CN107491093A - A kind of high-power supply path Tracking Recognition device and method - Google Patents
A kind of high-power supply path Tracking Recognition device and method Download PDFInfo
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- CN107491093A CN107491093A CN201710571475.XA CN201710571475A CN107491093A CN 107491093 A CN107491093 A CN 107491093A CN 201710571475 A CN201710571475 A CN 201710571475A CN 107491093 A CN107491093 A CN 107491093A
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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
- G05D1/12—Target-seeking control
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P13/00—Indicating or recording presence, absence, or direction, of movement
- G01P13/02—Indicating direction only, e.g. by weather vane
- G01P13/025—Indicating direction only, e.g. by weather vane indicating air data, i.e. flight variables of an aircraft, e.g. angle of attack, side slip, shear, yaw
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Abstract
The invention discloses a kind of high-power supply path Tracking Recognition device and method, including by four magnetic induction coils, four drive test amount process circuits and single-chip microcomputer；Four described magnetic induction coils are arranged at intervals in same level and with square shape；Described measurement processing circuit includes resonance circuit, pre-amplification circuit, effective value measurement circuit and filter circuit.The present invention is by setting Magnetic induction coil made of four special process to be set in same level rectangle, on unmanned plane workbench, when unmanned plane does surely high maneuvering flight, keep and transmission line of electricity equal height, i.e. invention device is kept with transmission line of electricity in same level, so as in space magnetic field caused by power transmission line, the voltage being respectively induced corresponds to the distance of coil and power transmission line, course angle is further calculated, it is not only convenient and swift, and it for unmanned vehicle can need that circuit is identified during line data-logging, position measurement, avoidance and tracking.
Description
Technical field
The present invention relates to power system power transmission and distribution industry aircraft line walking Automatic Measurement Technique field, more particularly to one kind are big
Power supply path Tracking Recognition device and method.
Background technology
At present, the operation such as maintenance, detection and the repairing of Utilities Electric Co. to transmission line of electricity, substantially still according to section partition
Task, the circuit situation of patrolling is checked by manual site.The timely and accurately property that line defct is found, depending on line attendant
What professional ability, sense of responsibility and the supervision of shift management personnel were maked an inspection tour implements, it is impossible to prevents because making an inspection tour the various of initiation not in place
The generation of accident.Meanwhile some electric transmission line erections, in deep woods, wetland, alpine region, personnel reach slow, difficult, efficiency
It is low, it is impossible to accomplish that periodical inspection is safeguarded, inspection difficulty is bigger under the severe natural conditions such as ice and snow, earthquake, flood.At present
The main method for substituting artificial line walking is to use unmanned plane inspection operation, including remote control inspection flight and automatic obstacle avoiding tracking inspection
Fly two kinds of operating types, and two kinds of operating types are required for aircraft to keep rational distance and relative position with transmission line of electricity,
Convenient line trace, avoidance technology etc..So design offer is a kind of by unmanned vehicle carrying, being capable of automatic identification transmission of electricity
Circuit locus, so for aircraft provide navigation, tracking, control signal Airborne Tracking sensing device, with realize flight
The avoidance of device, from motion tracking patrol flight function, there are boundless market prospects.
The content of the invention
It is an object of the invention to provide a kind of high-power supply path Tracking Recognition device and method, can fly for nobody
Row device needs circuit is identified during line data-logging, position measurement, avoidance and tracking.
The technical solution adopted by the present invention is：
A kind of high-power supply path Tracking Recognition device, including by four magnetic induction coils, respectively with four magnetic induction coils
The four drive test amount process circuits and single-chip microcomputer being correspondingly arranged, described each magnetic induction coil pass through corresponding measurement respectively
Process circuit is connected with single-chip microcomputer input, and the output end of single-chip microcomputer is connected for the input of flight control system；Described
Size, the structural parameters all same of four magnetic induction coils, and four magnetic induction coils are in same level and with square
Shape is arranged at intervals；Described measurement processing circuit includes resonance circuit, pre-amplification circuit, effective value measurement circuit
And filter circuit, the output end of described magnetic induction coil pass sequentially through resonance circuit, pre-amplification circuit electric capacity, virtual value and surveyed
Amount circuit and filter circuit are connected with the input of single-chip microcomputer.
Described effective value measurement circuit is formed using chip LTC1966 and its peripheral circuit.
