle center of the described gimbal lever is arranged at the pinnacle of described triangle body base；
Described small-sized rotor wing unmanned aerial vehicle is fixed on described fixed platform.
Preferably, the described gimbal lever is provided with and can prolong gimbal lever's counterweight platform in axial sliding；Described counterweight platform is provided with counterweight
Block.
Preferably, the inwall of described environmental simulation tank body is provided with the watch-dog no less than 2.
Preferably, described pressure adjusting part includes evacuation module and pressure recovery module.
The method for testing performance of power transmission line unmanned machine under a kind of simulating high altitude environment, methods described comprises the steps：
Step 1., in environmental simulation tank body, fixes flight detection means；
Described small-sized rotor wing unmanned aerial vehicle is fixed on gimbal lever one end of flight detection means by step 2., and adjustment bar is another
One end counterweight is allowed to balance；Open the watch-dog in described environmental simulation inner tank wall；
Step 3. is closed described environmental simulation tank body and is extracted air pressure therein, in the air pressure ring of described environmental simulation tank body
After border is equivalent to detection altitude environment, maintain the atmospheric pressure value that it is interior；
Step 4. controls described small-sized rotor wing unmanned aerial vehicle to take off and start timing；
If the described small-sized rotor wing unmanned aerial vehicle follow-on mission of step 5. is to running down of battery, enter step 7；
If described small-sized rotor wing unmanned aerial vehicle landing, time out, and enter step 6；
Step 6. controls described small-sized rotor wing unmanned aerial vehicle again to take off and continue timing, and enters step 5；
Step 7. stops timing, recovers air pressure in environmental simulation tank body so as to identical with ambient pressure；
Step 8. records flight time and the state of flight of described small-sized rotor wing unmanned aerial vehicle；Detection completes.
Preferably, described step 1, including：
1-1. bottom center in described environmental simulation tank body by the triangle body floor installation in described flight detection means
Place；
The axle center of the gimbal lever is arranged at the pinnacle of described triangle body base 1-2.；
1-3. arranges in the described gimbal lever and can prolong gimbal lever's counterweight platform in axial sliding；
1-4. arranges fixed platform in wherein one end of the described gimbal lever；
1-5. on described counterweight platform fixed weight block so that the described gimbal lever is in poised state.
Preferably, described step 2, including：
Described small-sized rotor wing unmanned aerial vehicle is fixed in described fixed platform 2-1.；
2-2. opens the described watch-dog in described environmental simulation inner tank wall.
Preferably, described step 3, including：
3-1. closes described environmental simulation tank body；
3-2. opens the evacuation module in the pressure adjusting part being connected with it with metal tube, extracts described environmental simulation tank
The air pressure of body；
3-3., after the air pressure environment of described environmental simulation tank body is equivalent to detection altitude environment, maintains described environmental simulation tank
Internal atmospheric pressure value.
Preferably, described step 7, including：
7-1. stops timing；
7-2. closes whole described water-ring vacuum pumps；
In the 7-3. described pressure adjusting part of unlatching, pressure recovery module is so that the air pressure in described environmental simulation tank body is equal to
Ambient pressure.
It can be seen from above-mentioned technical scheme that, the invention provides power transmission line unmanned machine under a kind of simulating high altitude environment
Performance detecting system and method, this system includes environmental simulation tank body and the close-connected pressure of environmental simulation tank body and adjusts
Section assembly and the flight detection means being arranged in environmental simulation tank body；And small-sized rotor wing unmanned aerial vehicle is fixed on flight detection dress
Put.The method, after the air pressure environment by environmental simulation tank body is set to detect altitude environment, controls and is arranged on flight inspection
The unmanned plane surveyed on device takes off and starts timing to its running down of battery, and records its flight time and state of flight to complete
Detection.The detecting system of the present invention and method, while saving testing cost, shorten detection cycle；Avoid no
Man-machine potential safety hazard when carrying out performance detection in actual high altitude localitiess；And improve unmanned under simulating high altitude environment
The accuracy of the detection of machine and reliability.
