CN111086638A

CN111086638A - Natural gas line patrols line fixed wing unmanned aerial vehicle

Info

Publication number: CN111086638A
Application number: CN202010049123.XA
Authority: CN
Inventors: 罗旭; 邱永波; 陈自力; 涂翔; 王明春
Original assignee: Sichuan Chuanjianyandi Technology Co Ltd
Current assignee: Sichuan Chuanjianyandi Technology Co Ltd
Priority date: 2020-01-16
Filing date: 2020-01-16
Publication date: 2020-05-01

Abstract

The invention discloses a natural gas pipeline inspection fixed wing unmanned aerial vehicle, which comprises a body and wings, wherein a GPS acquires real-time longitude and latitude information of the aircraft at the frequency of 20 times per second and transmits the information to a flight control system; the external magnetic compass sends the acquired azimuth information to the flight control system, and the flight control system compares the frequency of 120 times per second with the position information in the memory of the flight control system to obtain a specific numerical value required by correction; and the flight control system packs the numerical values and sends the numerical values to the left aileron steering engine, the right aileron steering engine and the horizontal tail wing steering engine at a frequency of 120 times per second, responds to a data packet sent by the flight control system at a frequency of 300 times per second, implements physical control surface change, and controls the airplane body to store tracking flight within 3 meters. According to the fixed-wing unmanned aerial vehicle, the aerodynamic layout of the conventional statically stable aerodynamic layout fixed-wing unmanned aerial vehicle is optimized, so that high-precision tracking flight and ground-surface-dependent flight are realized, and the requirement of high-efficiency pipeline inspection is met.

Description

Natural gas line patrols line fixed wing unmanned aerial vehicle

Technical Field

The invention belongs to the technical field of unmanned aerial vehicles, and particularly relates to a natural gas pipeline inspection fixed wing unmanned aerial vehicle.

Background

The work that oil and gas long distance pipeline patrols the line and needs to be carried out includes: video data acquisition, laser methane detection, orthographic projection, digital elevation model data production and the like. At present adopt multiaxis gyroplane to patrol the line more, flight distance is shorter, the load is less, and work efficiency is low, and fixed wing unmanned aerial vehicle patrols the line is the basic method that improves aerial survey and patrols line work efficiency, and the problem that current fixed wing unmanned aerial vehicle need solve has following two:

1. the tracking flight with the precision within 3 meters is realized on the zigzag line, as shown in fig. 1, the solid line in fig. 1 is a landmark, the dotted line is a flight trajectory, it can be seen from fig. 1 that the flight trajectory needs frequent angle change, and the change amount can be seen from table 1.

Table 1 is as follows:

navigation mark	Latitude	Longitude (G)	Height	Slope of slope	Distance between two adjacent plates	Azimuth angle
							10	29.5971991	105.2147086	200	0.0	28.2	5
11	29.5972912	105.2146154	200	0.0	13.6	319
							12	29.5974008	105.2141929	200	0.0	42.6	287
13	29.5974784	105.2137490	200	0.0	43.8	281
							14	29.5976859	105.2133219	200	0.0	47.3	299
15	29.5979215	105.2131804	200	0.0	29.6	332

The last azimuth angles of the 5

points

11, 12, 13, 14 and 15 in table 1 are 319, 287, 281, 299 and 332 degrees (0 degree due to north), and each turning point flying from 11 to 15 points changes by-32, -6, 18 and 33 degrees.

Therefore, to achieve the above-mentioned tracking flight, the plane maneuverability of the airplane should be at least as large as plus or minus 35 degrees to change the heading angle frequently without off-target, i.e. without departing from the landmark.

2. The longitudinal maneuver flying with one kilometer of advance, climbing 200 meters or descending 100 meters, is realized, as shown in fig. 2, fig. 2 is a terrain following side view of the order of 300 meters, the broken line is the flight path, the solid line is the ground relief (ground surface), the vertical axis is the altitude (meters), and the horizontal axis is the advance distance (meters). As can be seen from fig. 2: the elevation/the descent of the ground surface digital elevation model is 100 meters before the ground surface digital elevation model moves forward, so that the fluctuation requirement of the ground surface digital elevation model can be met.

