CN109062233A - A kind of power transmission line unmanned machine automatic drive method for inspecting - Google Patents
A kind of power transmission line unmanned machine automatic drive method for inspecting Download PDFInfo
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- CN109062233A CN109062233A CN201810931198.3A CN201810931198A CN109062233A CN 109062233 A CN109062233 A CN 109062233A CN 201810931198 A CN201810931198 A CN 201810931198A CN 109062233 A CN109062233 A CN 109062233A
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- unmanned plane
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
Abstract
The invention belongs to high voltage transmission line road transports to examine field, more particularly, to a kind of power transmission line unmanned machine automatic drive method for inspecting.The following steps are included: S1. calculates laser radar scanning region area according to laser radar model, range, angle of release, communication distance；S2. precise positioning service is sought by thousand, carries out RTK laser radar unmanned plane base station location；S3. the height value of vertical range theoretical value and design unmanned plane and level ground that horizontal distance value, unmanned plane and the level ground that computing electric power line line row center and unmanned plane are kept are kept；S4. the manual flight laser modeling of unmanned plane, plans unmanned machine automatic drive course line；S5. gained transmission line of electricity laser point cloud physical model is modeled according to laser radar, generates UAV Intelligent inspection automatic Pilot course line.The present invention realizes line of flight planning, automatic Pilot, fining inspection, laser radar data acquisition of the unmanned plane in strong-electromagnetic field, substantially increases transmission line of electricity modeling, inspection quality.
Description
Technical field
The invention belongs to high voltage transmission line road transports to examine field, drive automatically more particularly, to a kind of power transmission line unmanned machine
Sail method for inspecting.
Background technique
Ultra-high-tension power transmission line is the main artery for guaranteeing power grid operation, is the foundation stone for guaranteeing social power supply.With
China's expanding economy, voltage levels, long transmission line path, large pitch, High aititude route just increase year by year, route fortune inspection unit
The transmission line of electricity quantity administered just increases year by year, power supply reliability requires just to increase year by year；Ultra-high-tension power transmission line route ontology,
Affiliated facility structure member is complicated；Line crossing range is wide, and running environment is complicated severe, and building in route protection area is constructed
Object, river, trees are complicated, and traditional manual inspection, manual control unmanned plane inspection operation quality is poor, operating efficiency is low, operation
Risk is high, has been unable to meet the requirement of route fortune inspection；The manual unmanned plane in conventional transmission lines road is maked an inspection tour, it is desirable that driver has very high
Manipulation technical ability, unmanned plane be highly prone to strong-electromagnetic field, meteorological condition interference, must keep with transmission line of electricity it is enough away from
From, and unmanned plane driver manipulates limited time, easily fatigue, increases unmanned plane maloperation, out of control, air crash risk, it is above
Factor causes power transmission line unmanned machine inspection operation to manipulate, and difficulty is high, operation quality is poor, operating efficiency is low, operating risk is high.
Summary of the invention
The present invention in order to overcome at least one of the drawbacks of the prior art described above, it is automatic to provide a kind of power transmission line unmanned machine
Method for inspecting is driven, line of flight planning, automatic Pilot, fining inspection, laser of the unmanned plane in strong-electromagnetic field are realized
Radar data acquisition substantially increases transmission line of electricity modeling, inspection quality.
In order to solve the above technical problems, the technical solution adopted by the present invention is that: a kind of power transmission line unmanned machine automatic drive
Method for inspecting, comprising the following steps:
S1. laser radar scanning region area is calculated, according to laser radar model, range, angle of release, communication distance, is calculated
Laser radar scanning region area；
S2. precise positioning service is sought by thousand, carries out RTK laser radar unmanned plane base station location；
S3. radar scanning region and transmission line structure size are combined, including shaft tower height, cross-arm maximum length, most lower
Phase conductor height, trend calculate separately horizontal distance value, unmanned plane and the level at power transmission line route row center and unmanned plane holding
The height value of vertical range theoretical value and design unmanned plane and level ground that ground is kept；
S4. manual manipulation RTK laser radar unmanned plane carries out transmission line of electricity modeling, passes through data conversion, fitting, laser thunder
Up to data classification, denoising, vectorized process, three-dimensional entity model is formed, shaft tower coordinate is automatically extracted, shaft tower height, exhales title height, leads
Distance between ground wire arc sag, transmission line structure part dimension, route and trees, route and house, route and route, and extract defeated
Electric line insulator hanging point, fitting hanging point position space coordinate, plan unmanned machine automatic drive course line；
S5. gained transmission line of electricity laser point cloud physical model is modeled according to laser radar, extracts transmission line of electricity key position
Coordinate, including shaft tower centre coordinate, ground wire hanging point, insulator hanging point coordinate, planning unmanned plane landing position, fly at flying speed
Row track controls program by automatic Pilot, Intelligent flight, generates unmanned plane fining inspection and laser radar modeling is driven automatically
Sail course line.
Object of the present invention is to research and develop a kind of power transmission line unmanned machine automatic drive method for inspecting, guaranteeing transmission line of electricity peace
Entirely, it under conditions of unmanned plane safety, realizes unmanned machine automatic drive, carries out transmission line of electricity and refine inspection.The set system can be real
Existing unmanned plane precise positioning, accurate navigation flight in strong-electromagnetic field, greatly improve route, unmanned plane safety；The set
System has carried out transmission line of electricity d solid modeling with RTK laser radar unmanned plane, obtains transmission line structure component ruler
Very little, coordinate has planned unmanned machine automatic drive course line in conjunction with laser point cloud, structure member coordinate, including unmanned plane takeoff setting,
Entry altitude, speed, hovering position, holder direction, holder angle, realize unmanned machine automatic drive, intelligent patrol detection, improve
The intelligence of flight, accuracy, safety, while ensure that the high efficiency of polling transmission line operation.This technology will
Power transmission line unmanned machine inspection effect, operating efficiency and safety are greatly improved, is had a good application prospect.
