CN110045746A - A kind of anti-interference power-line patrolling flight control system of double antenna - Google Patents
A kind of anti-interference power-line patrolling flight control system of double antenna Download PDFInfo
- Publication number
- CN110045746A CN110045746A CN201910405103.9A CN201910405103A CN110045746A CN 110045746 A CN110045746 A CN 110045746A CN 201910405103 A CN201910405103 A CN 201910405103A CN 110045746 A CN110045746 A CN 110045746A
- Authority
- CN
- China
- Prior art keywords
- gps antenna
- base station
- unmanned plane
- antenna
- gps
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 title claims abstract description 14
- 230000005236 sound signal Effects 0.000 claims description 9
- 239000000919 ceramic Substances 0.000 claims description 6
- 230000005540 biological transmission Effects 0.000 abstract description 10
- 238000001514 detection method Methods 0.000 description 6
- 230000005670 electromagnetic radiation Effects 0.000 description 5
- 230000005611 electricity Effects 0.000 description 3
- 238000010191 image analysis Methods 0.000 description 3
- 238000005259 measurement Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 241001272996 Polyphylla fullo Species 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000002788 crimping Methods 0.000 description 1
- 230000005672 electromagnetic field Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—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
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention discloses a kind of anti-interference power-line patrolling flight control systems of double antenna, the system comprises the patrol UAVs (1) for power-line patrolling, it is spaced the base station unmanned plane (2) and point base station of the patrol UAV (1) flight, the first GPS antenna (11) and the second GPS antenna (12) are provided at the top of the patrol UAV (1), the GPS receiver being connected with first GPS antenna (11) and the second GPS antenna (12) is respectively arranged in the patrol UAV (1), first GPS antenna (11) and the second GPS antenna (12) are spaced and are arranged in parallel, described point of base station includes Base Band Unit (31) and radio frequency unit (32), the radio frequency unit (32) is set on the patrol UAV (1), the Base Band Unit (3 1) it is set on the base station unmanned plane (2).System provided by the invention can reinforce the signal and data transmission performance of patrol UAV, improve line walking safety.
Description
Technical field
The present invention relates to air vehicle technique fields, and in particular to a kind of anti-interference power-line patrolling flight control system of double antenna.
Background technique
China has formed North China, northeast, East China, Central China, northwest and south electric network totally 6 transprovincially area's power grids at present；110kV
The above transmission line of electricity has reached nearly 51.4 ten thousand km.Showing that the annual power industry in China is integrally invested according to related data is about
100000000000 yuan, wherein hardware facility is 73%, illustrates that transmission facility is increasing in the upper specific gravity of national grid construction, with power grid
Be growing, the workload of line walking also increasingly increases, and 20 track walkers of the line walking need of work of 100km work one day ability
It completes.Therefore traditional line walking mode can not meet the widespread demand of modern power systems.
Prior art discloses a kind of patrol UAVs that determining safe distance is radiated with power carrier, including line walking terrestrial reference
And unmanned plane；Line walking terrestrial reference uniform intervals are equipped with power line carrier module, power carrier at being set to by power main in line walking terrestrial reference
Module exports signal to power main with preset transmission power, and power main is made to issue electromagnetic radiation to route side；
It is equipped with electro-magnetic radiation detection modules in unmanned plane and flies control module, electro-magnetic radiation detection modules are connected with control module is flown, electromagnetism spoke
Penetrate in detection module be stored with the clipping room of line walking terrestrial reference away from and transmission power, electro-magnetic radiation detection modules it is dry by detection transmission of electricity
Electromagnetic radiation intensity value on line determines unmanned plane and power main spacing, when unmanned plane is along power main flight, electromagnetism
Radiation detection modules, which monitor the spacing between unmanned plane and power main and send to, flies control module.The unmanned function of the patent passes through
The power carrier detected on power main radiates to determine the safe distance between unmanned plane and power main.
