CN110471452A - A kind of unmanned aerial vehicle control system detecting power line - Google Patents
A kind of unmanned aerial vehicle control system detecting power line Download PDFInfo
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- CN110471452A CN110471452A CN201910813447.3A CN201910813447A CN110471452A CN 110471452 A CN110471452 A CN 110471452A CN 201910813447 A CN201910813447 A CN 201910813447A CN 110471452 A CN110471452 A CN 110471452A
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- power line
- ultrasonic wave
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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 discloses a kind of unmanned aerial vehicle control systems for detecting power line, the system includes processor module, inertial navigation measurement module, ultrasonic wave module and camera module, and the processor module is connect with inertial navigation measurement module, ultrasonic wave module, camera module, wireless image transmission module respectively；The inertial navigation measurement module is made of attitude detection module, barometer module and locating module.The present invention detects situations such as shape on power line surface, color using camera module, uses ultrasonic wave module to carry out range measurement to control fuselage and power line and have suitable distance.The present invention has the characteristics that production is simple, easy to use, cost is relatively low, has good result for unmanned plane high-altitude detection power line.
Description
Technical field
It is specifically a kind of that electric power is carried out using camera module the present invention relates to quadrotor drone and visual identity field
The unmanned aerial vehicle control system for detecting power line that line detects and ultrasonic wave module is used to carry out range measurement.
Background technique
Unmanned air vehicle technique is fast-developing currently, and more and more applications are produced with the innovation of unmanned air vehicle technique
Raw, with the raising of unmanned aerial vehicle (UAV) control stability, UAV flight's vision system, which carries out detection, becomes mainly answering for unmanned plane
One of with.By vision modules such as cameras, image and video can be analyzed with matching characteristic point or detection object
Whether there is or not abnormal conditions.
Unmanned machine testing power line is the importance of unmanned plane application, but unmanned plane is for small objects such as power lines
Range information is hardly resulted in only with the mode of visual observation, thus may result in the accident that unmanned plane and power line bump against and send out
It is raw, for this problem, the present invention using ultrasonic distance measurement by the way of, with the ultrasonic wave of larger launch angle obtain unmanned plane and
The distance of power line, to effectively prevent the generation of unmanned plane wire-strike accidents.
Summary of the invention
The purpose of the present invention is in view of the deficiencies of the prior art and provide a kind of detection power line unmanned aerial vehicle (UAV) control system
System is in use, read attitude detection module data and resolving first to obtain the angle information of unmanned plane, reading barometer mould
Block number according to simultaneously filtering to obtain elevation information, read locating module data and resolve, merge after obtain stable unmanned plane speed,
Location information, read ultrasonic wave module detection fuselage at a distance from power line, when distance be less than threshold value, then unmanned plane move back to prevent
It breasts the tape, in addition, camera module can detect power line, situations such as determining whether fracture, foreign matter, and result is returned
To processor module, result can be transmitted to surface personnel by wireless data transmission module by processor module, provide electric power
Line testing result.The present invention have the advantages that production it is simple, easy to use, improve unmanned plane inspection power line accuracy and
Safety.