In the present invention, RTK carrier phase differential positioning technology is to seek with thousand based on provided by RTK technological development lis
The location information of each base institute survey line line pole tower, RTK base station coordinates, accurate line route KML are accurately grasped in meter level positioning service
File provides accurate basic information for UAV Intelligent inspection, modeling；RTK laser radar unmanned plane is multi-rotor unmanned aerial vehicle,
Equipped with the positioning of RTK carrier phase difference technology, navigation system, high-precision laser radar, by the base station RTK, radar base station,
Laser radar unmanned plane composition can realize centimeter-level positioning, navigation in strong-electromagnetic field, not ensure that completely by electromagnetic interference
The stability of unmanned plane flight at controls, accuracy；Be equipped with simultaneously low in cost, range rationally, point cloud density it is effective
Laser radar system sets radar triggering, closes height condition, when realizing that laser radar unmanned plane reach a certain height, thunder
Up to beginning, terminate acquisition data；RTK intelligent patrol detection unmanned plane realizes that high-precision transmission line refines inspection, and selects high score
Resolution visible light, infrared holder, acquisition transmission line structure image of component carry out temperature detection, determine transmission facility fortune in time
Row situation；Unmanned machine automatic drive module models the space bit of gained transmission line of electricity high-precision laser model, extraction according to laser
The unmanned machine automatic drive course line for setting coordinate, generation imports destination coordinate, holder direction, holder with unmanned aerial vehicle (UAV) control program
Angle, control unmanned plane carry out automatic precision and refine inspection.
Further, in the S1 step told, laser radar scanning region area is calculated, its calculation formula is:
In formula, S is laser radar scanning region area；R is laser radar range；α is laser radar angle of release.
Further, in the S3 step,
The calculation formula for the horizontal distance value that power transmission line route row center and unmanned plane are kept are as follows:
In formula, DaThe horizontal distance that-line row center and unmanned plane are kept；
L-shaft tower longest cross-arm length；
N-transmission line safety distance；
Wherein,Numerical value respectively corresponds 110kV, 220kV, 500kV transmission line safety distance in formula；
The vertical range theoretical value calculation formula that unmanned plane and level ground are kept are as follows:
In formula, HaThe vertical range theoretical value that-unmanned plane and level ground are kept, m；
H-tower structure height；
L-shaft tower longest cross-arm length；
N-transmission line safety distance；
α-laser radar angle of release；
The height value of unmanned plane and level ground, design formula are as follows:
The above height, the height flown when being modeled for laser radar unmanned plane, according to radar scanning regional scope, shaft tower knot
Structure size plans that unmanned plane course line is single rack time, double sorties, three sortie operations, so that laser radar scanning region can be covered respectively
Entire transmission line structure is covered, lower phase conductor, ground wire modeling are clear, no breakpoint, and the course line sortie is complete, make there is no unloaded
Industry situation.
Further, after generating unmanned plane fining inspection automatic Pilot course line, when unmanned plane carries out automatic detecting, also
The safe distance and flight attitude of unmanned plane during flying need to be controlled, wherein
The calculation formula of safe distance are as follows:
D=max { l1,l2,l3,l4}+x1+x2+x3+x4+vt+max{a1+a2+a3}
In formula:
l1,l2The magnetic field strength required when respectively being worked normally according to UAV flight's electronic equipment, by searching for both sides
Reach at this magnetic field strength on the outside of conducting wire, the horizontal distance apart from corresponding sides phase conductor；
l3,l4For the electric field strength required when being worked normally according to UAV flight's electronic equipment, search outside the phase conductor of both sides
Side reaches at this magnetic field strength, the horizontal distance apart from corresponding sides phase conductor；
x1Fly planning route offset distance caused by control Positioning System Error for unmanned plane during flying platform；
x2Course-line deviation distance is caused a departure for maximum allowable flight wind-force；
x3For the range error of rangefinder；
x4GPS positioning instrument data error is got ready for route causes planning route and practical predeterminated position range deviation；
V is the flying speed of unmanned plane inspection；
T is the delay of wireless telecommunication system longest；
a1For monolithic wing length；
a2For head and main axle base；
a3For tail and main axle base；
The control method of unmanned plane during flying posture includes:
Firstly, the relative position of unmanned plane and ground, passes through earth axes Od-xdydzdIt indicates；The rotation of unmanned plane is logical
Cross body shafting Oj-xjyjzjIt indicates；The change in location of unmanned plane passes through speed shafting Os-xsyszsIt indicates；Earth axes are former
Point is the initial position of unmanned plane, and body coordinate system and velocity coordinate system origin are unmanned plane centroid position, and unmanned plane has
Six-freedom degree, the one-movement-freedom-degree in respectively three directions and three rotational freedoms around mass center, three attitude angles difference
For pitch angleRoll angle θ and yaw angle ψ；
Then, by the change rate of three attitude angles to Oj-xjyjzjUpper projection, obtains:
In formula,For the change rate of three attitude angles；P, q, r are respectively three angular velocity components；
Finally, being solved according to above formulaθ, ψ obtain the UAV Attitude equation of motion:
Unmanned plane, can be constantly by external interference in flight course, and the purpose for flying control is ensuring that unmanned plane overcomes
External interference keeps the posture and height of unmanned plane, flies according to scheduled posture.The measured value of control sensor and system
Predetermined value controls unmanned plane normal flight.When because certain reason causes UAV Attitude to change, sensor can feed back this
One variation, and cash out in the form of voltage change etc., by flying control perception information, makes adjustment in time, reach good posture
Control effect.