Prior art discloses a kind of power-line patrolling systems, are especially used for the unmanned plane aerological measurement system of power industry
System.The power-line patrolling system includes: unmanned plane body, monitor camera, image transmitter, wireless flight controller, ground
It stands image analysis processor；Monitor camera is connect by tripod head frame with unmanned plane body, image transmitter and wireless flight control
Device processed is connect by bracket with unmanned plane body；Wherein, wireless flight controller is used to control the position of unmanned plane body flight
And state；Monitor camera acquires monitoring scene picture, and is transferred to earth station's image analysis processor by image transmitter；
Earth station's image analysis processor operates the picture of the airborne monitor camera acquisition received, realize to picture away from
From measurement.
Due to there is strong electromagnetic field around high-voltage line, image transmitting and control signal transmitting to unmanned plane exist certain
Interference, to be easy to cause unmanned plane failure, or even crash, transmission line of electricity can be damaged under serious conditions.
Summary of the invention
The purpose of the present invention is to provide a kind of anti-interference power-line patrolling flight control system of double antenna, systems provided by the invention
It can reinforce the signal and data transmission performance of patrol UAV, improve line walking safety.
To achieve the above object, the present invention provides a kind of anti-interference power-line patrolling flight control system of double antenna, which is characterized in that
The system comprises the base station unmanned plane of patrol UAV, interval patrol UAV flight for power-line patrolling and divide base
It stands, the first GPS antenna and the second GPS antenna is provided at the top of the patrol UAV, is set respectively in the patrol UAV
It is equipped with the GPS receiver being connected with first GPS antenna and the second GPS antenna, first GPS antenna and the 2nd GPS days
It line interval and is arranged in parallel, described point of base station includes Base Band Unit and radio frequency unit, and the radio frequency unit is set to the line walking
On unmanned plane, the Base Band Unit is set on the base station unmanned plane.
Optionally, first GPS antenna and the second GPS antenna are each provided with ceramic antenna, are connected with ceramic antenna
Low noise audio signal module, the cable that is connected with low noise audio signal module and connect GPS receiver and low noise audio signal module
Connector.
Optionally, the spacing of first GPS antenna and the second GPS antenna is 5-20 centimetres.
Optionally, the side of the patrol UAV is provided with video camera, and image biography is provided in the patrol UAV
Defeated device, described image transmitter are connected with the video camera and radio frequency unit.
Optionally, the GPS that the base station unmanned plane is provided with third GPS antenna and is connected with the third GPS antenna connects
Receipts machine.
Optionally, the patrol UAV and base station unmanned plane are provided with central computer, servo action device and control
Sensor, the GPS receiver, servo action device and control sensor are connected with the central computer.
Optionally, the base station unmanned plane is provided with vision positioning module, the vision positioning module and base station unmanned plane
Central computer be connected, the side of the patrol UAV be provided with for vision positioning module positioning vision positioning calibration
Pattern.
Optionally, the system also includes earth station, the Base Band Unit and described image transmitter with the ground
It stands and is connected.
The present invention has the advantage that
System of the invention includes patrol UAV and base station unmanned plane, can pass through the base station unmanned plane far from high-voltage line
Carry out transmission signal, furthermore it is also possible to carry out the positioning of patrol UAVs by double GPS antennas, further position line walking nobody
Machine improves the contact capability with base station unmanned plane.
Detailed description of the invention
Fig. 1 is that a kind of structure of specific embodiment of the anti-interference power-line patrolling flight control system of double antenna provided by the invention is shown
It is intended to.
Specific embodiment
The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention..
As shown in Figure 1, the present invention provides a kind of anti-interference power-line patrolling flight control system of double antenna, the system comprises be used for
The base station unmanned plane 2 and divide base station that the patrol UAV 1 of power-line patrolling, the interval patrol UAV 1 are flown, the line walking without
Man-machine 1 top is provided with the first GPS antenna 11 and the second GPS antenna 12, is respectively arranged in the patrol UAV 1 and institute
State the GPS receiver that the first GPS antenna 11 is connected with the second GPS antenna 12, first GPS antenna 11 and the second GPS antenna
12 are spaced and are arranged in parallel, and described point of base station includes Base Band Unit 31 and radio frequency unit 32, and the radio frequency unit 32 is set to institute
It states in patrol UAV 1, the Base Band Unit 31 is set on the base station unmanned plane 2.System of the invention include line walking without
Man-machine and base station unmanned plane can carry out transmission signal by the base station unmanned plane far from high-voltage line in short distance, in addition, also
The positioning that patrol UAV can be carried out by double GPS antennas, further positions patrol UAV, improves and base station unmanned plane
Contact capability.