With immediate prior art ratio, the present invention provide technical scheme there is following excellent effect：
1st, in technical scheme provided by the present invention, closely connected with environmental simulation tank body by including environmental simulation tank body
The pressure adjusting part connecing and the flight detection means being arranged in environmental simulation tank body；And small-sized rotor wing unmanned aerial vehicle is fixed on
Setting in flight detection means is so that this system, while saving testing cost, shortens detection cycle；Avoid
Potential safety hazard when unmanned plane carries out performance detection in actual high altitude localitiess；And improve the nothing under simulating high altitude environment
The accuracy of man-machine detection and reliability.
2nd, technical scheme provided by the present invention, by being set to detect altitude environment the air pressure environment of environmental simulation tank body
Afterwards, control the unmanned plane being arranged in flight detection means to take off and start timing to its running down of battery, and record its flight
Time and state of flight are to complete to detect.The detecting system of the present invention and method, while saving testing cost, shorten
Detection cycle；Avoid potential safety hazard when unmanned plane carries out performance detection in actual high altitude localitiess；And improve mould
Intend the accuracy of the detection of unmanned plane under high altitude environment and reliability.
3rd, the technical scheme that the present invention provides, is widely used, has significant Social benefit and economic benefit.
Brief description
Fig. 1 is the structural representation of the performance detecting system of power transmission line unmanned machine under a kind of present invention simulating high altitude environment
Figure；
Fig. 2 is the structural representation of the flight detection means in the performance detecting system of the present invention；
Fig. 3 be the present invention a kind of simulating high altitude environment under the flow process of method for testing performance of power transmission line unmanned machine show
It is intended to；
Fig. 4 is the schematic flow sheet of the step 1 in the method for testing performance of the present invention；
Fig. 5 is the schematic flow sheet of the step 2 in the method for testing performance of the present invention；
Fig. 6 is the schematic flow sheet of the step 3 in the method for testing performance of the present invention；
Fig. 7 is the schematic flow sheet of the step 7 in the method for testing performance of the present invention.
Wherein, the small-sized rotor wing unmanned aerial vehicle of 1-, 2- environmental simulation tank body, 201- watch-dog, 3- pressure adjusting part, 301-
Evacuation module, 302- pressure recovery module, 4- flight detection means, the 401- gimbal lever, 402- triangle body base, 403-
Fixed platform, 404- counterweight platform, 405- balancing weight.
Specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Ground description is it is clear that described embodiment is only a part of embodiment of the present invention, rather than whole embodiments.Base
In embodiments of the invention, those of ordinary skill in the art obtained under the premise of not making creative work all its
His embodiment, broadly falls into the scope of protection of the invention.
As shown in figure 1, the present invention provides a kind of performance detecting system of power transmission line unmanned machine under simulating high altitude environment,
Power transmission line unmanned machine is less than the small-sized rotor wing unmanned aerial vehicle 1 of 100kg for weight；System include environmental simulation tank body 2 and
The pressure adjusting part 3 of environmental simulation tank body 2 close proximity, internal connection and being arranged in environmental simulation tank body 2
Flight detection means 4；
Small-sized rotor wing unmanned aerial vehicle 1 is fixed in flight detection means 4.
As shown in Fig. 2 flight detection means 4 include the gimbal lever 401, be fixed in environmental simulation tank body 2 tank bottoms in
Triangle body base 402 at the heart, it is arranged on the fixed platform 403 of the gimbal lever 401 one end；
The axle center of the gimbal lever 401 is arranged at the pinnacle of triangle body base 402；
Fixed platform 403 is used for fixing small-sized rotor wing unmanned aerial vehicle 1.
Wherein, the gimbal lever 401 is provided with and can prolong the gimbal lever 401 counterweight platform 404 in axial sliding；Set on counterweight platform 404
There is balancing weight 405.
The inwall of environmental simulation tank body 2 is provided with the watch-dog 201 no less than 2.