Compared with prior art, beneficial effect is: a kind of power transmission line unmanned machine automatic drive inspection provided by the invention
Method realizes nothing by RTK centimeter-level positioning module, laser radar grade modeling module, unmanned machine automatic drive module
The man-machine line of flight planning in strong-electromagnetic field, automatic Pilot, fining inspection, laser radar data acquisition, greatly improve
Transmission line of electricity modeling, inspection quality, safety, stability and the accuracy of unmanned machine operation save a large amount of manpower, object
Power realizes unmanned machine automatic drive, more intelligent, automation.
Detailed description of the invention
Fig. 1 is the method for the present invention flow chart.
Fig. 2 is laser radar scanning area schematic in the embodiment of the present invention.
Fig. 3 is laser radar scanning schematic diagram in the embodiment of the present invention.
Fig. 4 is unit price time flight course planning schematic diagram of the embodiment of the present invention.
Fig. 5 is the double sortie flight course planning schematic diagrames of the embodiment of the present invention.
Fig. 6 is three sortie flight course planning schematic diagram of the embodiment of the present invention.
Specific embodiment
Attached drawing only for illustration, is not considered as limiting the invention；In order to better illustrate this embodiment, attached
Scheme certain components to have omission, zoom in or out, does not represent the size of actual product；To those skilled in the art,
The omitting of some known structures and their instructions in the attached drawings are understandable.Being given for example only property of positional relationship is described in attached drawing
Illustrate, is not considered as limiting the invention.
As shown in Figure 1, a kind of power transmission line unmanned machine automatic drive method for inspecting, comprising the following steps:
Step 1. calculates laser radar scanning region area, according to laser radar model, range, angle of release, communication distance, meter
Laser radar scanning region area is calculated, as shown in Fig. 2, its calculation formula is:
In formula, S is laser radar scanning region area；R is laser radar range；α is laser radar angle of release.
Step 2. seeks precise positioning service by thousand, carries out RTK laser radar unmanned plane base station location；The position and nobody
Machine landing position is close, no electromagnetic interference, no signal interference, without friction；
Step 3. combines radar scanning region and transmission line structure size, including shaft tower height, cross-arm maximum length, most
Lower phase conductor height, trend calculate separately horizontal distance value, unmanned plane and the water at power transmission line route row center and unmanned plane holding
The height value of vertical range theoretical value and design unmanned plane and level ground that plane earth is kept；Wherein:
As shown in figure 3, the calculation formula for the horizontal distance value that power transmission line route row center and unmanned plane are kept are as follows:
In formula, DaThe horizontal distance that-line row center and unmanned plane are kept；
L-shaft tower longest cross-arm length；
N-transmission line safety distance；
Wherein,Numerical value respectively corresponds 110kV, 220kV, 500kV transmission line safety distance in formula；
The vertical range theoretical value calculation formula that unmanned plane and level ground are kept are as follows:
In formula, HaThe vertical range theoretical value that-unmanned plane and level ground are kept, m；
H-tower structure height；
L-shaft tower longest cross-arm length；
N-transmission line safety distance；
α-laser radar angle of release；
The height value of unmanned plane and level ground, design formula are as follows:
The above height, the height flown when being modeled for laser radar unmanned plane, according to radar scanning regional scope, shaft tower knot
Structure size plans that unmanned plane course line is single rack time, double sorties, three sortie operations, so that laser radar scanning region can be covered respectively
Entire transmission line structure is covered, lower phase conductor, ground wire modeling are clear, no breakpoint, and the course line sortie is complete, make there is no unloaded
Industry situation, single rack time, double sorties, three sortie flight course plannings are as shown in Figs. 4-6.
The manual flight laser modeling of step 4. unmanned plane: manual manipulation RTK laser radar unmanned plane carries out transmission line of electricity and builds
Mould, by data conversion, fitting, laser radar data classification, denoising, vectorized process form three-dimensional entity model, mention automatically
It takes shaft tower coordinate, shaft tower height, exhale title height, sag of conductor and ground wire, transmission line structure part dimension, route and trees, route and room
Distance between room, route and route, and electric transmission line isolator hanging point, fitting hanging point position space coordinate are extracted, plan unmanned plane
Automatic Pilot course line；
S5. it generates UAV Intelligent inspection automatic Pilot course line: gained transmission line of electricity laser point is modeled according to laser radar
Mysorethorn body Model extracts transmission line of electricity key position coordinate, including shaft tower centre coordinate, ground wire hanging point, insulator hanging point coordinate,
It plans unmanned plane landing position, flying speed, flight path, program is controlled by automatic Pilot, Intelligent flight, generates unmanned plane
It refines inspection and laser radar models automatic Pilot course line.Include:
1. monitoring unmanned plane battery capacity, carries out safe early warning at any time and take home；
2. automatically generating the modeling of unmanned plane laser radar, fining inspection automatic Pilot according to laser radar modeling result
Course line, record unmanned plane take off, down position, into transmission line of electricity height, flying height, speed, hovering position, holder side
Track optimization is carried out to, holder angle, and by security strategy, fence, the invalid line of flight is rejected, is most preferably navigated
Line.
Object of the present invention is to research and develop a kind of power transmission line unmanned machine automatic drive method for inspecting, guaranteeing transmission line of electricity peace
Entirely, it under conditions of unmanned plane safety, realizes unmanned machine automatic drive, carries out transmission line of electricity and refine inspection.The set system can be real
Existing unmanned plane precise positioning, accurate navigation flight in strong-electromagnetic field, greatly improve route, unmanned plane safety；The set
System has carried out transmission line of electricity d solid modeling with RTK laser radar unmanned plane, obtains transmission line structure component ruler
Very little, coordinate has planned unmanned machine automatic drive course line in conjunction with laser point cloud, structure member coordinate, including unmanned plane takeoff setting,
Entry altitude, speed, hovering position, holder direction, holder angle, realize unmanned machine automatic drive, intelligent patrol detection, improve
The intelligence of flight, accuracy, safety, while ensure that the high efficiency of polling transmission line operation.This technology will
Power transmission line unmanned machine inspection effect, operating efficiency and safety are greatly improved, is had a good application prospect.
In the present invention, RTK carrier phase differential positioning technology is to seek with thousand based on provided by RTK technological development lis
The location information of each base institute survey line line pole tower, RTK base station coordinates, accurate line route KML are accurately grasped in meter level positioning service
File provides accurate basic information for UAV Intelligent inspection, modeling；RTK laser radar unmanned plane is multi-rotor unmanned aerial vehicle,
Equipped with the positioning of RTK carrier phase difference technology, navigation system, high-precision laser radar, by the base station RTK, radar base station,
Laser radar unmanned plane composition can realize centimeter-level positioning, navigation in strong-electromagnetic field, not ensure that completely by electromagnetic interference
The stability of unmanned plane flight at controls, accuracy；Be equipped with simultaneously low in cost, range rationally, point cloud density it is effective
Laser radar system sets radar triggering, closes height condition, when realizing that laser radar unmanned plane reach a certain height, thunder
Up to beginning, terminate acquisition data；RTK intelligent patrol detection unmanned plane realizes that high-precision transmission line refines inspection, and selects high score
Resolution visible light, infrared holder, acquisition transmission line structure image of component carry out temperature detection, determine transmission facility fortune in time
Row situation；Unmanned machine automatic drive module models the space bit of gained transmission line of electricity high-precision laser model, extraction according to laser
The unmanned machine automatic drive course line for setting coordinate, generation imports destination coordinate, holder direction, holder with unmanned aerial vehicle (UAV) control program
Angle, control unmanned plane carry out automatic precision and refine inspection.
Specifically, it after generating unmanned plane fining inspection automatic Pilot course line, when unmanned plane carries out automatic detecting, also needs
Control the safe distance and flight attitude of unmanned plane during flying, wherein
The calculation formula of safe distance are as follows:
D=max { l1,l2,l3,l4}+x1+x2+x3+x4+vt+max{a1+a2+a3}
In formula:
l1,l2The magnetic field strength required when respectively being worked normally according to UAV flight's electronic equipment, by searching for both sides
Reach at this magnetic field strength on the outside of conducting wire, the horizontal distance apart from corresponding sides phase conductor；
l3,l4For the electric field strength required when being worked normally according to UAV flight's electronic equipment, search outside the phase conductor of both sides
Side reaches at this magnetic field strength, the horizontal distance apart from corresponding sides phase conductor；
x1Fly planning route offset distance caused by control Positioning System Error for unmanned plane during flying platform；
x2Course-line deviation distance is caused a departure for maximum allowable flight wind-force；
x3For the range error of rangefinder；
x4GPS positioning instrument data error is got ready for route causes planning route and practical predeterminated position range deviation；
V is the flying speed of unmanned plane inspection；
T is the delay of wireless telecommunication system longest；
a1For monolithic wing length；
a2For head and main axle base；
a3For tail and main axle base；
The control method of unmanned plane during flying posture includes:
Firstly, the relative position of unmanned plane and ground, passes through earth axes Od-xdydzdIt indicates；The rotation of unmanned plane is logical
Cross body shafting Oj-xjyjzjIt indicates；The change in location of unmanned plane passes through speed shafting Os-xsyszsIt indicates；Earth axes are former
Point is the initial position of unmanned plane, and body coordinate system and velocity coordinate system origin are unmanned plane centroid position, and unmanned plane has
Six-freedom degree, the one-movement-freedom-degree in respectively three directions and three rotational freedoms around mass center, three attitude angles difference
For pitch angleRoll angle θ and yaw angle ψ；
Then, by the change rate of three attitude angles to Oj-xjyjzjUpper projection, obtains:
In formula,For the change rate of three attitude angles；P, q, r are respectively three angular velocity components；
Finally, being solved according to above formulaθ, ψ obtain the UAV Attitude equation of motion:
Unmanned plane, can be constantly by external interference in flight course, and the purpose for flying control is ensuring that unmanned plane overcomes
External interference keeps the posture and height of unmanned plane, flies according to scheduled posture.The measured value of control sensor and system
Predetermined value controls unmanned plane normal flight.When because certain reason causes UAV Attitude to change, sensor can feed back this
One variation, and cash out in the form of voltage change etc., by flying control perception information, makes adjustment in time, reach good posture
Control effect.
The present invention extracts the critical positions spaces such as insulator hanging point, fitting hanging point according to transmission line of electricity laser point cloud model
Coordinate plans unmanned machine automatic drive course line, by UAV Flight Control terminal, controls unmanned plane during flying.Recording laser thunder
Up to unmanned plane landing position, the line of flight, and Route optimization is carried out, realizes automatic Pilot.And it can by laser radar three-dimensional
Depending on changing modeling information, transmission line of electricity key position coordinate is automatically extracted, generates unmanned plane fining inspection, laser radar modeling certainly
It is dynamic to drive course line, it sets unmanned plane and enters line levels, position, hovering position, holder direction, holder angle when unmanned machine operation
Degree, flying speed, and track optimization has been carried out by fence, security strategy, guarantee operation safety, generates unmanned plane essence
Refine the Ship's Optimum Route of inspection, laser radar modeling；Substantially increase quality, the efficiency of the modeling of transmission line of electricity laser radar, solution
Unmanned plane operation has been put, unmanned plane manipulation risk has been reduced, there is very considerable practical, promotional value.
Obviously, the above embodiment of the present invention be only to clearly illustrate example of the present invention, and not be pair
The restriction of embodiments of the present invention.For those of ordinary skill in the art, may be used also on the basis of the above description
To make other variations or changes in different ways.There is no necessity and possibility to exhaust all the enbodiments.It is all this
Made any modifications, equivalent replacements, and improvements etc., should be included in the claims in the present invention within the spirit and principle of invention
Protection scope within.
Claims (4)
1. a kind of power transmission line unmanned machine automatic drive method for inspecting, which comprises the following steps:
S1. laser radar scanning region area is calculated, according to laser radar model, range, angle of release, communication distance, calculates laser
Radar scanning region area；
S2. precise positioning service is sought by thousand, carries out RTK laser radar unmanned plane base station location；
S3. radar scanning region and transmission line structure size are combined, including shaft tower height, cross-arm maximum length, most phase is descended to lead
Line height, trend calculate separately horizontal distance value, unmanned plane and the level ground at power transmission line route row center and unmanned plane holding
The vertical range theoretical value of holding and the height value for designing unmanned plane and level ground；
S4. manual manipulation RTK laser radar unmanned plane carries out transmission line of electricity modeling, passes through data conversion, fitting, laser radar number
According to classification, denoising, vectorized process, three-dimensional entity model is formed, shaft tower coordinate is automatically extracted, shaft tower height, exhales title height, grounded-line
Distance between arc sag, transmission line structure part dimension, route and trees, route and house, route and route, and extract power transmission line
Road insulator hanging point, fitting hanging point position space coordinate, plan unmanned machine automatic drive course line；
S5. gained transmission line of electricity laser point cloud physical model is modeled according to laser radar, extracts transmission line of electricity key position coordinate,
Including shaft tower centre coordinate, ground wire hanging point, insulator hanging point coordinate, unmanned plane landing position, flying speed, flight rail are planned
Mark controls program by automatic Pilot, Intelligent flight, generates unmanned plane fining inspection and laser radar modeling automatic Pilot boat
Line.
2. a kind of power transmission line unmanned machine automatic drive method for inspecting according to claim 1, which is characterized in that told
In S1 step, laser radar scanning region area is calculated, its calculation formula is:
In formula, S is laser radar scanning region area；R is laser radar range；α is laser radar angle of release.
3. a kind of power transmission line unmanned machine automatic drive method for inspecting according to claim 1, which is characterized in that described
In S3 step,
The calculation formula for the horizontal distance value that power transmission line route row center and unmanned plane are kept are as follows:
In formula, DaThe horizontal distance that-line row center and unmanned plane are kept；
L-shaft tower longest cross-arm length；
N-transmission line safety distance；
Wherein,Numerical value respectively corresponds 110kV, 220kV, 500kV transmission line safety distance in formula；
The vertical range theoretical value calculation formula that unmanned plane and level ground are kept are as follows:
In formula, HaThe vertical range theoretical value that-unmanned plane and level ground are kept, m；
H-tower structure height；
L-shaft tower longest cross-arm length；
N-transmission line safety distance；
α-laser radar angle of release；
The height value of unmanned plane and level ground, design formula are as follows:
The above height, the height flown when being modeled for laser radar unmanned plane, according to radar scanning regional scope, tower structure ruler
It is very little, plan that unmanned plane course line is single rack time, double sorties, three sortie operations respectively so that laser radar scanning region can cover it is whole
A transmission line structure.
4. a kind of power transmission line unmanned machine automatic drive method for inspecting according to any one of claims 1 to 3, feature exist
In, generate unmanned plane fining inspection automatic Pilot course line after, unmanned plane carry out automatic detecting when, also need control unmanned plane fly
Capable safe distance and flight attitude, wherein
The calculation formula of safe distance are as follows:
D=max { l1,l2,l3,l4}+x1+x2+x3+x4+vt+max{a1+a2+a3}
In formula:
l1,l2The magnetic field strength required when respectively being worked normally according to UAV flight's electronic equipment, by searching for both sides conducting wire
Outside reaches at this magnetic field strength, the horizontal distance apart from corresponding sides phase conductor；l3,l4For according to UAV flight's electronic equipment