In conclusion, the conventional static-stable aerodynamic layout fixed-wing unmanned aerial vehicle is limited by aerodynamic performance, the turning of the aircraft is heavy, pitching is difficult, the center line conforms to the precision of less than 20m, the requirements of horizontal tracking flight and longitudinal surface-attached flight in line patrol and detection cannot be met, stream video acquisition is frequently separated from the visual field in specific work, methane detection is separated from a pipeline line, and meanwhile, due to slow pitching reaction, the fixed-wing unmanned aerial vehicle cannot adapt to the environment with large relief of the landform, potential safety hazards are caused, and the application of the fixed-wing unmanned aerial vehicle in pipeline patrol work is greatly limited.

Therefore, how to solve the above-mentioned drawbacks of the prior art becomes the direction of efforts of those skilled in the art.

Disclosure of Invention

The invention aims to provide a fixed-wing unmanned aerial vehicle which is practically used for natural gas pipeline inspection by optimizing the pneumatic layout of a conventional static stable pneumatic layout fixed-wing unmanned aerial vehicle, so that tracking flight with the precision within 3 meters is realized on a zigzag line, and longitudinal maneuvering flight of climbing 200 meters or descending 100 meters by one kilometer is realized.

The purpose of the invention is realized by the following technical scheme: a natural gas pipeline inspection fixed wing unmanned aerial vehicle comprises a body and wings, wherein a flight control system, a GPS, a battery, a mounting system, a left aileron steering engine, a right aileron steering engine, a horizontal tail wing steering engine, a vertical motor, an external magnetic compass, a propulsion motor, a data communication radio station, a vertical motor electronic speed regulator set, a remote control receiver, a propulsion motor electronic speed regulator and a step-down voltage stabilizer are arranged in the body; the method is characterized in that: the flight control system is respectively connected with the GPS, the external magnetic compass, the left aileron steering engine, the right aileron steering engine and the horizontal tail wing steering engine; the GPS collects the real-time longitude and latitude information of the airplane at the frequency of 20 times per second and sends the information to the flight control system; the external magnetic compass sends the acquired azimuth information to the flight control system, the flight control system compares the information sent by the GPS and the external magnetic compass with position information in a memory of the flight control system at a frequency of 120 times per second after receiving the information, and conjectures and calculates the yaw error of the airplane by combining a three-axis angular velocity instrument, a three-axis accelerometer and a barometer which are integrated with the flight control system, and obtains a specific numerical value required by correction; and the flight control system packs the numerical values and sends the numerical values to the left aileron steering engine, the right aileron steering engine and the horizontal tail wing steering engine at the frequency of 120 times per second, and the left aileron steering engine, the right aileron steering engine and the horizontal tail wing steering engine respond to a data packet sent by the flight control system at the frequency of 300 times per second and implement physical control surface change to control the aircraft body to store tracking flight within 3 meters.

In a preferable mode, the control signals of the left aileron steering engine, the right aileron steering engine and the horizontal tail steering engine are PWM signals, the pulse width neutral point is 1.5 ms, the low point is 1 ms, the high point is 2 ms, and the refresh frequency is 300 hz.

As one of the preferred modes, the wing dihedral is 3.5 degrees.

Preferably, the wing is a clark W wing profile, the wing root chord is 275 mm, the wing tip chord is 185 mm, the wing middle span is 640 mm, and the cruising speed is set to 60 km/h.

Preferably, the Clark W airfoil has a maximum thickness of 11.22% at 30.0% chord and a maximum camber of 3.76% at 40.0 chord.

Preferably, the wing span is 2300 mm, the whole machine is 1590 mm in full length, the machine body is 965 mm in length, the machine body is wide and the height is 165 mm; the vertical wheelbase is 906 mm, the vertical wheelbase is 640 mm, and the takeoff weight is 6.9 kg.