In the present invention by base station unmanned plane carry Base Band Unit can with short distance reception signal and data, and line walking without
Man-machine upper setting frequency penetrates the ability that short distance signal and data transmitting can be improved in unit, to effectively avoid high-voltage line magnetic field
Interference.Base station be it is well-known to those skilled in the art, the present invention repeats no more.
GPS antenna be it is well-known to those skilled in the art, for example, first GPS antenna 11 and the second GPS antenna 12
It can be set individually ceramic antenna, the low noise audio signal module that is connected with ceramic antenna, be connected with low noise audio signal module
Cable and the connector for connecting GPS receiver and low noise audio signal module.GPS antenna can be commercially available, can also voluntarily produce.
In order to prevent between two GPS antennas signal interference, as shown in Figure 1, first GPS antenna 11 and second
The spacing of GPS antenna 12 is preferably 5-20 centimetres.
With general patrol UAV bottom be arranged three-axis stabilization holder and video camera it is identical, line walking of the present invention nobody
Video camera has can be set in the side of machine 1, causes height so as to prevent patrol UAV from falling when flight above high-voltage line
The damage of crimping is also provided with image transmitter, described image transmitter and the video camera in the patrol UAV 1
It is connected with radio frequency unit 32.
Further, in order to improve the position level of base station unmanned plane, third has been can be set in the base station unmanned plane 2
GPS antenna and the GPS receiver being connected with the third GPS antenna.
Other than features described above provided by the present invention, patrol UAV and base station unmanned plane can with it is existing it is commercially available nobody
Machine is identical, for example, central computer, servo action device and control has can be set in the patrol UAV 1 and base station unmanned plane 2
Sensor processed, the GPS receiver, servo action device and control sensor are connected with the central computer.Control sensor
It may include height sensor, velocity sensor and attitude transducer etc., servo controller makes to convert rudder face for control instruction
The executing agency of movement and engine valve movement.
Further, in order to improve the ability that base station unmanned plane identifies patrol UAV, the base station unmanned plane 2 can be set
Be equipped with vision positioning module, the vision positioning module can be connected with the central computer of base station unmanned plane 2, the line walking without
Man-machine 1 side, which can be set, demarcates pattern for the vision positioning of vision positioning module positioning.Pass through vision positioning module
Base station unmanned plane can be made to demarcate pattern positioning patrol UAV according to vision positioning at any time.
In addition, the system can also include earth station, the Base Band Unit 31 and described image transmitter can with
The earth station is connected.Flight-control computer, remote control equipment, wireless digital broadcasting station etc. can be set in earth station routinely to set
It is standby.The central computer of unmanned plane receives the image information of imaging sensor on unmanned plane, is then transferred to ground control system
Flight-control computer, control instruction is sent to airborne computer by remote control equipment by flight-control computer, and by machine
Computer control servo action device control body flight is carried, passes through wireless data sending between airborne computer and flight-control computer
Radio signals connection.
Although above having used general explanation and specific embodiment, the present invention is described in detail, at this
On the basis of invention, it can be made some modifications or improvements, this will be apparent to those skilled in the art.Therefore,
These modifications or improvements without departing from theon the basis of the spirit of the present invention are fallen within the scope of the claimed invention.
Claims (8)
1. a kind of anti-interference power-line patrolling flight control system of double antenna, which is characterized in that the system comprises for power-line patrolling
The base station unmanned plane (2) and divide base station that patrol UAV (1), the interval patrol UAV (1) are flown, the patrol UAV
(1) it is provided with the first GPS antenna (11) and the second GPS antenna (12) at the top of, is respectively arranged in the patrol UAV (1)
The GPS receiver being connected with first GPS antenna (11) and the second GPS antenna (12), first GPS antenna (11) and
Two GPS antennas (12) are spaced and are arranged in parallel, and described point of base station includes Base Band Unit (31) and radio frequency unit (32), the radio frequency
Unit (32) is set on the patrol UAV (1), and the Base Band Unit (31) is set on the base station unmanned plane (2).