The electric field strength required when normal work is searched and is reached at this magnetic field strength on the outside of the phase conductor of both sides, apart from corresponding sides phase conductor
Horizontal distance；x1Fly planning route offset distance caused by control Positioning System Error for unmanned plane during flying platform；x2Permit for maximum
Perhaps flight wind-force causes a departure course-line deviation distance；x3For the range error of rangefinder；x4GPS positioning instrument data are got ready for route
Error causes planning route and practical predeterminated position range deviation；V is the flying speed of unmanned plane inspection；T is wireless telecommunications system
Longest of uniting delay；a1For monolithic wing length；a2For head and main axle base；a3For tail and main axle base；
The control method of unmanned plane during flying posture includes:
Firstly, the relative position of unmanned plane and ground, passes through earth axes Od-xdydzdIt indicates；The rotation of unmanned plane passes through machine
Body shafting Oj-xjyjzjIt indicates；The change in location of unmanned plane passes through speed shafting Os-xsyszsIt indicates；Earth axes origin is nothing
Man-machine initial position, body coordinate system and velocity coordinate system origin are unmanned plane centroid position, and there are six certainly for unmanned plane tool
By spending, the one-movement-freedom-degree in respectively three directions and three rotational freedoms around mass center, three attitude angles are respectively pitching
AngleRoll angle θ and yaw angle ψ；
Then, by the change rate of three attitude angles to Oj-xjyjzjUpper projection, obtains:
In formula,For the change rate of three attitude angles；P, q, r are respectively three angular velocity components；
Finally, being solved according to above formulaθ, ψ obtain the UAV Attitude equation of motion:
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201810931198.3A CN109062233A (en) | 2018-08-15 | 2018-08-15 | A kind of power transmission line unmanned machine automatic drive method for inspecting |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810931198.3A CN109062233A (en) | 2018-08-15 | 2018-08-15 | A kind of power transmission line unmanned machine automatic drive method for inspecting |
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| CN109885083A (en) * | 2019-03-06 | 2019-06-14 | 国网陕西省电力公司检修公司 | Transmission line of electricity fining inspection flying platform and method for inspecting based on laser radar |
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| CN109978820A (en) * | 2019-01-31 | 2019-07-05 | 广州中科云图智能科技有限公司 | Unmanned plane course line acquisition methods, system and equipment based on laser point cloud |
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| CN110134148A (en) * | 2019-05-24 | 2019-08-16 | 中国南方电网有限责任公司超高压输电公司检修试验中心 | A kind of transmission line of electricity helicopter make an inspection tour in tracking along transmission line of electricity |
| CN110296698A (en) * | 2019-07-12 | 2019-10-01 | 贵州电网有限责任公司 | It is a kind of with laser scanning be constraint unmanned plane paths planning method |
| CN110351758A (en) * | 2019-06-21 | 2019-10-18 | 西安理工大学 | A kind of 5G networking unmanned plane fast inspection cellular base station method and system |
| CN110596468A (en) * | 2019-09-29 | 2019-12-20 | 南方电网科学研究院有限责任公司 | Airborne electromagnetic field measuring probe and unmanned aerial vehicle |
| CN110750107A (en) * | 2019-11-01 | 2020-02-04 | 云南冶金新能源股份有限公司 | Photovoltaic power station unmanned aerial vehicle inspection method based on optical identification |
| CN110780681A (en) * | 2019-11-26 | 2020-02-11 | 贵州电网有限责任公司 | Unmanned aerial vehicle autonomous inspection insulator path planning method based on laser point cloud |
| CN110907500A (en) * | 2019-11-25 | 2020-03-24 | 中国电力科学研究院有限公司 | Unmanned aerial vehicle platform-based composite insulator hydrophobicity automatic detection method and device |
| CN111045101A (en) * | 2019-12-02 | 2020-04-21 | 武汉飞流智能技术有限公司 | Overhead line measuring method and device |
| CN111142115A (en) * | 2019-12-27 | 2020-05-12 | 国网浙江海盐县供电有限公司 | Intelligent distance measurement system and method based on unmanned aerial vehicle technology |
| CN111157530A (en) * | 2019-12-25 | 2020-05-15 | 国网宁夏电力有限公司电力科学研究院 | Unmanned aerial vehicle-based safety detection method for power transmission line |
| CN111239755A (en) * | 2020-01-19 | 2020-06-05 | 北京数字绿土科技有限公司 | Power transmission line sag measurement method and device |
| CN111311967A (en) * | 2020-03-31 | 2020-06-19 | 普宙飞行器科技（深圳）有限公司 | Unmanned aerial vehicle-based power line inspection system and method |
| CN111402447A (en) * | 2020-03-25 | 2020-07-10 | 南方电网海南数字电网研究院有限公司 | Power grid line inspection method, server, system and storage medium |
| CN111626095A (en) * | 2020-04-06 | 2020-09-04 | 连云港市港圣开关制造有限公司 | Power distribution inspection system based on Ethernet |
| CN111721279A (en) * | 2019-03-21 | 2020-09-29 | 国网陕西省电力公司商洛供电公司 | Tail end path navigation method suitable for power transmission inspection work |
| CN111896983A (en) * | 2020-06-30 | 2020-11-06 | 昆明能讯科技有限责任公司 | Method for correcting non-RTK multi-rotor unmanned aerial vehicle positioning coordinates |
| CN112033393A (en) * | 2020-08-25 | 2020-12-04 | 国网天津市电力公司 | Three-dimensional route planning method and device based on laser radar point cloud data |