The wire body of described magnetic induction coil is flat wire body, is set among flat wire body winding cored.
Described core material is overall structure from 1J40 magnetically soft alloys.
Described coil-winding envelope curve is coated to nylon enameled wire using the polyester porcelain of model PEW-NY, 0.05mm line footpath.
Four described inductance coil manufacture crafts, material, structures are identical, and inductance parameters are 10H, and during coiling often around
5 layers of cushioning, 1 layer of DMD paper is made, and glue and DMD insulation paper washer anchor legs are drawn with stepping, uses to step after coiling and draws glue entirety twist
Circle forms.
A kind of recognition methods of the high-power supply path Tracking Recognition device based on described in claim 6, including it is as follows
Step：
A：First, the present apparatus is installed to unmanned plane body, is treated by unmanned plane and surveys flight line detection, and keep the present apparatus
It is then by resonance circuit come aware space magnetic field intensity, magnetic field is strong with transmission line of electricity to be detected on same horizontal plane
Degree is exported to follow-up pre-amplification circuit circuit after being converted into voltage signal；
B：Pre-amplification circuit send follow-up effective value measurement circuit after millivolt level small-signal is amplified；
C：Periodic signal is converted into virtual value and exported by effective value measurement circuit, after effective filtered circuit filtering of value output signal
Send follow-up single-chip microcomputer to be handled, finally calculate attitude parameter S1、S2、S3、S4, described S1、S2、S3、S4Respectively four magnetic
The central point of induction coil further obtains aircraft course drift angle α to the vertical range of transmission line of electricity in parallel；
D：Processor sends S1、S2、S3、S4And angle of drift α is to winged control center, so as to help unmanned plane corrected range.
Consider that coil windings have certain D.C. resistance to use primary resonant capacitor C1 and auxiliary benefit in described resonance circuit
Repay electric capacity C2 to be arranged in parallel, and the size selection detailed process of resonant capacitance is as follows：Assuming that Transmission Lines is 50HZ's
Sinusoidal ac, then it is also 50H along magnetic field caused by circuitZAlternating magnetic field, resonance frequency should be designed so that
50HZ, i.e.,
Known L=10H, then have
The resonant frequency 50H of resonance circuitZ, can be realized by adjusting resonant capacitance C values.
It is described that to obtain aircraft course drift angle α specific as follows：Using horizontal power transmission line as X-axis, vertical power transmission line is Y-axis,
The steel tower position of horizontal power transmission line and vertical power transmission line turning point is origin, and coordinate is（0,0）Aircraft central shaft if " O " point
Coordinate be（X, y）, aircraft course drift angle is α, then has
It is more accurate in order to calculate, α calculate twice and averaged, i.e., is calculated using following formula：
。
The present invention is by setting Magnetic induction coil made of four special process to be set in same level rectangle, installed in nothing
On man-machine workbench, when unmanned plane does surely high maneuvering flight, keep with transmission line of electricity equal height, i.e., invention device keep with
Transmission line of electricity is in same level, so as in space magnetic field caused by power transmission line, four coils of invention device, be respectively induced
Voltage correspond to the distance of coil and power transmission line, course angle is further calculated, it is not only convenient and swift, and can be directed to
Unmanned vehicle needs circuit is identified during line data-logging, position measurement, avoidance and tracking.
Brief description of the drawings
Fig. 1 is the theory diagram of the present invention；
For the present invention, the space magnetic field along transmission line of electricity perceives schematic diagram to Fig. 2；
Fig. 3 is flat rectangular coil structure of the present invention；
Fig. 4 is adjustment view of the present invention.
Embodiment
The preferred embodiments of the present invention will be described in detail below；It should be appreciated that preferred embodiments are only for saying
The bright present invention, the protection domain being not intended to be limiting of the invention.
As shown in Figure 1,2 and 3, the present invention includes a kind of high-power supply path Tracking Recognition device, including by four magnetic
Induction coil, four drive test amount process circuits being correspondingly arranged respectively with four magnetic induction coils and single-chip microcomputer, described each magnetic
Induction coil is connected by corresponding measurement processing circuit with single-chip microcomputer input respectively, the output end of single-chip microcomputer with
The input of flight control system is connected；Size, the structural parameters all same of four described magnetic induction coils, and four magnetic induction
Coil is arranged at intervals in same level and with square shape；Described measurement processing circuit includes resonance electricity
Road, pre-amplification circuit, effective value measurement circuit and filter circuit, the output end of described magnetic induction coil pass sequentially through resonance
Circuit, pre-amplification circuit electric capacity, effective value measurement circuit and filter circuit are connected with the input of single-chip microcomputer.In the present invention
Have the identical measuring circuit in four tunnels, correspond respectively to 1 ~ coil of coil 4, Fig. 3 be it is therein all the way, by resonance circuit, preposition amplification,
Effective value measurement, filter circuit packet into.Resonance circuit is by inductance L（Corresponding to inductance 1 or inductance 2 or inductance 3 or inductance
4, one among four）With resonant capacitance C（C=C1+C2, C2 are variable condensers, resonant capacitance C values are finely tuned, to obtain
Accurate resonant frequency value）Composition, by frequency-selecting, resonance come aware space magnetic field intensity, it is defeated that magnetic field intensity is converted into voltage
Go out to follow-up pre-amplification circuit；Pre-amplification circuit send follow-up virtual value to survey after millivolt level small-signal is amplified
Circuit is measured, periodic signal is converted into virtual value and exported by effective value measurement circuit, effective filtered circuit filtering of value output signal
After send follow-up location calculate link（The link is that four tunnels are public）Handled, finally calculate attitude parameter S1、S2、S3、S4With
α
Described effective value measurement circuit is formed using chip LTC1966 and its peripheral circuit.Due to passing through known electric cable
The size of magnetic field intensity determines that distance is existing known technology (Biot-Sa cuts down theorem), so herein not to repeat its specific
Composition and calculating process.
As Magnetic Field detection, detection, after detectable signal is handled via subsequent conditioning circuit, magnetic field distribution is realized
With the collection of strength information, then by subsequent data signal processing links（Position calculates）Calculate detected target（High voltage power transmission
Circuit）Position, the information such as distance.The wire body 1 of described magnetic induction coil is flat wire body, and the centre of flat wire body winding is set
It is equipped with iron core 2.First, the directionality of coil is improved, second, the sensitivity one of increase correspondence direction is to improve the directionality of coil,
Second, the sensitivity of increase correspondence direction, described core material select 1J40 magnetically soft alloys（Main component：C、Si、Mn、S、V、
Ni、Mo）For overall structure.Described coil-winding envelope curve is coated to Buddhist nun using the polyester porcelain of model PEW-NY, 0.05mm line footpath
Imperial enamel-covered wire.Four described inductor wire manufacture crafts, material, structures are identical, and inductance parameters are 10H, and during coiling often around
Five layers of cushioning, one layer of DMD paper is made in order to winding displacement, ending mode draws glue and DMD insulation paper washer anchor legs with starting with stepping,
Glue entirety twist circle is drawn to form with advanced in years after coiling.
A kind of recognition methods based on high-power supply path Tracking Recognition device, comprises the following steps：
A：First, the present apparatus is installed to unmanned plane body, is treated by unmanned plane and surveys flight line detection, and keep the present apparatus
It is then by resonance circuit come aware space magnetic field intensity, magnetic field is strong with transmission line of electricity to be detected on same horizontal plane
Degree is exported to follow-up pre-amplification circuit after being converted into voltage signal；
B：Pre-amplification circuit send follow-up effective value measurement circuit after millivolt level small-signal is amplified；
C：Periodic signal is converted into virtual value and exported by effective value measurement circuit, after effective filtered circuit filtering of value output signal
Send follow-up single-chip microcomputer to be handled, finally calculate attitude parameter S1、S2、S3、S4, described S1、S2、S3、S4Respectively four magnetic
The central point of induction coil further obtains aircraft course drift angle α to the vertical range of transmission line of electricity in parallel；
D：Processor sends angle of drift α to winged control center, so as to help unmanned plane corrected range.
Consider that coil windings have certain D.C. resistance to use primary resonant capacitor C1 and auxiliary benefit in described resonance circuit
Repay electric capacity C2 to be arranged in parallel, and the size selection detailed process of resonant capacitance is as follows：Assuming that Transmission Lines is 50HZ
Sinusoidal ac, then be also 50HZ alternating magnetic field along magnetic field caused by circuit, and resonance frequency should be designed so that
50HZ, i.e.,
Known L=10H, then have
The resonant frequency 50H of resonance circuitZ, can be realized by adjusting resonant capacitance C values.
It is described that to obtain aircraft course drift angle α specific as follows：Using horizontal power transmission line as X-axis, vertical power transmission line is Y-axis,
The steel tower position of horizontal power transmission line and vertical power transmission line turning point is origin, and coordinate is（0,0）Aircraft central shaft if " O " point
Coordinate be（X, y）, aircraft course drift angle is α, then has
It is more accurate in order to calculate, α calculate twice and averaged, i.e., is calculated using following formula：
。
The identical measuring circuit in the tunnels of device Zhong You tetra-, corresponds respectively to 1 ~ coil of coil 4, Fig. 1 be it is therein all the way, by resonance
Circuit, preposition amplification, effective value measurement, filter circuit packet into.Resonance circuit is by inductance L（Corresponding to inductance 1 or inductance 2,
Or inductance 3 or inductance 4, one among four）With resonant capacitance C（C=C1+C2, C2 are variable condensers, fine setting resonance electricity
Hold C values, to obtain accurate resonant frequency value）Composition is strong by magnetic field by frequency-selecting, resonance come aware space magnetic field intensity
Degree is converted into voltage output to follow-up pre-amplification circuit；Pre-amplification circuit is sent after millivolt level small-signal is amplified
Periodic signal is converted into virtual value and exported by follow-up effective value measurement circuit, effective value measurement circuit, effective value output signal
Follow-up location is sent to calculate link after filtered circuit filtering（The link is that four tunnels are public）Handled, finally calculate posture ginseng
Number S1, S2, S3, S4 and α.
After the present invention above-mentioned induction coil, resonance circuit and follow-up process circuit complete, square is installed in
On shape bottom plate, front（Upward）Four coils, the back side are installed（Down）Four drive test amounts, process circuit are installed, then by Floor water
It is flat to be fixed on above unmanned plane workbench, carry out calibration debugging.Debugging process is as follows：
By apparatus of the present invention（Together with unmanned plane）It is placed in the transmission line of electricity of right angle distribution of certain voltage class, makes device bottom plate
Uniform level face is kept with power transmission line（Slightly deviation, do not influence to debug）, the distance of the center line of line taking circle 1 to horizontal power transmission line is
B, and the distance of the center line of coil 3 to vertical power transmission line is also b, the center line of 1 ~ coil of coil 4 respectively away from power transmission line it is vertical away from
From being denoted as S1、S2、S3、S4, distance and virtual value correspond, and virtual value is denoted as U1, U2, U3, U4, then S1=S3=b corresponds to U1
=U3；S2=S4=（a+b）Corresponding to U2=U4,
Adjust the parameters such as the multiplication factor of each bar circuit, be allowed to meet above formula requirement, it is therefore an objective to adjust four passages make its zero point,
The parameters such as sensitivity are consistent.
As shown in figure 4, during normal work, unmanned plane does height-lock control, make apparatus of the present invention bottom plate heights keep with it is defeated
Electric line is consistent, and four paths of the present apparatus detect magnetic field signal and are converted into range information in real time（S1、S2、S3、S4）Export to
Data processing link below（Typically single-chip microcomputer）Carry out position calculating, data processing link scan round processing S1、S2、S3
And S4Data, calculation position parameter, and location parameter is sent to winged empty set at the end of this scan period and united, the course of work
Move in circles and terminate so that flying, flight control system is according to location parameter adjustment UAV Attitude and track, to realize line walking process
In tracking flight and armband function.
Coil 1 and coil 2 detect above-below direction（North and South direction）Magnetic field intensity, coil 3 and coil 4 detect left and right directions
（East-west direction）Magnetic field intensity, in order to further improve sensitivity and frequency selectivity, each induction coil match one it is humorous
Electric capacity shake to obtain maximum induced voltage signal, it is strong then to correspond to magnetic field by corresponding RMS to DC processing of circuit and acquisition
Effective value parameter of degree.
Claims (9)
- A kind of 1. high-power supply path Tracking Recognition device, it is characterised in that：Including by four magnetic induction coils, respectively with four The four drive test amount process circuits and single-chip microcomputer that individual magnetic induction coil is correspondingly arranged, described each magnetic induction coil respectively by with Its corresponding measurement processing circuit is connected with single-chip microcomputer input, input phase of the output end with flight control system of single-chip microcomputer Connection；Size, the structural parameters all same of four described magnetic induction coils, and four magnetic induction coils are in same level And it is arranged at intervals with square shape；Described measurement processing circuit include resonance circuit, pre-amplification circuit, effectively It is worth measuring circuit and filter circuit, the output end of described magnetic induction coil passes sequentially through resonance circuit, pre-amplification circuit electricity Hold, effective value measurement circuit and filter circuit are connected with the input of single-chip microcomputer.
- 2. high-power supply path Tracking Recognition device according to claim 1, it is characterised in that：Described humorous virtual value Measuring circuit is formed using chip LTC1966 and its peripheral circuit.
- 3. high-power supply path Tracking Recognition device according to claim 2, it is characterised in that：The described line of magnetic induction The wire body of circle is flat wire body, is set among flat wire body winding cored.
- 4. high-power supply path Tracking Recognition device according to claim 3, it is characterised in that：Described core material It is overall structure from 1J40 magnetically soft alloys.
- 5. high-power supply path Tracking Recognition device according to claim 4, it is characterised in that：Described coil-winding Envelope curve is coated to nylon enameled wire using the polyester porcelain of model PEW-NY, 0.05mm line footpath.
- 6. high-power supply path Tracking Recognition device according to claim 5, it is characterised in that：Four described inductance Line manufacture craft, material, structure are identical, and inductance parameters are 10H, and are used in combination during coiling per five layers of coiling, one layer of cushioning DMD paper Step and draw glue and DMD insulation paper washer anchor legs, draw glue entirety twist circle to form with advanced in years after coiling.
- A kind of 7. recognition methods of the high-power supply path Tracking Recognition device based on described in claim 6, it is characterised in that： Comprise the following steps：A：First, the present apparatus is installed to unmanned plane body, is treated by unmanned plane and surveys flight line detection, and keep the present apparatus It is then by resonance circuit come aware space magnetic field intensity, magnetic field is strong with transmission line of electricity to be detected on same horizontal plane Degree is exported to follow-up pre-amplification circuit after being converted into voltage signal；B：Pre-amplification circuit send follow-up effective value measurement circuit after millivolt level small-signal is amplified；C：Periodic signal is converted into virtual value and exported by effective value measurement circuit, after effective filtered circuit filtering of value output signal Send follow-up single-chip microcomputer to be handled, finally calculate attitude parameter S1、S2、S3、S4, described S1、S2、S3、S4Respectively four magnetic The central point of induction coil further obtains aircraft course drift angle α to the vertical range of transmission line of electricity in parallel；D：Processor sends angle of drift α to winged control center, so as to help unmanned plane corrected range.
- 8. high-power supply path Tracking Recognition method according to claim 7, it is characterized in that：Examined in described resonance circuit Considering coil windings has certain D.C. resistance to be arranged in parallel using primary resonant capacitor C1 and secondary compensating electric capacity C2, and resonant capacitance Size selection detailed process it is as follows：Assuming that Transmission Lines is 50HZSinusoidal ac, then along magnetic field caused by circuit And 50HZ alternating magnetic field, resonance frequency should be designed so that 50HZ, i.e.,It is known, then haveThe resonant frequency 50HZ of resonance circuit, it can be realized by adjusting resonant capacitance C values.
- 9. high-power supply path Tracking Recognition method according to claim 8, it is characterized in that：Described obtains aircraft boat It is specific as follows to drift angle α：Using horizontal power transmission line as X-axis, vertical power transmission line is Y-axis, and horizontal power transmission line is transferred with vertical power transmission line The steel tower position of point is origin, and coordinate is（0,0）If the coordinate of aircraft central shaft " O " point is（X, y）, aircraft course is inclined Angle is α, then hasIt is more accurate in order to calculate, α calculate twice and averaged, i.e., is calculated using following formula：。
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111207737A (en) * | 2020-03-01 | 2020-05-29 | 中北大学 | Capsule robot posture measuring system and method based on three-dimensional coil |
| CN111256692A (en) * | 2020-03-01 | 2020-06-09 | 中北大学 | Capsule robot attitude determination system and method based on sensor and one-dimensional coil |
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