A working method of a natural gas pipeline inspection fixed wing unmanned aerial vehicle comprises the following working steps:

firstly, obtaining coordinates and elevation data of a central line of a measured line through a DEM (digital elevation model) along the pipeline;

secondly, encrypting the number of the central line coordinates, and configuring routing parameters and steering engine parameters of the flight control system;

thirdly, generating a flight path according to the center line coordinates, and writing the flight path into a memory of the flight control system;

fourthly, starting an automatic flight mode, collecting instantaneous attitude data of the unmanned aerial vehicle in real time by a flight control system, calculating a corrected attitude and sending the corrected attitude to a steering engine controller in real time;

and fifthly, executing airplane control and methane laser scanning by the steering engine controller.

As one of the preferred modes, the steering engine controller is provided with steering engine control parameters, and the steering engine control parameters comprise steering engine horizontal fine adjustment and steering engine longitudinal fine adjustment.

Compared with the prior art, the invention has the beneficial effects that: according to the natural gas pipeline line patrol fixed-wing unmanned aerial vehicle, the pneumatic layout of the conventional static stable pneumatic layout fixed-wing unmanned aerial vehicle is optimized, high-precision tracking flight and ground surface-dependent flight are realized, and the requirement of high-efficiency line patrol of pipelines is met.

Drawings

FIG. 1 is a top view of a fixed wing drone on a meander line to achieve tracking flight with accuracy within 3 meters.

Fig. 2 is a terrain following side view of a fixed wing drone on the order of 300 meters.

Fig. 3 is a diagram showing the positional relationship between the integrated circuit and the discrete components.

Fig. 4 is a working flow chart of a natural gas pipeline inspection fixed wing drone.

Fig. 5 is a schematic view of the frontal configuration of a drone with a wing dihedral of 3.5 degrees.

Fig. 6 is a mechanical schematic of the positive lift force and the resulting in-bend component of fig. 5.

FIG. 7 is a schematic diagram of the relationship between the main components for achieving tracking flight with accuracy within 3 meters on a meander line.

FIG. 8 is a schematic view of a Clark W airfoil.

Figure 9 is a force profile for the clamp W model with a negative 8 degree pitch angle.

Figure 10 is a force profile for the clamp W model with a negative 4 degree pitch angle.

Figure 11 is a force profile for the clamp W model at 0 degree pitch.

Figure 12 is a force profile for the clamp W model at a 4 degree pitch angle.

Figure 13 is a force profile for the clamp W model at 8 degrees pitch.

Figure 14 is a force profile for the clamp W model at 13 degrees pitch.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

As shown in fig. 3, a natural gas pipeline inspection fixed wing unmanned aerial vehicle comprises a body and wings, wherein a flight control system 1, a GPS2, a battery 3, a mounting 4, a left aileron steering engine 5, a right aileron steering engine 6, a horizontal tail wing steering engine 7, a vertical motor, an external magnetic compass 10, a propulsion motor 12, a data communication radio 13, a vertical motor electronic governor group 14, a remote control receiver 16, a propulsion motor electronic governor 15 and a step-down voltage stabilizer are arranged in the body.

Wherein: the types, functions and parameters of the whole integrated circuit and the dispersed components are as follows:

the model of the flight control system is as follows: CUAV Pixhawk FMUv5

A main processor: STM32F765, 32 BitAlm Cortex-M7, 216MHz, 2MB memory, 512KB RAM;

a coprocessor: STM32F100, 32 BitAlm Cortex-M3, 24MHz and 8KB SRAM;

an on-board sensor:

acceleration/gyroscope a: ICM-20689;

acceleration/gyroscope B: ICM-20602;

acceleration/gyroscope C: BMI 055.

Magnetometer: IST 8310;

a barometer: MS 5611;

a power supply system:

power supply input: 4.75-5.5V;

USB power input: 4.75-5.25V;

servo guide rail input: 0-24V;

detecting the maximum current: 80A

Working temperature: -40 to 85 ℃.

GPS model: ublox Neo-M8N GPS/GLONASS receiver, integrated magnetometer IST 8310.