2. system according to claim 1, which is characterized in that first GPS antenna (11) and the second GPS antenna (12)
It is each provided with ceramic antenna, the low noise audio signal module that is connected with ceramic antenna, the cable being connected with low noise audio signal module
With the connector of connection GPS receiver and low noise audio signal module.
3. system according to claim 1, which is characterized in that first GPS antenna (11) and the second GPS antenna (12)
Spacing be 5-20 centimetres.
4. system according to claim 1, which is characterized in that the side of the patrol UAV (1) is provided with video camera,
Image transmitter, described image transmitter and the video camera and radio frequency unit (32) are provided in the patrol UAV (1)
It is connected.
5. system according to claim 1, which is characterized in that the base station unmanned plane (2) be provided with third GPS antenna and
The GPS receiver being connected with the third GPS antenna.
6. system according to claim 1, which is characterized in that the patrol UAV (1) and base station unmanned plane (2) are all provided with
Be equipped with central computer, servo action device and control sensor, the GPS receiver, servo action device and control sensor with
The central computer is connected.
7. system according to claim 6, which is characterized in that the base station unmanned plane (2) is provided with vision positioning module,
The vision positioning module is connected with the central computer of base station unmanned plane (2), and the side of the patrol UAV (1) is provided with
Vision positioning for the positioning of vision positioning module demarcates pattern.
8. system according to claim 4, which is characterized in that the system also includes earth station, the Base Band Unit
(31) it is connected with the earth station with described image transmitter.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910405103.9A CN110045746A (en) | 2019-05-14 | 2019-05-14 | A kind of anti-interference power-line patrolling flight control system of double antenna |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910405103.9A CN110045746A (en) | 2019-05-14 | 2019-05-14 | A kind of anti-interference power-line patrolling flight control system of double antenna |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110045746A true CN110045746A (en) | 2019-07-23 |
Family
ID=67282175
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910405103.9A Pending CN110045746A (en) | 2019-05-14 | 2019-05-14 | A kind of anti-interference power-line patrolling flight control system of double antenna |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110045746A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110389367A (en) * | 2019-08-14 | 2019-10-29 | 杭州启飞智能科技有限公司 | A kind of airborne center RTK backoff algorithm |
| CN113280815A (en) * | 2021-07-19 | 2021-08-20 | 北京航空航天大学 | Unmanned aerial vehicle bee colony room-entering positioning system |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108279003A (en) * | 2018-02-01 | 2018-07-13 | 福州大学 | It is a kind of based on the unmanned plane high accuracy positioning cruising inspection system used suitable for substation |
| CN108490473A (en) * | 2018-02-10 | 2018-09-04 | 深圳大学 | A kind of the unmanned plane enhancing localization method and system of fusion GNSS and UWB |
| CN208027170U (en) * | 2018-04-28 | 2018-10-30 | 四川华能东西关水电股份有限公司 | A kind of power-line patrolling unmanned plane and system |
| CN108736933A (en) * | 2018-04-27 | 2018-11-02 | 常熟市天然气有限公司 | Unmanned plane line walking detecting system based on RF tag Yu wireless relay remote argon plasma |
| CN208602687U (en) * | 2018-08-06 | 2019-03-15 | 广州飞创智能科技有限公司 | A kind of unmanned plane with precise guidance device |
| KR20190048748A (en) * | 2017-10-31 | 2019-05-09 | (주)메타파스 | Autonomous flight system using dual GPS and method thereof |
| CN209640730U (en) * | 2019-05-14 | 2019-11-15 | 山东蜂巢航空科技有限公司 | A kind of anti-interference power-line patrolling flight control system of double antenna |
-
2019