Realizing the specific technical solution of the object of the invention is:
It is a kind of detect power line unmanned aerial vehicle control system, feature is: the system include processor module, inertial navigation measurement module,
Ultrasonic wave module, camera module, wireless data transmission module；The processor module respectively with inertial navigation measurement module, ultrasonic wave mould
Block, camera module, wireless data transmission module connection；Wherein: the inertial navigation measurement module is by attitude detection module, barometer module
And locating module is constituted；Wherein:
The attitude detection module is equipped with pin VCC, pin GND, pin SCL, pin SDA；
The barometer module is equipped with pin VCC, pin GND, pin SCL, pin SDA；
It is described that pin VCC, pin GND, pin RX, pin TX are equipped with to locating module；
The camera module is equipped with pin VCC, pin GND, pin RX, pin TX；
The wireless data transmission module is equipped with pin VCC, pin GND, pin RX, pin TX；
The processor module is equipped with pin VCC, pin GND, pin PD4, pin PD5, pin PD6, pin PD7, pin
PA0, pin PA1, pin PC6, pin PC7, pin PA6, pin PA7, pin PB2 and pin PB3, wherein pin VCC, pin
GND respectively with attitude detection module, barometer module, locating module, ultrasonic wave module, camera module, wireless data transmission module
Pin VCC, pin GND be correspondingly connected with；Pin PA6, pin PA7 are corresponding with the pin SCL of attitude detection module, pin SDA
Connection；Pin PB2, pin PB3 and pin SCL, the pin SDA of barometer module are correspondingly connected with；Pin PD4, pin PD5 and fixed
Pin TX, the pin RX of position module are correspondingly connected with；Pin PD6, pin PD7 are corresponding with the pin TX of ultrasonic wave module, pin RX
Connection；Pin TX, the pin RX of pin PA0, pin PA1 and camera module are correspondingly connected with；Pin PC6, pin PC7 and wireless
Pin TX, the pin RX of digital transmission module are correspondingly connected with.
The present invention carries out vision-based detection power line by camera module, is believed by shape, the color etc. that detect power line
To determine whether there are the abnormal conditions such as fracture, foreign matter, in addition, due to being difficult to judge unmanned plane when unmanned plane inspection power line in breath
Distance apart from power line, the present invention measure fuselage at a distance from power line using ultrasonic wave module, when distance is less than warning value
When, unmanned plane moves back a distance, so as to avoid the generation of unmanned plane wire-strike accidents.
Detailed description of the invention
Fig. 1 is structure of the invention block diagram；
Fig. 2 is processor module schematic diagram of the invention；
Fig. 3 is attitude detection module diagram of the invention；
Fig. 4 is barometer module diagram of the invention；
Fig. 5 is locating module schematic diagram of the invention；
Fig. 6 is ultrasonic wave module schematic diagram of the invention；
Fig. 7 is camera module schematic diagram of the invention；
Fig. 8 is wireless data transmission module schematic diagram of the invention.
Specific embodiment
Invention is further described in detail with reference to the accompanying drawings and embodiments.
Embodiment
Refering to fig. 1, the present invention include processor module 1, inertial navigation measurement module 2, ultrasonic wave module 3, camera module 4,
Wireless data transmission module 5；The processor module 1 respectively with inertial navigation measurement module 2, ultrasonic wave module 3, camera module 4, wireless
Digital transmission module 5 connects；Wherein: the inertial navigation measurement module 2 is by 8 structure of attitude detection module 6, barometer module 7 and locating module
At.The present embodiment processor module 1 uses TM4C123G processor.
Refering to Fig. 2-7, attitude detection module 6 described in the present embodiment uses MPU6050 attitude detection module, attitude detection mould
Block 6 is equipped with pin VCC, pin GND, pin SCL, pin SDA.
The barometer module 7 uses SPL06 barometer module, barometer module 7 be equipped with pin VCC, pin GND,
Pin SCL, pin SDA.
It is described to locating module 8 use NEO-M8 module, locating module 8 be equipped with pin VCC, pin GND, pin RX,
Pin TX.
The camera module 4 uses OPENMV4 module, and camera module 4 is equipped with pin VCC, pin GND, pin
RX, pin TX.
The wireless data transmission module 5 uses bluetooth HC08 module, wireless data transmission module 5 be equipped with pin VCC, pin GND,
Pin RX, pin TX.
The processor module 1 uses TM4C123G processor, and processor module 1 is equipped with pin VCC, pin GND, pin
PD4, pin PD5, pin PD6, pin PD7, pin PA0, pin PA1, pin PC6, pin PC7, pin PA6, pin PA7,
Pin PB2 and pin PB3, wherein pin VCC, pin GND respectively with attitude detection module 6, barometer module 7, locating module
8, ultrasonic wave module 3, camera module 4, the pin VCC of wireless data transmission module 5, pin GND are correspondingly connected with, pin PA6, pin
PA7 and pin SCL, the pin SDA of attitude detection module 6 are correspondingly connected with, and pin PB2, pin PB3 draw with barometer module 7
Foot SCL, pin SDA are correspondingly connected with, and pin PD4, pin PD5 and pin TX, the pin RX of locating module 8 are correspondingly connected with, pin
PD6, pin PD7 and pin TX, the pin RX of ultrasonic wave module 3 are correspondingly connected with, pin PA0, pin PA1 and camera module 4
Pin TX, pin RX be correspondingly connected with, pin PC6, pin PC7 it is corresponding with the pin TX of wireless data transmission module 5, pin RX connect
It connects.
The present embodiment is applied in this way:
The detection for carrying out shape, color etc. to power line by camera module, sees whether that there are slight crack, foreign matter, torsions
The abnormal conditions such as song, and by ultrasonic wave module measure fuselage between power line at a distance from, avoid fuselage and power line collision draw
Play safety accident.
Refering to fig. 1, attitude detection module 6 utilizes the 3-axis acceleration of MPU6050 attitude detecting sensor measurement unmanned plane
And three axis angular velocity information, so as to resolve the angle information for obtaining unmanned plane, as instruct unmanned plane move base
Plinth data；Barometer module 7, for detecting elevation information；Locating module 8, for receiving GPS, GLONASS signal and obtaining nothing
Man-machine longitude and latitude position and velocity information；Ultrasonic wave module 3, for detect unmanned plane between power line at a distance from；Camera mould
Block 4, using information such as shape, the colors of vision algorithm detection power line, to judge power line with the presence or absence of unusual condition；Nothing
The result of detection power line in processor module 1 is sent to surface personnel by line number transmission module 5；Processor module 1,
Inertial navigation detection module 2, ultrasonic wave module 3, camera module 4, wireless data transmission module 5 are connected and controlled, unmanned plane is finally completed
The task of inspection power line.
Specific works situation is as follows, in use, processor module 1 reads the data of attitude detection module 6 first, it is then right
The acceleration information and angular velocity information read out is resolved in processor module 1, obtains unmanned plane angle information；It connects down
Come, processor module 1 reads the data of barometer module 7, is filtered in processor module 1 and carries out with acceleration information
Fusion, obtains accurate elevation information；Next, processor module 1 read locating module 8 in latitude and longitude information and due north,
Due north, due east speed data are become the speed data in fuselage coordinates system by coordinate transformation, and located by due east speed data
The acceleration information that the speed in fuselage coordinates has been calculated as observed quantity and attitude detection module is carried out in reason device module 1
Kalman filtering fusion, to obtain accurate unmanned plane speed and displacement；Then acquisition ultrasonic wave module detection fuselage with
Range data between power line, unmanned plane moves backward a small distance if distance is less than warning value, until distance is greater than police
Ring value；Using 4 real-time detection power line of camera module, the information such as shape and the color of power line are detected, and judge whether to deposit
In slight crack, foreign matter, the abnormal conditions such as volume are turned round, and return result to processor module 1, processor module 1 passes through wireless data sending
Module 5 will test data outflow.Surface personnel's testing result ready to receive simultaneously determines whether power line exception occurs, then
Record result in time.The present invention has good stability and degree of safety, and unmanned plane can be effectively prevented and hit power line
The case where occur.
Claims (1)
1. a kind of unmanned aerial vehicle control system for detecting power line, which is characterized in that the system includes processor module (1), inertial navigation
Measurement module (2), ultrasonic wave module (3), camera module (4) and wireless data transmission module (5), the processor module (1) point
It is not connect with inertial navigation measurement module (2), ultrasonic wave module (3), camera module (4), wireless data transmission module (5)；The inertial navigation
Measurement module (2) is made of attitude detection module (6), barometer module (7) and locating module (8)；Wherein:
The attitude detection module (6) is equipped with pin VCC, pin GND, pin SCL, pin SDA；
The barometer module (7) is equipped with pin VCC, pin GND, pin SCL, pin SDA；
It is described that pin VCC, pin GND, pin RX, pin TX are equipped with to locating module (8)；
The camera module (4) is equipped with pin VCC, pin GND, pin RX, pin TX；
The wireless data transmission module (5) is equipped with pin VCC, pin GND, pin RX, pin TX；
The processor module (1) is equipped with pin VCC, pin GND, pin PD4, pin PD5, pin PD6, pin PD7, draws
Foot PA0, pin PA1, pin PC6, pin PC7, pin PA6, pin PA7, pin PB2 and pin PB3, wherein pin VCC,
Pin GND respectively with attitude detection module (6), barometer module (7), locating module (8), ultrasonic wave module (3), camera mould
Block (4), the pin VCC of wireless data transmission module (5), pin GND are correspondingly connected with；Pin PA6, pin PA7 and attitude detection module
(6) pin SCL, pin SDA is correspondingly connected with；Pin SCL, the pin SDA of pin PB2, pin PB3 and barometer module (7)
It is correspondingly connected with；Pin PD4, pin PD5 and pin TX, the pin RX of locating module (8) are correspondingly connected with；Pin PD6, pin PD7
It is correspondingly connected with pin TX, the pin RX of ultrasonic wave module (3)；The pin of pin PA0, pin PA1 and camera module (4)
TX, pin RX are correspondingly connected with；Pin PC6, pin PC7 and pin TX, the pin RX of wireless data transmission module (5) are correspondingly connected with.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910813447.3A CN110471452A (en) | 2019-08-30 | 2019-08-30 | A kind of unmanned aerial vehicle control system detecting power line |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910813447.3A CN110471452A (en) | 2019-08-30 | 2019-08-30 | A kind of unmanned aerial vehicle control system detecting power line |
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| CN110471452A true CN110471452A (en) | 2019-11-19 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113128402A (en) * | 2021-04-19 | 2021-07-16 | 国网江苏电动汽车服务有限公司 | System and method for identifying safety state of battery charging and replacing equipment |
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| CN103941746A (en) * | 2014-03-29 | 2014-07-23 | 国家电网公司 | System and method for processing unmanned aerial vehicle polling image |
| CN105045287A (en) * | 2015-08-03 | 2015-11-11 | 深圳供电局有限公司 | Multi-rotor unmanned aerial vehicle based on ultrasonic wave precise line-dropping patrol detection and operation method thereof |
| CN105759836A (en) * | 2016-03-14 | 2016-07-13 | 武汉卓拔科技有限公司 | Unmanned aerial vehicle obstacle avoidance method and device based on 3D camera |
| CN206532142U (en) * | 2017-02-27 | 2017-09-29 | 南京航空航天大学 | A kind of rotor wing unmanned aerial vehicle tenacious tracking of view-based access control model moves the control system of target |
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2019
- 2019-08-30 CN CN201910813447.3A patent/CN110471452A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103941746A (en) * | 2014-03-29 | 2014-07-23 | 国家电网公司 | System and method for processing unmanned aerial vehicle polling image |
| CN105045287A (en) * | 2015-08-03 | 2015-11-11 | 深圳供电局有限公司 | Multi-rotor unmanned aerial vehicle based on ultrasonic wave precise line-dropping patrol detection and operation method thereof |
| CN105759836A (en) * | 2016-03-14 | 2016-07-13 | 武汉卓拔科技有限公司 | Unmanned aerial vehicle obstacle avoidance method and device based on 3D camera |
| CN206532142U (en) * | 2017-02-27 | 2017-09-29 | 南京航空航天大学 | A kind of rotor wing unmanned aerial vehicle tenacious tracking of view-based access control model moves the control system of target |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113128402A (en) * | 2021-04-19 | 2021-07-16 | 国网江苏电动汽车服务有限公司 | System and method for identifying safety state of battery charging and replacing equipment |
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Application publication date: 20191119 |
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