CN107491093B - High-power supply path tracking and identifying device and method - Google Patents
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- G01P13/02—Indicating direction only, e.g. by weather vane
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Abstract
The invention discloses a high-power supply path tracking and identifying device and a method, wherein the device comprises four magnetic induction coils, four measurement processing circuits and a single chip microcomputer; the four magnetic induction coils are arranged on the same horizontal plane at intervals in a square shape; the measurement processing circuit comprises a resonance circuit, a pre-amplification circuit, an effective value measurement circuit and a filter circuit. The magnetic induction coils manufactured by four special processes are arranged on the same horizontal plane in a rectangular mode and are installed on the unmanned aerial vehicle working platform, when the unmanned aerial vehicle performs high-altitude maneuvering flight, the height of the unmanned aerial vehicle is kept to be equal to that of the power transmission line, namely the device is kept to be on the same horizontal plane with the power transmission line, therefore, in a space magnetic field generated by the power transmission line, induced voltages respectively correspond to the distances between the coils and the power transmission line, and a course angle is further calculated to obtain.
Description
Technical Field
The invention relates to the technical field of automatic line inspection of aircrafts in the power transmission and distribution industry of a power system, in particular to a high-power supply path tracking and identifying device and method.
Background
At present, the maintenance, detection, first-aid repair and other operations of a power transmission line by a power company basically divide tasks according to sections and inspect the line patrol condition by depending on a manual site. The timeliness and accuracy of the line defect discovery depend on the service capability of the patrol officer, the responsibility center and the supervision and inspection implementation of the team management personnel, and various accidents caused by the fact that the patrol is not in place can not be avoided. Meanwhile, some power transmission lines are erected in deep forests, wetlands and mountain areas, personnel can slowly and difficultly arrive at the power transmission lines with low efficiency, regular inspection and maintenance cannot be achieved, and inspection difficulty is higher under severe natural conditions such as ice and snow, earthquakes and flood disasters. At present, the main method for replacing manual line inspection is to adopt unmanned aerial vehicle inspection operation, including two operation modes of remote control inspection flight and autonomous obstacle avoidance tracking inspection flight, wherein the two operation modes both need the aircraft to keep reasonable distance and relative position with the power transmission line, and the line tracking and obstacle avoidance technology is convenient. Therefore, the aerial tracking sensing device is designed and provided, which is carried by the unmanned aerial vehicle, can automatically identify the spatial position of the power transmission line, further provides navigation, tracking and control signals for the aircraft, realizes the functions of obstacle avoidance and automatic tracking line patrol flight of the aircraft, and has very wide market prospect.
Disclosure of Invention
The invention aims to provide a high-power supply path tracking and identifying device and a high-power supply path tracking and identifying method, which can be used for identifying, measuring positions, avoiding obstacles and tracking a line in the line inspection process of an unmanned aerial vehicle.
The technical scheme adopted by the invention is as follows:
a high-power supply path tracking and identifying device comprises four magnetic induction coils, four measurement processing circuits and a single chip microcomputer, wherein the four measurement processing circuits and the single chip microcomputer are respectively arranged corresponding to the four magnetic induction coils; the four magnetic induction coils are the same in size and structural parameters, and are arranged on the same horizontal plane at intervals in a square shape; the measuring and processing circuit comprises a resonance circuit, a pre-amplification circuit, an effective value measuring circuit and a filter circuit, wherein the output end of the magnetic induction coil is connected with the input end of the single chip microcomputer through the resonance circuit, a pre-amplification circuit capacitor, the effective value measuring circuit and the filter circuit in sequence.
The effective value measuring circuit is formed by a chip LTC1966 and a peripheral circuit thereof.
The magnetic induction coil is characterized in that a wire body of the magnetic induction coil is a flat wire body, and an iron core is arranged in the middle of the flat wire body in a winding mode.
The iron core material selects 1J40 soft magnetic alloy as an integral structure.
The coil winding and wrapping wire is a polyester porcelain coated nylon enameled wire with the model of PEW-NY and the wire diameter of 0.05 mm.