Pressure adjusting part 3 includes evacuation module 301 and pressure recovery module 302.
As shown in figure 3, under a kind of simulating high altitude environment power transmission line unmanned machine method for testing performance, transmission line of electricity is no
The man-machine small-sized rotor wing unmanned aerial vehicle being less than 100kg for weight；Method comprises the steps：
, in environmental simulation tank body, fixing and flight detection means, with poised state for balance in the present embodiment for step 1.
Bar explanation as a example 0.8 meter of ground；
Small-sized rotor wing unmanned aerial vehicle is fixed on gimbal lever one end of flight detection means, the adjustment bar other end by step 2.
Counterweight is allowed to balance；Open the watch-dog in environmental simulation inner tank wall；
Step 3. enclosed environment simulation tank body simultaneously extracts air pressure therein, is equivalent in the air pressure environment of environmental simulation tank body
After detection altitude environment, maintain the atmospheric pressure value that it is interior；For example air pressure in test tank body is evacuated to 61kpa and (is equivalent to artificial
Altitude simulating 4000m) after, maintain its interior atmospheric pressure value in 61kpa；
Step 4. controls small-sized rotor wing unmanned aerial vehicle to take off and start timing；For example：What small-sized rotor wing unmanned aerial vehicle took off vertically has
Limiting scope is：In the range of vertical direction height 0-1.6m；
If step 5. small-sized rotor wing unmanned aerial vehicle follow-on mission is to running down of battery, enter step 7；
If small-sized rotor wing unmanned aerial vehicle landing, time out, and enter step 6；
Step 6. controls small-sized rotor wing unmanned aerial vehicle again to take off and continue timing, and enters step 5；
Step 7. stops timing, recovers air pressure in environmental simulation tank body so as to identical with ambient pressure；And to normal pressure
101kpa (is equivalent to height above sea level 0m)；
Step 8. records flight time and the state of flight of small-sized rotor wing unmanned aerial vehicle；Detection completes.
As shown in figure 4, step 1, including：
1-1. is by the triangle body floor installation in flight detection means at the bottom center in environmental simulation tank body；
The axle center of the gimbal lever is arranged at the pinnacle of triangle body base 1-2.；
1-3. arranges in the gimbal lever and can prolong gimbal lever's counterweight platform in axial sliding；
1-4. arranges fixed platform in wherein one end of the gimbal lever；
1-5. on counterweight platform fixed weight block so that the gimbal lever is in poised state.
As shown in figure 5, step 2, including：
Small-sized rotor wing unmanned aerial vehicle is fixed on the stationary platform by 2-1.；
2-2. opens the watch-dog in environmental simulation inner tank wall.
As shown in fig. 6, step 3, including：
3-1. enclosed environment simulates tank body；
3-2. opens the evacuation module in the pressure adjusting part being connected with it with metal tube, extracts environmental simulation tank body
Air pressure；
3-3., after the air pressure environment of environmental simulation tank body is equivalent to detection altitude environment, maintains the gas in environmental simulation tank body
Pressure value.
As shown in fig. 7, step 7, including：
7-1. stops timing；
7-2. closes whole water-ring vacuum pumps；
Pressure recovery module in 7-3. Opening pressure adjusting part is so that the air pressure in environmental simulation tank body is equal to environment gas
Pressure.
Above example is only not intended to limit in order to technical scheme to be described, although with reference to above-described embodiment to this
Invention has been described in detail, and those of ordinary skill in the art still can enter to the specific embodiment of the present invention
Row modification or equivalent, and these are without departing from any modification of spirit and scope of the invention or equivalent, it is equal
Within the claims applying for the pending present invention.
Claims (10)
1. under a kind of simulating high altitude environment the performance detecting system of power transmission line unmanned machine it is characterised in that described system
System includes pressure adjusting part and the setting that environmental simulation tank body is connected with described environmental simulation tank body close proximity, inside
Flight detection means in described environmental simulation tank body；
Small-sized rotor wing unmanned aerial vehicle is fixed in described flight detection means.