- 2019-05-14 CN CN201910405103.9A patent/CN110045746A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20190048748A (en) * | 2017-10-31 | 2019-05-09 | (주)메타파스 | Autonomous flight system using dual GPS and method thereof |
| CN108279003A (en) * | 2018-02-01 | 2018-07-13 | 福州大学 | It is a kind of based on the unmanned plane high accuracy positioning cruising inspection system used suitable for substation |
| CN108490473A (en) * | 2018-02-10 | 2018-09-04 | 深圳大学 | A kind of the unmanned plane enhancing localization method and system of fusion GNSS and UWB |
| CN108736933A (en) * | 2018-04-27 | 2018-11-02 | 常熟市天然气有限公司 | Unmanned plane line walking detecting system based on RF tag Yu wireless relay remote argon plasma |
| CN208027170U (en) * | 2018-04-28 | 2018-10-30 | 四川华能东西关水电股份有限公司 | A kind of power-line patrolling unmanned plane and system |
| CN208602687U (en) * | 2018-08-06 | 2019-03-15 | 广州飞创智能科技有限公司 | A kind of unmanned plane with precise guidance device |
| CN209640730U (en) * | 2019-05-14 | 2019-11-15 | 山东蜂巢航空科技有限公司 | A kind of anti-interference power-line patrolling flight control system of double antenna |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110389367A (en) * | 2019-08-14 | 2019-10-29 | 杭州启飞智能科技有限公司 | A kind of airborne center RTK backoff algorithm |
| CN113280815A (en) * | 2021-07-19 | 2021-08-20 | 北京航空航天大学 | Unmanned aerial vehicle bee colony room-entering positioning system |
| CN113280815B (en) * | 2021-07-19 | 2021-10-08 | 北京航空航天大学 | Unmanned aerial vehicle bee colony room-entering positioning system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11415615B2 (en) | Airborne system and method for the characterization and measurement of antennas or radiating systems | |
| US10564651B2 (en) | Control system, terminal and airborne flight control system of multi-rotor craft | |
| US10811766B2 (en) | Integrated, externally-mounted ADS-B device | |
| CN111948461B (en) | Electromagnetic radiation detection device and method based on unmanned aerial vehicle intelligent flight trajectory control | |
| CN108736933B (en) | Unmanned aerial vehicle inspection system based on radio frequency identification and wireless relay remote transmission technology | |
| CN204822097U (en) | Anti -jamming unmanned aerial vehicle system | |
| CN112486199A (en) | Unmanned aerial vehicle inspection control system and method suitable for remote power transmission tower group | |
| CN202783793U (en) | Overhead focusing control device of unmanned aircraft | |
| CN206235739U (en) | A kind of GPS Disturbance and deceits system | |
| CN204895881U (en) | Unmanned aerial vehicle system with thermal imaging system | |
| CN204810432U (en) | Monitored control system with unmanned aerial vehicle | |
| CN107329151B (en) | GPS deception detection method of power inspection unmanned aerial vehicle | |
| CN105763651A (en) | Automatic tracking remote image transmission system | |
| CN110045746A (en) | A kind of anti-interference power-line patrolling flight control system of double antenna | |
| CN108983809A (en) | The method and unmanned plane of accurate identification positioning surrounding based on unmanned plane | |
| CN114237277B (en) | Unmanned aerial vehicle keeps away barrier system based on millimeter wave radar and nearly electric induction | |
| CN105302155A (en) | Unmanned plane line patrol method for determining safe distance with power line carrier radiation | |
| JP2019121967A (en) | Tracking antenna, missile, and tracking antenna device | |
| AU2017425949B2 (en) | Flight information collection system, wireless communication device, relay, flight information collection method | |
| CN112583517A (en) | Airborne unmanned aerial vehicle counter-braking system | |
| CN209640730U (en) | A kind of anti-interference power-line patrolling flight control system of double antenna | |
| CN115390575B (en) | Automatic following implementation method and device for unmanned aerial vehicle based on ADS-B | |
| CN205657714U (en) | Automatic trail remote image transmission system | |
| CN204871600U (en) | Long unmanned aerial vehicle system of time of endurance | |
| CN210112002U (en) | Unmanned aerial vehicle signal relay box for distribution line |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |