CN108614579B - Early warning method for collision avoidance overhead alternating current power line of unmanned aerial vehicle - Google Patents
Early warning method for collision avoidance overhead alternating current power line of unmanned aerial vehicle Download PDFInfo
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- CN108614579B CN108614579B CN201810600790.5A CN201810600790A CN108614579B CN 108614579 B CN108614579 B CN 108614579B CN 201810600790 A CN201810600790 A CN 201810600790A CN 108614579 B CN108614579 B CN 108614579B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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- G05D1/10—Simultaneous control of position or course in three dimensions
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- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
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- G01R29/12—Measuring electrostatic fields or voltage-potential
Abstract
The invention provides an early warning method for an unmanned aerial vehicle collision avoidance overhead alternating current power line, which comprises the following steps: in the flying process of the unmanned aerial vehicle, the power frequency electric field intensity on the flying track is measured in real time according to the dynamic measurement scheme provided by the invention, and the following judgment is carried out by adopting a three-layer progressive judgment strategy: firstly, judging whether a power line exists around the unmanned aerial vehicle; secondly, judging whether the unmanned aerial vehicle is approaching to the power line gradually; and thirdly, judging whether the distance between the unmanned aerial vehicle and the power line enters a dangerous area, and starting early warning if the distance enters the dangerous area. The invention enables the unmanned aerial vehicle to intelligently, quickly and accurately identify the approaching overhead alternating current power line so as to send out early warning information in time.
Description
Technical Field
The invention belongs to the field of unmanned aerial vehicle application, and particularly relates to an early warning method for an unmanned aerial vehicle collision avoidance overhead alternating current power line.
Background
At present, small and medium-sized civil unmanned aerial vehicles develop rapidly, especially multi-rotor unmanned aerial vehicles have the advantages of small size, light weight, simplicity in operation and the like, and are widely applied to the professional fields of power inspection, aerial photography, agriculture, plant protection, express transportation, disaster rescue, wild animal observation, infectious disease monitoring, surveying and mapping and the like. Meanwhile, the consumer-grade unmanned aerial vehicle market is also expanding rapidly, and more ordinary people also start to walk into the unmanned aerial vehicle world.
With the increase of unmanned aerial vehicle application, unmanned aerial vehicle flight safety problem is more and more outstanding. In recent years, accidents caused by collision of unmanned aerial vehicles with overhead power lines are frequently reported, and when a light unmanned aerial vehicle is damaged and the heavy unmanned aerial vehicle causes interruption of power supply of line tripping.
Although some unmanned aerial vehicle obstacle avoidance measures exist at present, the power line is in a thin line shape, the space trend is changeable, and the conventional unmanned aerial vehicle vision, microwave, infrared and other technologies are difficult to accurately identify. The cost is greatly increased by adopting the prior art so as to improve the identification precision, the requirement of a part of unmanned aerial vehicles with special purposes can be met, the complexity of an identification algorithm is increased, and the time required by identification can be prolonged. Therefore, a new method is urgently needed, so that the unmanned aerial vehicle can intelligently, quickly and accurately identify the overhead power line so as to prompt avoidance in time; meanwhile, effective control cost is also considered, and the requirement of collision avoidance overhead power lines of unmanned aerial vehicles with various purposes is met.
Research shows that an alternating current transmission line in live operation can generate a power frequency electric field in the surrounding space, the electric field strength is related to the operating voltage level and the distance between a measuring point and a circuit, and the electric field information can be used as indication information close to live equipment. At present, there are scientific and technical papers or patents that propose to carry out unmanned aerial vehicle line patrol and obstacle avoidance based on electric field measurement, but the application is limited to the line patrol unmanned aerial vehicle special for the electric power department, because: the evaluation algorithm for obstacle avoidance needs to know the line voltage level, the line arrangement structure, the flight line when the unmanned aerial vehicle approaches the power line and the like in advance, obtains the space electric field distribution of the adjacent power line according to the condition simulation calculation and analyzes the characteristics of the space electric field distribution, and then compares the space electric field distribution with the electric field intensity value obtained by measurement or corresponding change parameters, thereby judging whether to send out an anti-collision early warning.
These requirements result in applications that are too targeted and not suitable for non-electric line patrol drones. Because the unmanned aerial vehicle used for aerial photography, aerial survey, transportation and the like cannot know the specific information of the close power line and the structural relationship between the flight route of the unmanned aerial vehicle and the line in advance in the long-distance flight process.
A universal evaluation method is provided for unmanned aerial vehicles with various purposes, so that progressive early warning signals can be obtained in the process of approaching an overhead alternating current power line, and collision accidents are avoided.
To achieve the objective of this patent, the following technical difficulties need to be solved:
(1) under the condition that the mode of the unmanned aerial vehicle close to the voltage class and structure type power line cannot be predicted, a universal evaluation method needs to be provided, a set of reasonable criterion needs to be formulated, and early warning is started when the distance between the unmanned aerial vehicle and the power line enters a dangerous area.
(2) And providing a real-time dynamic electric field measurement and data storage scheme matched with an obstacle avoidance early warning strategy.
Disclosure of Invention
The present invention is directed to solving the above problems of the prior art. The early warning method for the collision avoidance overhead alternating current power line of the unmanned aerial vehicle is capable of enabling the unmanned aerial vehicle to intelligently, quickly and accurately identify the overhead power line so as to avoid the overhead power line in time. The technical scheme of the invention is as follows:
an early warning method for collision avoidance overhead alternating current power lines of unmanned aerial vehicles comprises the following steps:
in the flight process of the unmanned aerial vehicle, the power frequency electric field intensity on the flight path is measured in real time according to the dynamic measurement scheme provided by the invention, and the following judgment is carried out by adopting a three-layer progressive judgment strategy: firstly, judging whether a power line exists around the unmanned aerial vehicle; secondly, judging whether the unmanned aerial vehicle is approaching to the power line gradually; and thirdly, judging whether the distance between the unmanned aerial vehicle and the power line enters a dangerous area, starting early warning if the distance enters the dangerous area, and sending an avoidance command.
Further, whether electric power circuit exists around the unmanned aerial vehicle is judged to be electric field intensity E obtained through real-time measurement of airborne power frequency electric field measuring deviceiValue size is determined if E is measured in real timei>E0，E0And if the electric field intensity threshold is indicated, indicating that electric facilities exist around the unmanned aerial vehicle.
Further, the electric field intensity threshold value E0＝50V/m，
Further, the determining whether the drone is approaching the power line step by step specifically includes:
first, a parameter is defined: electric field intensity Ring ratio Change Rate K (%)
In the formula, Ei+1、EiRespectively representing the electric field strength values obtained by the i +1 th measurement and the i-th measurement;
for 4E-value data collected continuously and 3K values calculated on this basis, it can be considered that the drone is approaching the power line step by step if the following conditions are met:
further, whether the distance between the unmanned aerial vehicle and the power line enters a dangerous area or not is judged, and if the distance enters the dangerous area, an early warning is started, and the method specifically comprises the following steps: by KiA value is judged, wherein
KiIf the number is more than or equal to 3, sending an early warning of an abnormal level;
Kiif the number is more than or equal to 4, giving out early warning of a warning level;
Kiand (4) sending out early warning of a danger level, wherein the early warning is more than or equal to 6.
Further, in the above-mentioned case,
the dynamic real-time electric field measurement scheme is to continuously acquire 4E value data Ei-2、Ei-1、Ei、Ei+1The acquisition frequency is n-2 v, and v is the flight speed of the unmanned aerial vehicle read from the flight control system; storing 4E values in a singlechip memory, and calculating to obtain 3 corresponding K values K according to the 4E valuesi-2、Ki-1、KiAnd storing; when 1 new electric field data is collected, 4E values and 3K values in the memory are updated in real time.
Further, the various situations where the drone is close to the power line can be summarized with 3 flight paths, where path 1, path 2, route 3 represent the drone being horizontally close, obliquely downward close from above, obliquely upward close from below, respectively.
The invention has the following advantages and beneficial effects:
1. the method for early warning that the unmanned aerial vehicle approaches the alternating current overhead power line has universality is provided, and blind early warning can be realized under the condition that the information of the power line and the structural relationship between the air route of the unmanned aerial vehicle and the power line are unknown;
2. an effective electric field information early warning criterion for the unmanned aerial vehicle approaching the alternating current overhead power line is formulated, and grading early warning can be realized according to the danger degree of the unmanned aerial vehicle approaching the power line;
3. the scheme for measuring and storing the dynamic electric field of the unmanned aerial vehicle is provided, so that the early warning and real-time judgment of the unmanned aerial vehicle are realized, the data storage space is saved, and the rapid dynamic response characteristic is realized.
Drawings
FIG. 1 is a flow chart of a collision avoidance warning method according to a preferred embodiment of the present invention;
fig. 2 is a schematic view of a flight path of a drone approaching a power line;
FIG. 3 is a change curve of E value of an unmanned aerial vehicle approaching each voltage class power line along multiple paths
FIG. 4 is a K-value variation curve of unmanned aerial vehicle approaching each voltage class power line along multiple paths
FIG. 5 is a change curve of E value when the unmanned aerial vehicle approaches various structural power lines
FIG. 6 is a K-value variation curve of the unmanned aerial vehicle approaching various structural power lines
Detailed Description
The technical solutions in the embodiments of the present invention will be described in detail and clearly with reference to the accompanying drawings. The described embodiments are only some of the embodiments of the present invention.
The technical scheme for solving the technical problems is as follows:
1. collision avoidance warning criterion
In order to improve the accuracy of judgment and early warning, as shown in fig. 1, the patent provides a three-layer progressive judgment strategy:
judging whether a power line exists around the unmanned aerial vehicle;
judging whether the unmanned aerial vehicle is approaching the power line gradually;
judging whether the distance between the unmanned aerial vehicle and the power line enters a dangerous area or not and starting early warning;
for the first time, the magnitude of the electric field intensity E obtained by real-time measurement of an airborne power frequency electric field measuring device can be utilizedAnd (6) judging. Because the power frequency electric field intensity in the natural space is weak, the power frequency electric field can be obviously increased only around the alternating current electric facility. This patent will describe0The threshold value is set as 50V/m value, if the E measured in real timei>E0Then, it indicates that there is an electric facility around the drone.
For two, first define a parameter: electric field intensity Ring ratio Change Rate K (%)
In the formula, Ei+1、EiThe electric field intensity values obtained in the (i + 1) th and i-th measurements are shown.
For 4E-value data collected continuously and 3K values calculated on this basis, it can be considered that the drone is approaching the power line step by step if the following conditions are met:
for ③, can pass through KiA value is judged, wherein
KiNot less than 3, sending out early warning of 'abnormal' level
KiMore than or equal to 4, giving an early warning of a warning level
KiMore than or equal to 6, sending out early warning of 'danger' level
2. Airborne dynamic electric field measurement and data storage scheme
Considering that the safety distance is judged in real time in the flight process of the unmanned aerial vehicle, the adopted method is required to meet the requirements of rapidity and accuracy; meanwhile, the following onboard dynamic electric field measurement and data storage schemes are set in cooperation with the proposed collision avoidance early warning criterion:
firstly, reading the flight speed v of the unmanned aerial vehicle from a flight control system; then, the dynamic electric field data acquisition frequency n is determined to be 2 v.
Single chip microcomputer memory storage last 4 times continuous samplingCollected electric field data Ei-2、Ei-1、Ei、Ei+1And 3 corresponding K values K are obtained through calculationi-2、Ki-1、KiAnd stored. When 1 new electric field data is collected, 4E values and 3K values in the memory are updated in real time.
In summary, the flow of the early warning method for collision avoidance of the unmanned aerial vehicle on the overhead power line is shown in fig. 1.
Threshold setting basis of collision avoidance early warning criterion
Because the unmanned aerial vehicle can not be foreseen to be close to the electric power circuit of which voltage class and structure type with which kind of mode, need carry out the analysis to various condition, summarize the change law of E value and K value.
(1) E value and K value change rule when unmanned aerial vehicle approaches to power lines with different voltage levels along different paths
Considering the situation that may actually occur, 3 flight paths of the unmanned aerial vehicle close to the power line are designed, as shown in fig. 2, wherein path 1, path 2, and route 3 respectively represent that the unmanned aerial vehicle is horizontally close, is obliquely close downwards from the upper part, and is obliquely close upwards from the lower part.
The voltage grades of the power line are respectively set to be 10kV, 66kV, 110kV, 220kV and 500 kV. And calculating to obtain a change curve of the E value and the K value when the unmanned aerial vehicle approaches each voltage class power line along multiple paths, as shown in fig. 3 and 4.
As can be seen from fig. 3:
1) the higher the power line voltage level, the greater the value of E at the same distance from the edge. For a 500kV line, the E value is about 500V/m at a position 30m away from the edge line; and for a 10kV line, the E value is about 70V/m at a position 10m away from the edge line. Considering the transmission lines with various voltage grades, and setting the E value threshold value of whether to be close to the power line to be 50V/m.
2) Along with unmanned aerial vehicle and power line's distance dwindles, the E value of unmanned aerial vehicle position all increases, consequently can regard as the trend of E value increase as unmanned aerial vehicle to be close to power line's judgement foundation.
3) When the unmanned aerial vehicle approaches the power line with the same voltage class by 3 paths, the E value at the same distance is slightly different but not significant, namely the difference of the flight paths of the unmanned aerial vehicle does not affect the two conclusions 1) and 2).
As can be seen from fig. 4:
1) no matter what path the unmanned aerial vehicle approaches to the power transmission line of any voltage class, the K values at the same distance converge, so that the defined K parameter is an evaluation parameter with universality.
2) Along with the distance between the unmanned aerial vehicle and the power line is reduced, the K value of the position where the unmanned aerial vehicle is located is increased. When K value is 3, 4, 6, the distance of unmanned aerial vehicle and sideline conductor is roughly 28m, 20m, 13m respectively, and the correspondence sets up to "unusual", "warning", "dangerous" 3 early warning levels.
(2) E value and K value change rule when unmanned aerial vehicle is close to power lines of different structures
Taking a 220kV overhead line as an example, the single-circuit line with three wires arranged horizontally, in a triangular arrangement, in an inverted triangular arrangement, and the double-circuit line with a drum-shaped arrangement are calculated respectively, and variation curves of the E value and the K value are obtained as shown in fig. 5 and fig. 6.
As can be seen from fig. 4:
1) at the same distance between the unmanned aerial vehicle and the sideline, the E values generated by arranging the wires in various structures are different, but the E value at the position of 30m is larger than 50V/m.
2) Along with the distance between the unmanned aerial vehicle and the power line is reduced, the E value of the position where the unmanned aerial vehicle is located is increased.
As can be seen from fig. 6:
1) along with the distance between the unmanned aerial vehicle and the power line is reduced, the K value of the position where the unmanned aerial vehicle is located is increased.
2) For 3 kinds of single-circuit line arrangement structures, the K values at the same distance converge, and when the K values are 3, 4 and 6, the distances between the unmanned aerial vehicle and the side wire are respectively approximately 27m, 20m and 12m, which is consistent with the conclusion obtained in fig. 4. The K value that two return circuits line corresponds position department is greater than the value that single return circuit produced, and the distance of unmanned aerial vehicle and limit wire is about 30m when the K value is 4, can understand if unmanned aerial vehicle is close to two return circuits line, can just send early warning signal in more distant place department, satisfies the target that this patent provided.
The above examples are to be construed as merely illustrative and not limitative of the remainder of the disclosure. After reading the description of the invention, the skilled person can make various changes or modifications to the invention, and these equivalent changes and modifications also fall into the scope of the invention defined by the claims.
Claims (5)
1. An early warning method for an unmanned aerial vehicle collision avoidance overhead alternating current power line is characterized by comprising the following steps:
in the flight process of the unmanned aerial vehicle, a dynamic measurement method is adopted to measure the power frequency electric field intensity on a flight path in real time, and a three-layer progressive judgment strategy is adopted to carry out the following judgment: firstly, judging whether a power line exists around the unmanned aerial vehicle; secondly, judging whether the unmanned aerial vehicle is approaching to the power line gradually; thirdly, judging whether the distance between the unmanned aerial vehicle and the power line enters a dangerous area, starting early warning if the distance enters the dangerous area, and sending an avoidance command;
the electric field intensity E obtained by real-time measurement of the onboard power frequency electric field measuring device is used for judging whether an electric power circuit exists around the unmanned aerial vehicleiValue size is determined if E is measured in real timei>E0，E0If the electric field intensity threshold value is represented, indicating that electric facilities exist around the unmanned aerial vehicle;
judging whether the unmanned aerial vehicle is gradually approaching the power line specifically comprises:
first, a parameter is defined: ring ratio change rate of electric field intensity K
In the formula, Ei+1、EiRespectively representing the electric field strength values obtained by the i +1 th measurement and the i-th measurement; kiRepresenting the variation rate of the ring ratio of the electric field intensity obtained by the ith measurement;
for 4E-value data collected continuously and 3K values calculated on this basis, it can be considered that the drone is approaching the power line step by step if the following conditions are met:
2. the early warning method for collision avoidance overhead alternating current power line of unmanned aerial vehicle as claimed in claim 1, wherein the electric field intensity threshold E is0＝50V/m。
3. The early warning method for the collision avoidance overhead alternating current power line of the unmanned aerial vehicle as claimed in claim 1, wherein the step of judging whether the distance between the unmanned aerial vehicle and the power line enters a dangerous area or not, and if so, starting early warning specifically comprises the steps of: by KiA value is judged, wherein
KiIf the number is more than or equal to 3, sending an early warning of an abnormal level;
Kiif the number is more than or equal to 4, giving out early warning of a warning level;
Kiand (4) sending out early warning of a danger level, wherein the early warning is more than or equal to 6.
4. The early warning method for collision avoidance overhead alternating current power line of unmanned aerial vehicle as claimed in any one of claims 1 to 3, wherein the dynamic real-time electric field measurement method is to continuously collect 4E-value data Ei-2、Ei-1、Ei、Ei+1The acquisition frequency is n-2 v, and v is the flight speed of the unmanned aerial vehicle read from the flight control system; storing 4E values in a singlechip memory, and calculating to obtain 3 corresponding K values K according to the 4E valuesi-2、Ki-1、KiAnd storing; when 1 new electric field data is collected, 4E values and 3K values in the memory are updated in real time.
5. An early warning method for collision avoidance of unmanned aerial vehicles on the overhead ac power line according to any of claims 1-3, wherein the various situations of the unmanned aerial vehicles approaching the power line can be summarized by 3 flight paths, wherein path 1, path 2, and path 3 respectively represent that the unmanned aerial vehicles approach horizontally, approach obliquely from above downwards, approach obliquely from below upwards.
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