The four inductance coils are identical in manufacturing process, material and structure, inductance parameters are all 10H, 1 layer of DMD paper is padded on each 5 layers of wound coils, leads are fixed by using Mylar glue and a DMD insulating paper pad, and the coils are integrally wound by using Mylar glue after winding.
An identification method based on the high-power supply path tracking identification device of claim 6, comprising the following steps:
a: firstly, mounting the device on an unmanned aerial vehicle body, detecting the flight of a line to be detected through the unmanned aerial vehicle, keeping the device and the power transmission line to be detected on the same horizontal plane, sensing the spatial magnetic field intensity through a resonant circuit, converting the magnetic field intensity into a voltage signal, and outputting the voltage signal to a subsequent preamplification circuit;
b: the pre-amplification circuit amplifies the millivolt level weak signal and then sends the amplified millivolt level weak signal to a subsequent effective value measuring circuit;
c: the effective value measuring circuit converts the periodic signal into effective value output, the effective value output signal is filtered by the filter circuit and then sent to a subsequent singlechip for processing, and finally the attitude parameter S is solved1、S2、S3、S4Said S1、S2、S3、S4Respectively obtaining the vertical distances from the central points of the four magnetic induction coils to the power transmission line parallel to the central points, and further obtaining the heading declination angle alpha of the aircraft;
d: processor sends S1、S2、S3、S4And yaw angle alpha to the flight control center, thereby helping the drone correct the distance.
The resonance circuit adopts a main resonance capacitor C1 and an auxiliary compensation capacitor C2 which are arranged in parallel in consideration of a certain direct current resistance of a coil winding, and the specific process of selecting the size of the resonance capacitor is as follows: suppose that the transmission line transmits 50HZThe magnetic field generated along the line is also 50HZThe resonant frequency of the resonant circuit should be designed to be 50HZI.e. by
Given that L =10H, there are
Resonant frequency 50H of resonant circuitZThe method can be realized by adjusting the value of the resonance capacitor C.
The obtained aircraft course deflection angle alpha is concretely as follows: the horizontal power transmission line is used as an X axis, the vertical power transmission line is used as a Y axis, the iron tower position of the turning point of the horizontal power transmission line and the vertical power transmission line is used as an original point, the coordinates are (0, 0), the coordinates of the O point of the central axis of the aircraft are (X, Y), the course deflection angle of the aircraft is alpha, and then the horizontal power transmission line and the vertical power transmission line have the following characteristics that
For more accurate calculation, the average value of α is calculated twice, that is, the following formula is adopted:
the four coils are respectively used for inducing voltages corresponding to the distances between the coils and the power transmission line, and further calculating to obtain a course angle, so that the device is convenient and quick, and can be used for identifying, measuring the position, avoiding obstacles and tracking the line in the process of on-line inspection of the unmanned aerial vehicle.
Drawings
FIG. 1 is a functional block diagram of the present invention;
FIG. 2 is a schematic diagram of spatial magnetic field sensing along a transmission line according to the present invention;
FIG. 3 is a block diagram of the rectangular pancake coil according to the present invention;
fig. 4 is a schematic view of the tuning state of the present invention.
Detailed Description
The preferred embodiments of the present invention will be described in detail below; it should be understood that the preferred embodiments are for purposes of illustration only and are not intended to limit the scope of the present invention.
As shown in fig. 1, 2 and 3, the invention comprises a high-power supply path tracking and identifying device, which comprises four magnetic induction coils, four measurement processing circuits and a single chip microcomputer, wherein the four measurement processing circuits are respectively arranged corresponding to the four magnetic induction coils; the four magnetic induction coils are the same in size and structural parameters, and are arranged on the same horizontal plane at intervals in a square shape; the measuring and processing circuit comprises a resonance circuit, a pre-amplification circuit, an effective value measuring circuit and a filter circuit, wherein the output end of the magnetic induction coil is connected with the input end of the single chip microcomputer through the resonance circuit, a pre-amplification circuit capacitor, the effective value measuring circuit and the filter circuit in sequence. The invention has four same measuring circuits which respectively correspond to coils 1-4, wherein one circuit is shown in figure 3 and consists of a resonance circuit, a preamplifier, an effective value measuring circuit and a filter circuit. The resonance circuit consists of an inductor L (corresponding to one of an inductor 1, an inductor 2, an inductor 3 or an inductor 4, four) and a resonance capacitor C (C = C1+ C2, C2 is a variable capacitor, and the value of the resonance capacitor C is finely adjusted so as to obtain an accurate resonance frequency value), the spatial magnetic field strength is sensed through frequency selection and resonance, and the magnetic field strength is converted into voltage to be output to a subsequent preamplifier circuit; the preamplification circuit amplifies millivolt level weak signals and then sends the amplified signals to a subsequent effective value measuring circuit, the effective value measuring circuit converts periodic signals into effective values to be output, the effective value output signals are filtered by a filter circuit and then sent to a subsequent position calculating link (the link is common for four paths) to be processed, and finally an attitude parameter S is calculated1、S2、S3、S4And alpha
The effective value measuring circuit is formed by a chip LTC1966 and a peripheral circuit thereof. Since the determination of the distance by knowing the magnetic field strength of the cable is a well-known technology (biot-savart theorem), the detailed construction and calculation process thereof will not be described herein.
As a magnetic field information detection and detection link, after a detection signal is processed by a subsequent circuit, the acquisition of magnetic field distribution state and strength information is realized, and then information such as the position, the distance and the like of a detected target (a high-voltage transmission line) is calculated by a subsequent data signal processing link (position calculation). The magnetic induction coil is characterized in that a wire body 1 of the magnetic induction coil is a flat wire body, and an iron core 2 is arranged in the middle of the flat wire body in a winding mode. The iron core material selects 1J40 soft magnetic alloy (main components are C, Si, Mn, S, V, Ni and Mo) as an integral structure. The coil winding and wrapping wire is a polyester porcelain coated nylon enameled wire with the model of PEW-NY and the wire diameter of 0.05 mm. The four inductance wires are made of the same process, materials and structure, inductance parameters are all 10H, a layer of DMD paper is additionally padded for every five layers of windings during winding so as to facilitate wire arrangement, the ending mode is the same as the starting mode, the leads are fixed by using Mylar glue and a DMD insulating paper pad, and the four inductance wires are formed by integrally winding a plurality of circles by using the Mylar glue after winding.
A recognition method based on a high-power supply path tracking recognition device comprises the following steps:
a: firstly, mounting the device on an unmanned aerial vehicle body, detecting the flight of a line to be detected through the unmanned aerial vehicle, keeping the device and the power transmission line to be detected on the same horizontal plane, sensing the spatial magnetic field intensity through a resonant circuit, converting the magnetic field intensity into a voltage signal, and outputting the voltage signal to a subsequent preamplification circuit;
b: the pre-amplification circuit amplifies the millivolt level weak signal and then sends the amplified millivolt level weak signal to a subsequent effective value measuring circuit;
c: the effective value measuring circuit converts the periodic signal into effective value output, the effective value output signal is filtered by the filter circuit and then sent to a subsequent singlechip for processing, and finally the attitude parameter S is solved1、S2、S3、S4Said S1、S2、S3、S4Respectively obtaining the vertical distances from the central points of the four magnetic induction coils to the power transmission line parallel to the central points, and further obtaining the heading declination angle alpha of the aircraft;
d: the processor sends the yaw angle alpha to the flight control center, thereby helping the unmanned aerial vehicle to correct the distance.
The resonance circuit adopts a main resonance capacitor C1 and an auxiliary compensation capacitor C2 which are arranged in parallel in consideration of a certain direct current resistance of a coil winding, and the specific process of selecting the size of the resonance capacitor is as follows: assuming that the transmission line transmits a sinusoidal alternating current of 50HZ, the magnetic field generated along the line is also an alternating magnetic field of 50HZ, and the resonant frequency of the resonant circuit should be designed to be 50HZ, i.e. 50HZ
Given that L =10H, there are
Resonant frequency 50H of resonant circuitZThe method can be realized by adjusting the value of the resonance capacitor C.
The obtained aircraft course deflection angle alpha is concretely as follows: the horizontal power transmission line is used as an X axis, the vertical power transmission line is used as a Y axis, the iron tower position of the turning point of the horizontal power transmission line and the vertical power transmission line is used as an original point, the coordinates are (0, 0), the coordinates of the O point of the central axis of the aircraft are (X, Y), the course deflection angle of the aircraft is alpha, and then the horizontal power transmission line and the vertical power transmission line have the following characteristics that
For more accurate calculation, the average value of α is calculated twice, that is, the following formula is adopted:
the device is provided with four paths of same measuring circuits which respectively correspond to coils 1-4, wherein one path is shown in figure 1 and consists of a resonance circuit, a preamplifier, an effective value measuring circuit and a filter circuit. The resonance circuit consists of an inductor L (corresponding to one of an inductor 1, an inductor 2, an inductor 3 or an inductor 4, four) and a resonance capacitor C (C = C1+ C2, C2 is a variable capacitor, and the value of the resonance capacitor C is finely adjusted so as to obtain an accurate resonance frequency value), the spatial magnetic field strength is sensed through frequency selection and resonance, and the magnetic field strength is converted into voltage to be output to a subsequent preamplifier circuit; the preamplification circuit amplifies millivolt level weak signals and then sends the amplified signals to a subsequent effective value measuring circuit, the effective value measuring circuit converts periodic signals into effective values to be output, the effective value output signals are filtered by a filter circuit and then sent to a subsequent position calculating link (the link is common for four paths) to be processed, and finally posture parameters S1, S2, S3, S4 and alpha are calculated.
After the induction coil, the resonance circuit and the subsequent processing circuit are manufactured, the induction coil, the resonance circuit and the subsequent processing circuit are installed on a rectangular bottom plate, four coils are installed on the front side (upward), four measuring and processing circuits are installed on the back side (downward), and then the bottom plate is horizontally fixed on an unmanned aerial vehicle working platform for calibration and debugging. The debugging process is as follows:
the device (together with the unmanned aerial vehicle) is placed in a power transmission line which is distributed at a right angle and has a certain voltage level, a bottom plate of the device and the power transmission line keep a uniform horizontal plane (slightly deviated and not influencing debugging), the distance from the central line of a coil 1 to a transverse power transmission line is b, the distance from the central line of a coil 3 to a vertical power transmission line is b, and the vertical distances from the central lines of the coils 1 to 4 to the power transmission lines are respectively marked as S1、S2、S3、S4The distances correspond to the effective values one by one, the effective values are recorded as U1, U2, U3 and U4, and S1= S3= b corresponds to U1= U3; s2= S4= (a + b) corresponds to U2= U4,
parameters such as amplification factor of each circuit are adjusted to meet the requirement of the formula, and the purpose is to adjust the parameters such as zero point, sensitivity and the like of the four channels to keep consistent.
As shown in fig. 4, during normal operation, the unmanned aerial vehicle performs fixed-height flight to keep the height of the bottom plate of the device consistent with that of the power transmission line, and four channels of the device detect magnetic field signals in real time and convert the signals into distance information (a)S1、S2、S3、S4) Output to the following data processing link (usually a singlechip) for position calculation, and the data processing link carries out cyclic scanning processing S1、S2、S3And S4And calculating position parameters, sending the position parameters to a flight control system when the scanning period is finished, circularly reciprocating the working process to finish the flight, and adjusting the posture and the track of the unmanned aerial vehicle by the flight control system according to the position parameters so as to realize the functions of tracking flight and obstacle avoidance in the line patrol process.
The coil 1 and the coil 2 detect the magnetic field intensity in the up-down direction (north-south direction), the coil 3 and the coil 4 detect the magnetic field intensity in the left-right direction (east-west direction), in order to further improve the sensitivity and the frequency selectivity, each induction coil is matched with a resonance capacitor to obtain a maximum induction voltage signal, and then the maximum induction voltage signal is processed by a corresponding effective value detection circuit to obtain an effective value parameter corresponding to the magnetic field intensity.
Claims (8)
1. A high-power supply path tracking and identifying device is characterized in that: the system comprises four magnetic induction coils, four measurement processing circuits and a single chip microcomputer, wherein the four measurement processing circuits and the single chip microcomputer are respectively arranged corresponding to the four magnetic induction coils; the four magnetic induction coils are the same in size and structural parameters, and are arranged on the same horizontal plane at intervals in a square shape; the measurement processing circuit comprises a resonance circuit, a pre-amplification circuit, an effective value measurement circuit and a filter circuit, the output end of the magnetic induction coil is connected with the input end of the singlechip through the resonance circuit, the pre-amplification circuit capacitor, the effective value measuring circuit and the filter circuit in turn, the pre-amplifying circuit amplifies the millivolt level weak signal and sends the amplified signal to a subsequent effective value measuring circuit, the effective value measuring circuit converts periodic signals into effective values to be output, the filter circuit adopts a post-filter strategy, used for filtering clutter of the effective value signal and sending the effective value signal to a subsequent position calculation link for processing, finally resolving attitude parameters S1, S2, S3, S4 and alpha, and S1, S2, S3 and S4 are respectively vertical distances from the central points of the four magnetic induction coils to a power transmission line parallel to the magnetic induction coils, and alpha is a heading declination of the aircraft.
2. The high power supply path tracking identification device according to claim 1, wherein: the effective value measuring circuit is formed by a chip LTC1966 and a peripheral circuit thereof.
3. The high power supply path tracking identification device according to claim 2, wherein: the magnetic induction coil is characterized in that a wire body of the magnetic induction coil is a flat wire body, and an iron core is arranged in the middle of the flat wire body in a winding mode.
4. The high power supply path tracking identification device according to claim 3, wherein: the iron core material selects 1J40 soft magnetic alloy as an integral structure.
5. The high power supply path tracking identification device according to claim 4, wherein: the coil winding and wrapping wire is a polyester porcelain coated nylon enameled wire with the model of PEW-NY and the wire diameter of 0.05 mm.
6. The high power supply path tracking identification device according to claim 5, wherein: the four magnetic induction coils are identical in manufacturing process, material and structure, inductance parameters are all 10H, 1 layer of DMD paper is padded on each 5 layers of wound coils, leads are fixed by using Mylar glue and a DMD insulating paper pad, and the coils are integrally wound by using Mylar glue after winding.
7. An identification method of a high-power supply path tracking identification device based on claim 6, characterized in that: the method comprises the following steps:
a: firstly, mounting the device on an unmanned aerial vehicle body, detecting the flight of a power transmission line to be detected through the unmanned aerial vehicle, keeping the device and the power transmission line to be detected on the same horizontal plane, sensing the spatial magnetic field intensity through a resonant circuit, converting the magnetic field intensity into a voltage signal, and outputting the voltage signal to a subsequent preamplification circuit;
b: the pre-amplification circuit amplifies the millivolt level weak signal and then sends the amplified millivolt level weak signal to a subsequent effective value measuring circuit;
c: the effective value measuring circuit converts the periodic signal into effective value output, the effective value output signal is filtered by the filter circuit and then sent to a subsequent singlechip for processing, and finally the attitude parameter S is solved1、S2、S3、S4Said S1、S2、S3、S4Respectively obtaining the vertical distances from the central points of the four magnetic induction coils to the power transmission line parallel to the central points, and further obtaining the heading declination angle alpha of the aircraft;
d: the processor sends the heading drift angle alpha to the flight control center, thereby helping the unmanned aerial vehicle to correct the distance.
8. The method for identifying a high power supply path tracking identification device according to claim 7, wherein: the obtained aircraft course deflection angle alpha is concretely as follows: the horizontal power transmission line is used as an X axis, the vertical power transmission line is used as a Y axis, the iron tower position of the turning point of the horizontal power transmission line and the vertical power transmission line is used as an original point, the coordinate is (0, 0), and the coordinate of the O point of the central shaft of the aircraft is used as
The aircraft has a course deflection angle alpha, and a is the side length of the rectangular flat coil structure
For more accurate calculation, the two calculations are averaged, i.e. the following calculation is used:
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