| CN112414409A (en) * | 2020-11-16 | 2021-02-26 | 天津航天中为数据系统科技有限公司 | Autonomous inspection path planning method based on string structure and aircraft |
| CN112419417A (en) * | 2021-01-25 | 2021-02-26 | 成都翼比特自动化设备有限公司 | Unmanned aerial vehicle-based photographing point positioning method and related device |
| CN112586487A (en) * | 2020-10-19 | 2021-04-02 | 国网山东省电力公司济宁市任城区供电公司 | Electric tower inspection bird repelling device and method |
| CN112740070A (en) * | 2019-12-30 | 2021-04-30 | 深圳市大疆创新科技有限公司 | Control method, movable platform and storage medium |
| CN112884931A (en) * | 2019-11-29 | 2021-06-01 | 众芯汉创（北京）科技有限公司 | Unmanned aerial vehicle inspection method and system for transformer substation |
| CN113281785A (en) * | 2021-05-20 | 2021-08-20 | 风迈智能科技(重庆)有限公司 | Power transmission channel tree obstacle early warning method based on unmanned aerial vehicle laser radar |
| CN113362487A (en) * | 2021-06-21 | 2021-09-07 | 广西电网有限责任公司电力科学研究院 | Intelligent autonomous inspection unified management and control system for distribution line unmanned aerial vehicle |
| CN113485408A (en) * | 2021-08-26 | 2021-10-08 | 中国民用航空总局第二研究所 | Phase method based flight collision avoidance method and device for alternating current power transmission line and electronic equipment |
| CN113534846A (en) * | 2021-08-22 | 2021-10-22 | 内蒙古电力(集团)有限责任公司航检分公司 | Unmanned aerial vehicle autonomous intelligent inspection system for power transmission line |
| CN113702763A (en) * | 2021-08-27 | 2021-11-26 | 国网四川省电力公司成都供电公司 | Ground wire fault diagnosis method and device, electronic equipment and medium |
| WO2021237997A1 (en) * | 2020-05-29 | 2021-12-02 | 中国南方电网有限责任公司超高压输电公司昆明局 | Safety control method for unmanned aerial vehicles under interference of strong magnetic field of converter station |
| CN114020003A (en) * | 2021-12-23 | 2022-02-08 | 中国卫星海上测控部 | Unmanned aerial vehicle route planning method for measuring and controlling antenna marine shafting parameter calibration |
| CN114115317A (en) * | 2021-11-30 | 2022-03-01 | 国网河南省电力公司检修公司 | Substation unmanned aerial vehicle inspection method based on artificial intelligence |
| CN114677859A (en) * | 2022-03-23 | 2022-06-28 | 广州中科云图智能科技有限公司 | Unmanned aerial vehicle air route automatic correction method and device |
| CN114721419A (en) * | 2022-02-22 | 2022-07-08 | 广州中科云图智能科技有限公司 | Tower inspection method, device and equipment for power transmission line based on unmanned aerial vehicle |
| CN117406778A (en) * | 2023-11-16 | 2024-01-16 | 广东工贸职业技术学院 | Unmanned plane laser radar ground-imitating flight method based on geospatial data |
| CN114020003B (en) * | 2021-12-23 | 2024-04-19 | 中国卫星海上测控部 | Unmanned aerial vehicle route planning method for calibrating and controlling marine shafting parameters of measurement and control antenna |
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| CN109670064A (en) * | 2018-12-27 | 2019-04-23 | 广东电网有限责任公司 | Photo archiving method, device and electronic equipment |
| CN109978820A (en) * | 2019-01-31 | 2019-07-05 | 广州中科云图智能科技有限公司 | Unmanned plane course line acquisition methods, system and equipment based on laser point cloud |
| CN109885083A (en) * | 2019-03-06 | 2019-06-14 | 国网陕西省电力公司检修公司 | Transmission line of electricity fining inspection flying platform and method for inspecting based on laser radar |
| CN111721279A (en) * | 2019-03-21 | 2020-09-29 | 国网陕西省电力公司商洛供电公司 | Tail end path navigation method suitable for power transmission inspection work |
| CN109945874B (en) * | 2019-04-11 | 2023-04-28 | 株洲时代电子技术有限公司 | Bridge inspection route planning method |
| CN109945874A (en) * | 2019-04-11 | 2019-06-28 | 株洲时代电子技术有限公司 | A kind of bridge inspection flight course planning method |
| CN110113570A (en) * | 2019-05-07 | 2019-08-09 | 江苏方天电力技术有限公司 | A kind of autonomous cruising inspection system of power transmission line unmanned machine and its working method |
| CN110134148A (en) * | 2019-05-24 | 2019-08-16 | 中国南方电网有限责任公司超高压输电公司检修试验中心 | A kind of transmission line of electricity helicopter make an inspection tour in tracking along transmission line of electricity |
| CN110351758A (en) * | 2019-06-21 | 2019-10-18 | 西安理工大学 | A kind of 5G networking unmanned plane fast inspection cellular base station method and system |
| CN110296698A (en) * | 2019-07-12 | 2019-10-01 | 贵州电网有限责任公司 | It is a kind of with laser scanning be constraint unmanned plane paths planning method |
| CN110596468A (en) * | 2019-09-29 | 2019-12-20 | 南方电网科学研究院有限责任公司 | Airborne electromagnetic field measuring probe and unmanned aerial vehicle |
| CN110750107A (en) * | 2019-11-01 | 2020-02-04 | 云南冶金新能源股份有限公司 | Photovoltaic power station unmanned aerial vehicle inspection method based on optical identification |
| CN110907500A (en) * | 2019-11-25 | 2020-03-24 | 中国电力科学研究院有限公司 | Unmanned aerial vehicle platform-based composite insulator hydrophobicity automatic detection method and device |
| CN110907500B (en) * | 2019-11-25 | 2023-01-06 | 中国电力科学研究院有限公司 | Unmanned aerial vehicle platform-based composite insulator hydrophobicity automatic detection method and device |
| CN110780681B (en) * | 2019-11-26 | 2023-05-12 | 贵州电网有限责任公司 | Unmanned aerial vehicle autonomous routing inspection insulator path planning method based on laser point cloud |
| CN110780681A (en) * | 2019-11-26 | 2020-02-11 | 贵州电网有限责任公司 | Unmanned aerial vehicle autonomous inspection insulator path planning method based on laser point cloud |
| CN112884931B (en) * | 2019-11-29 | 2023-01-10 | 众芯汉创（北京）科技有限公司 | Unmanned aerial vehicle inspection method and system for transformer substation |
| CN112884931A (en) * | 2019-11-29 | 2021-06-01 | 众芯汉创（北京）科技有限公司 | Unmanned aerial vehicle inspection method and system for transformer substation |
| CN111045101A (en) * | 2019-12-02 | 2020-04-21 | 武汉飞流智能技术有限公司 | Overhead line measuring method and device |
| CN111157530B (en) * | 2019-12-25 | 2022-08-12 | 国网宁夏电力有限公司电力科学研究院 | Unmanned aerial vehicle-based safety detection method for power transmission line |
| CN111157530A (en) * | 2019-12-25 | 2020-05-15 | 国网宁夏电力有限公司电力科学研究院 | Unmanned aerial vehicle-based safety detection method for power transmission line |
| CN111142115A (en) * | 2019-12-27 | 2020-05-12 | 国网浙江海盐县供电有限公司 | Intelligent distance measurement system and method based on unmanned aerial vehicle technology |
| CN112740070A (en) * | 2019-12-30 | 2021-04-30 | 深圳市大疆创新科技有限公司 | Control method, movable platform and storage medium |
| WO2021134376A1 (en) * | 2019-12-30 | 2021-07-08 | 深圳市大疆创新科技有限公司 | Control method, movable platform, and storage medium |
| CN111239755A (en) * | 2020-01-19 | 2020-06-05 | 北京数字绿土科技有限公司 | Power transmission line sag measurement method and device |
| CN111402447A (en) * | 2020-03-25 | 2020-07-10 | 南方电网海南数字电网研究院有限公司 | Power grid line inspection method, server, system and storage medium |
| CN111311967A (en) * | 2020-03-31 | 2020-06-19 | 普宙飞行器科技（深圳）有限公司 | Unmanned aerial vehicle-based power line inspection system and method |
| CN111626095A (en) * | 2020-04-06 | 2020-09-04 | 连云港市港圣开关制造有限公司 | Power distribution inspection system based on Ethernet |
| CN111626095B (en) * | 2020-04-06 | 2023-07-28 | 连云港市港圣开关制造有限公司 | Power distribution inspection system based on Ethernet |
| WO2021237997A1 (en) * | 2020-05-29 | 2021-12-02 | 中国南方电网有限责任公司超高压输电公司昆明局 | Safety control method for unmanned aerial vehicles under interference of strong magnetic field of converter station |
| CN111896983A (en) * | 2020-06-30 | 2020-11-06 | 昆明能讯科技有限责任公司 | Method for correcting non-RTK multi-rotor unmanned aerial vehicle positioning coordinates |
| CN111896983B (en) * | 2020-06-30 | 2023-12-05 | 昆明能讯科技有限责任公司 | Method for correcting positioning coordinates of non-RTK multi-rotor unmanned aerial vehicle |
| CN112033393A (en) * | 2020-08-25 | 2020-12-04 | 国网天津市电力公司 | Three-dimensional route planning method and device based on laser radar point cloud data |
| CN112586487A (en) * | 2020-10-19 | 2021-04-02 | 国网山东省电力公司济宁市任城区供电公司 | Electric tower inspection bird repelling device and method |
| CN112414409A (en) * | 2020-11-16 | 2021-02-26 | 天津航天中为数据系统科技有限公司 | Autonomous inspection path planning method based on string structure and aircraft |
| CN112414409B (en) * | 2020-11-16 | 2022-08-02 | 天津航天中为数据系统科技有限公司 | Autonomous inspection path planning method based on string structure and aircraft |
| CN112419417A (en) * | 2021-01-25 | 2021-02-26 | 成都翼比特自动化设备有限公司 | Unmanned aerial vehicle-based photographing point positioning method and related device |
| CN113281785A (en) * | 2021-05-20 | 2021-08-20 | 风迈智能科技(重庆)有限公司 | Power transmission channel tree obstacle early warning method based on unmanned aerial vehicle laser radar |
| CN113362487A (en) * | 2021-06-21 | 2021-09-07 | 广西电网有限责任公司电力科学研究院 | Intelligent autonomous inspection unified management and control system for distribution line unmanned aerial vehicle |
| CN113534846A (en) * | 2021-08-22 | 2021-10-22 | 内蒙古电力(集团)有限责任公司航检分公司 | Unmanned aerial vehicle autonomous intelligent inspection system for power transmission line |
| CN113485408B (en) * | 2021-08-26 | 2023-07-07 | 中国民用航空总局第二研究所 | Alternating current transmission line flying anti-collision method and device based on phase method and electronic equipment |
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| CN113702763B (en) * | 2021-08-27 | 2023-07-14 | 国网四川省电力公司成都供电公司 | Ground wire fault diagnosis method and device, electronic equipment and medium |
| CN113702763A (en) * | 2021-08-27 | 2021-11-26 | 国网四川省电力公司成都供电公司 | Ground wire fault diagnosis method and device, electronic equipment and medium |
| CN114115317A (en) * | 2021-11-30 | 2022-03-01 | 国网河南省电力公司检修公司 | Substation unmanned aerial vehicle inspection method based on artificial intelligence |
| CN114020003A (en) * | 2021-12-23 | 2022-02-08 | 中国卫星海上测控部 | Unmanned aerial vehicle route planning method for measuring and controlling antenna marine shafting parameter calibration |
| CN114020003B (en) * | 2021-12-23 | 2024-04-19 | 中国卫星海上测控部 | Unmanned aerial vehicle route planning method for calibrating and controlling marine shafting parameters of measurement and control antenna |
| CN114721419A (en) * | 2022-02-22 | 2022-07-08 | 广州中科云图智能科技有限公司 | Tower inspection method, device and equipment for power transmission line based on unmanned aerial vehicle |
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| CN114677859A (en) * | 2022-03-23 | 2022-06-28 | 广州中科云图智能科技有限公司 | Unmanned aerial vehicle air route automatic correction method and device |
| CN117406778A (en) * | 2023-11-16 | 2024-01-16 | 广东工贸职业技术学院 | Unmanned plane laser radar ground-imitating flight method based on geospatial data |
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