3. The battery model is as follows: 6S 22.2V, 22000 mA, 5C discharge rate and polymer lithium battery.

4. Mounting: can be compatible with various mounting loads within one kilogram.

5/6/7 type of aileron steering engine and empennage steering engine: KST MS589 digital steering engine.

The working frequency is as follows: 1520us/333 Hz;

torsion: 6.5kg.cm @6 v;

8.0kg.cm@7.4v；

speed: 0.1 second/60 degrees @6 v;

0.09 sec/60 degrees @7.4 v.

8/9/10/11 vertical motors A-D: model TYI 5010 KV400 multi-rotor brushless motor.

Peak power: 732 watts;

weight: 182 g;

number of grooves and poles: 12N 14P;

using a propeller: 16 x 5.5 carbon fiber pulp.

12 motor type: a dual-antenna XM5050EA and KV515 fixed-wing brushless motor.

Peak power: 1560 watt;

weight: 292 g;

number of grooves and poles: 12N 14P;

using a propeller: 15 x 8E wood propeller.

13 data communication station model: XB Radio 900 wireless data transmission.

Maximum power: 250 milliwatts 24 dBM;

frequency range: 900-928 MHz;

a processor: ADF7023 transceiver, EFM32G230@28 MHz;

sensitivity: -101dBM @200 Kbps;

protocol: MAVLINK1& MAVLINK 2.

14 type of the electronic speed regulator group of the vertical motor: good filling XROTO 60 ampere 6S brushless electric speed regulator.

The number of the battery sections is 4-6S polymer lithium battery;

continuous/peak current 50A/70A;

the input/output wire diameter is 14AWG-60mm 2/14AWG-75mm 3.

15 electronic speed regulator of propulsion motor: the model is as follows: good Platinum 120A 6S brushless electric regulator.

The number of the battery sections is 3-6S of polymer lithium batteries;

continuous/peak current 120A/150A;

the input/output wire diameter is 12AWG-150mm 2/12AWG-100mm 3;

integrated buck regulator (BEC): the output capacity is 5-8V and 10A.

16 remote control receiver: the model is as follows: the heaven and earth flying RD201W receiver.

17/18 step-down voltage regulators A & B: the model is as follows: good UBEC-10A 2-6S external voltage reduction voltage stabilizer.

19 external magnetic compass: the model is as follows: CUAV IST8 is external compass.

As shown in fig. 4, fig. 4 is a work flow diagram of a natural gas pipeline patrol fixed-wing drone.

thirdly, generating a flight path according to the center line coordinates, and writing the flight path into a memory of the flight control system; fourthly, starting an automatic flight mode, collecting instantaneous attitude data of the unmanned aerial vehicle in real time by a flight control system, calculating a corrected attitude and sending the corrected attitude to a steering engine controller in real time; the steering engine controller is provided with steering engine control parameters which comprise steering engine horizontal fine adjustment and steering engine longitudinal fine adjustment.

Wherein, the position information in the memory of the flight control is a pre-written route.

As shown in fig. 5 and 6, the flight control system 1 is respectively connected with a GPS2, an external magnetic compass 19, a left aileron steering engine 5, a right aileron steering engine 6 and a horizontal tail steering engine 7; the GPS2 collects the real-time longitude and latitude information of the airplane at the frequency of 20 times per second and sends the information to the flight control system 1; the external magnetic compass 19 sends the acquired azimuth information to the flight control system 1, after the flight control system 1 receives the information sent by the GPS2 and the external magnetic compass 19, the information is compared with the position information in the memory of the flight control system at the frequency of 120 times per second, and the yaw error of the airplane is speculatively calculated by combining a three-axis angular velocity meter, a three-axis accelerometer and a barometer which are integrated with the flight control system, and a specific numerical value required by correction is obtained; the flight control system packs the numerical values and sends the numerical values to the left aileron steering engine 5, the right aileron steering engine 6 and the horizontal tail wing steering engine 7 at the frequency of 120 times per second, the left aileron steering engine 5, the right aileron steering engine 6 and the horizontal tail wing steering engine 7 respond to a data packet sent by the flight control system at the frequency of 300 times per second and implement physical control surface change, and the flight body is controlled to store tracking flight within 3 meters. The attitude of the airplane is corrected quickly and accurately in the aspect of electronic control, so that the aim of realizing tracking flight with the precision within 3 meters on a zigzag line is fulfilled.

The control signals of the left aileron steering engine 5, the right aileron steering engine 6 and the horizontal tail wing steering engine 7 are PWM signals, the pulse width neutral point is 1.5 milliseconds, the low point is 1 millisecond, the high point is 2 milliseconds, and the refreshing frequency is 300 Hz.

The wing dihedral is 3.5 degrees.

The clark W airfoil shown in fig. 8 is selected as the wing, the wing root chord is 275 mm, the wing tip chord is 185 mm, the wing middle span length is 640 mm, and the cruising speed is set to be 60 km/h. The Clark W airfoil has a maximum thickness of 11.22% at 30.0% chord and a maximum camber of 3.76% at 40.0 chord. The wingspan of the wing is 2300 mm, the whole machine is 1590 mm in full length, the machine body is 965 mm in length, the machine body is wide and the machine body is 165 mm in height; the vertical wheelbase is 906 mm, the vertical wheelbase is 640 mm, and the takeoff weight is 6.9 kg. The wing dihedral angle of 3.5 degrees is added and the Clark W wing type is selected, so that the bending centripetal force can be generated under a small roll angle, the airplane can quickly slide into a line, the tracking flight is realized, and the airplane at least has the capability of frequently changing the course angle of plus or minus 35 degrees on the plane maneuverability without departing from a target, namely without departing from a landmark. As shown in fig. 5 and 6, the fuselage need only provide a small roll angle to achieve a sufficient in-bend component.

Through preferred comparison, the wing section of the unmanned aerial vehicle is determined to be selected as the wing section of the unmanned aerial vehicle, the stability of the unmanned aerial vehicle is not reduced while the lift-drag ratio is improved, the higher the lift-drag ratio is, the stronger the longitudinal maneuverability is, the weaker the overall stability of the unmanned aerial vehicle is, the higher the energy consumption required for keeping the cruising speed is, and the wing section of the unmanned aerial vehicle is preferably suitable for the working condition of the project from a plurality of wing sections.

The following is a plot of the Clark W force analysis, applied to a table for Reynolds number calculation:

height	300	Rice and its production process
			Speed of rotation	20.00	Meter/second
Chord length	30.00	Centimeter
			Calculating RE	401168

Wherein, Reynolds number: one mixing parameter, which can be understood as the viscosity and the resistance (pressure) of the air, is indicated by "RE".

Figure 9 is CLARKW: Re = 401000; mach =0.0000-NCrit = 9.00; cp distribution state; alpha = -8.0 degrees.

Figure 10 is CLARK W: Re = 401000; mach =0.0000-NCrit = 9.00; cp distribution state; alpha = -4.0 degrees.

Figure 11 is CLARKW: Re = 401000; mach =0.0000-NCrit = 9.00; cp distribution state; alpha =0.0 degrees.

Figure 12 is CLARKW: Re = 401000; mach =0.0000-NCrit = 9.00; cp distribution state; alpha =4.0 degrees.

Figure 13 is CLARK W: Re = 401000; mach =0.0000-NCrit = 9.00; cp distribution state; alpha =8.0 degrees.

Figure 14 is CLARK W: Re = 401000; mach =0.0000-NCrit = 9.00; cp distribution state; alpha =13.0 degrees.

The above fig. 9-14 are: the "clark W" airfoil has a force profile around RE =401000 with a pitch angle from negative 8 degrees to positive 13 degrees. As can be seen from the set of figures: the force distribution of other pitch angles except for the two zero boundary angles is uniform, the ratio of the lift-drag force to the lift-drag force is large, the wing stall point is low, the wing zero boundary angle is large, and the airflow boundary layer is separated from the surface of the wing in a large area.

The longitudinal maneuverability limit of the wing profile below the elevation of 3000 m is as follows: advancing one kilometer can climb 200 meters and/or descend 100 meters.

In summary, the performance of the whole machine is as follows:

the working environment is as follows: elevation below 3000 m, working temperature: plus 60 to minus 10 degrees; endurance: 80 minutes; speed of flight: 60 km/h; loading: 1000 g.

Horizontal mobility limit: every three meters of sideslip can accommodate the change of a course angle of 45 degrees, and the minimum distance of steering points is more than 60 meters.

Vertical mobility limit: the lifting platform can lift 200 meters or descend 100 meters per 1000 meters of advance.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.

Claims

1. A natural gas pipeline inspection fixed wing unmanned aerial vehicle comprises a body and wings, wherein a flight control system, a GPS, a battery, a mounting system, a left aileron steering engine, a right aileron steering engine, a horizontal tail wing steering engine, a vertical motor, an external magnetic compass, a propulsion motor, a data communication radio station, a vertical motor electronic speed regulator set, a remote control receiver, a propulsion motor electronic speed regulator and a step-down voltage stabilizer are arranged in the body; the method is characterized in that: the flight control system is respectively connected with the GPS, the external magnetic compass, the left aileron steering engine, the right aileron steering engine and the horizontal tail wing steering engine; the GPS collects the real-time longitude and latitude information of the airplane at the frequency of 20 times per second and sends the information to the flight control system; the external magnetic compass sends the acquired azimuth information to the flight control system, the flight control system compares the information sent by the GPS and the external magnetic compass with position information in a memory of the flight control system at a frequency of 120 times per second after receiving the information, and conjectures and calculates the yaw error of the airplane by combining a three-axis angular velocity instrument, a three-axis accelerometer and a barometer which are integrated with the flight control system, and obtains a specific numerical value required by correction; and the flight control system packs the numerical values and sends the numerical values to the left aileron steering engine, the right aileron steering engine and the horizontal tail wing steering engine at the frequency of 120 times per second, and the left aileron steering engine, the right aileron steering engine and the horizontal tail wing steering engine respond to a data packet sent by the flight control system at the frequency of 300 times per second and implement physical control surface change to control the aircraft body to store tracking flight within 3 meters.

2. The natural gas pipeline patrol fixed-wing unmanned aerial vehicle of claim 1, wherein: the control signals of the left aileron steering engine, the right aileron steering engine and the horizontal tail steering engine are PWM signals, the pulse width neutral point is 1.5 milliseconds, the low point is 1 millisecond, the high point is 2 milliseconds, and the refreshing frequency is 300 Hz.

3. The natural gas pipeline patrol fixed-wing unmanned aerial vehicle of claim 1, wherein: the wing dihedral is 3.5 degrees.

4. The natural gas pipeline patrol fixed-wing unmanned aerial vehicle according to claim 3, wherein: the wing is a Clark W wing type, the wing root chord is 275 mm, the wing tip chord is 185 mm, the wing middle span is 640 mm, and the cruising speed is set to be 60 km per hour.

5. The natural gas pipeline patrol fixed-wing unmanned aerial vehicle according to claim 4, wherein: the Clark W airfoil has a maximum thickness of 11.22% at 30.0% chord and a maximum camber of 3.76% at 40.0 chord.

6. The natural gas pipeline patrol fixed-wing unmanned aerial vehicle according to claim 5, wherein: the wingspan of the wing is 2300 mm, the whole machine is 1590 mm in full length, the machine body is 965 mm in length, the machine body is wide and the machine body is 165 mm in height; the vertical wheelbase is 906 mm, the vertical wheelbase is 640 mm, and the takeoff weight is 6.9 kg.

7. A working method of the natural gas pipeline patrol fixed-wing unmanned aerial vehicle as claimed in claim 1, wherein the working method comprises the following steps: the method comprises the following working steps:

8. The working method of the natural gas pipeline patrol fixed-wing unmanned aerial vehicle according to claim 7, characterized in that: the steering engine controller is provided with steering engine control parameters which comprise steering engine horizontal fine adjustment and steering engine longitudinal fine adjustment.