2. the system as claimed in claim 1 is it is characterised in that described flight detection means includes the gimbal lever, fixation
The triangle body base of the tank bottoms center in described environmental simulation tank body, be arranged on described gimbal lever one end fixation put down
Platform；
The axle center of the described gimbal lever is arranged at the pinnacle of described triangle body base；
Described small-sized rotor wing unmanned aerial vehicle is fixed on described fixed platform.
3. system as claimed in claim 2 can prolong the axial cunning of the gimbal lever it is characterised in that the described gimbal lever is provided with
Dynamic counterweight platform；Described counterweight platform is provided with balancing weight.
4. the system as claimed in claim 1 is it is characterised in that the inwall of described environmental simulation tank body is provided with much
In the watch-dog of 2.
5. the system as claimed in claim 1 it is characterised in that described pressure adjusting part include evacuation module and
Pressure recovery module.
6. under a kind of simulating high altitude environment the method for testing performance of power transmission line unmanned machine it is characterised in that described side
Method comprises the steps：
Step 1., in environmental simulation tank body, fixes flight detection means；
Described small-sized rotor wing unmanned aerial vehicle is fixed on gimbal lever one end of flight detection means by step 2., and adjustment bar is another
One end counterweight is allowed to balance；Open the watch-dog in described environmental simulation inner tank wall；
Step 3. is closed described environmental simulation tank body and is extracted air pressure therein, in the air pressure ring of described environmental simulation tank body
After border is equivalent to detection altitude environment, maintain the atmospheric pressure value that it is interior；
Step 4. controls described small-sized rotor wing unmanned aerial vehicle to take off and start timing；
If the described small-sized rotor wing unmanned aerial vehicle follow-on mission of step 5. is to running down of battery, enter step 7；
If described small-sized rotor wing unmanned aerial vehicle landing, time out, and enter step 6；
Step 6. controls described small-sized rotor wing unmanned aerial vehicle again to take off and continue timing, and enters step 5；
Step 7. stops timing, recovers air pressure in environmental simulation tank body so as to identical with ambient pressure；
Step 8. records flight time and the state of flight of described small-sized rotor wing unmanned aerial vehicle；Detection completes.
7. method as claimed in claim 6 is it is characterised in that described step 1, including：
1-1. bottom center in described environmental simulation tank body by the triangle body floor installation in described flight detection means
Place；
The axle center of the gimbal lever is arranged at the pinnacle of described triangle body base 1-2.；
1-3. arranges in the described gimbal lever and can prolong gimbal lever's counterweight platform in axial sliding；
1-4. arranges fixed platform in wherein one end of the described gimbal lever；
1-5. on described counterweight platform fixed weight block so that the described gimbal lever is in poised state.
8. method as claimed in claim 7 is it is characterised in that described step 2, including：
Described small-sized rotor wing unmanned aerial vehicle is fixed in described fixed platform 2-1.；
2-2. opens the described watch-dog in described environmental simulation inner tank wall.
9. method as claimed in claim 6 is it is characterised in that described step 3, including：
3-1. closes described environmental simulation tank body；
3-2. opens the evacuation module in the pressure adjusting part being connected with it with metal tube, extracts described environmental simulation tank
The air pressure of body；
3-3., after the air pressure environment of described environmental simulation tank body is equivalent to detection altitude environment, maintains described environmental simulation tank
Internal atmospheric pressure value.
10. method as claimed in claim 6 is it is characterised in that described step 7, including：
7-1. stops timing；
7-2. closes whole described water-ring vacuum pumps；
In the 7-3. described pressure adjusting part of unlatching, pressure recovery module is so that the air pressure in described environmental simulation tank body is equal to
Ambient pressure.
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| CN109533391A (en) * | 2018-11-23 | 2019-03-29 | 中国电力科学研究院有限公司 | A kind of method and system for testing Sichuan-Tibet area unmanned plane cruising inspection system applicability |
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