CN112130039A - Fault detection unmanned aerial vehicle and detection method - Google Patents
Fault detection unmanned aerial vehicle and detection method Download PDFInfo
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- CN112130039A CN112130039A CN202011002874.2A CN202011002874A CN112130039A CN 112130039 A CN112130039 A CN 112130039A CN 202011002874 A CN202011002874 A CN 202011002874A CN 112130039 A CN112130039 A CN 112130039A
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- 238000001514 detection method Methods 0.000 title claims abstract description 103
- 239000000523 sample Substances 0.000 claims abstract description 28
- 230000003287 optical effect Effects 0.000 claims abstract description 10
- 238000000034 method Methods 0.000 claims description 5
- 238000003745 diagnosis Methods 0.000 abstract description 2
- 230000001939 inductive effect Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000009413 insulation Methods 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000002310 reflectometry Methods 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/12—Testing dielectric strength or breakdown voltage ; Testing or monitoring effectiveness or level of insulation, e.g. of a cable or of an apparatus, for example using partial discharge measurements; Electrostatic testing
- G01R31/1227—Testing dielectric strength or breakdown voltage ; Testing or monitoring effectiveness or level of insulation, e.g. of a cable or of an apparatus, for example using partial discharge measurements; Electrostatic testing of components, parts or materials
- G01R31/1263—Testing dielectric strength or breakdown voltage ; Testing or monitoring effectiveness or level of insulation, e.g. of a cable or of an apparatus, for example using partial discharge measurements; Electrostatic testing of components, parts or materials of solid or fluid materials, e.g. insulation films, bulk material; of semiconductors or LV electronic components or parts; of cable, line or wire insulation
- G01R31/1272—Testing dielectric strength or breakdown voltage ; Testing or monitoring effectiveness or level of insulation, e.g. of a cable or of an apparatus, for example using partial discharge measurements; Electrostatic testing of components, parts or materials of solid or fluid materials, e.g. insulation films, bulk material; of semiconductors or LV electronic components or parts; of cable, line or wire insulation of cable, line or wire insulation, e.g. using partial discharge measurements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
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- General Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Aviation & Aerospace Engineering (AREA)
- Computer Networks & Wireless Communication (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Locating Faults (AREA)
Abstract
The invention discloses a fault detection unmanned aerial vehicle and a detection method, wherein the unmanned aerial vehicle comprises: an unmanned aerial vehicle body; the fault detection device is arranged on the unmanned aerial vehicle body and comprises at least one probe; a position detection device comprising: the light emitter is arranged on the unmanned aerial vehicle body; the optical detector is arranged on the unmanned aerial vehicle body; a position judger electrically connected to the light emitter and the light detector, respectively; wherein, along with the flight of unmanned aerial vehicle body along the cable that awaits measuring the photo detector is received when the signal that the light emitter sent and was reflected back by the cable that awaits measuring is in predetermined threshold value, position judger judges unmanned aerial vehicle body and the cable that awaits measuring are in stable detectable state, and by the circuit pulse signal of the cable that awaits measuring of probe sensing. This fault detection unmanned aerial vehicle can ensure to respond to the cable that awaits measuring accurately, avoids that the inductive signal makes mistakes or is unstable to cause the influence to the fault diagnosis.
Description
Technical Field
The invention relates to a fault detection unmanned aerial vehicle and a fault detection method, and belongs to the technical field of cable fault detection.
Background
In recent years, the specific gravity of power cables used in power grids is gradually increased, but the economic loss is huge when the cable insulation defects and cable safety accidents are caused by long-term exposure outdoors, so that the problem of ensuring the safe operation of the cable becomes a key concern of power supply departments. In the prior art, the cable needs to be manually detected, so that certain danger exists, when the cable breaks down, feedback cannot be accurately made, safety accidents can also be caused, and data of the damaged degree of the cable cannot be provided.
In order to improve detection efficiency and security, people gradually propose to replace the manual work with unmanned aerial vehicle and detect the cable to improve the operating efficiency, guarantee personnel's safety. The unmanned detection mode is as follows: install fault detection device on unmanned aerial vehicle, control unmanned aerial vehicle along the cable flight that awaits measuring, detect by fault detection device to the cable inlet wire response that awaits measuring. However, this approach has problems: if unmanned aerial vehicle can not be accurate sense the cable that awaits measuring, then the easy inductive signal that appears makes mistakes or is unstable, and then causes the influence to the fault diagnosis.
Disclosure of Invention
Based on the above, the invention provides a fault detection unmanned aerial vehicle, which is provided with a position detection device and can assist the unmanned aerial vehicle to keep a stable flight distance with a cable to be detected when detecting the cable, so that the unmanned aerial vehicle can accurately sense the cable to be detected, and the fault judgment is prevented from being influenced by error or instability of a sensing signal.
The technical scheme of the invention is as follows: a fault detection drone, wherein the drone includes:
an unmanned aerial vehicle body;
the fault detection device is arranged on the unmanned aerial vehicle body and comprises at least one probe;
a position detection device comprising:
the light emitter is arranged on the unmanned aerial vehicle body;
the optical detector is arranged on the unmanned aerial vehicle body;
a position judger electrically connected to the light emitter and the light detector, respectively;
wherein, along with the flight of unmanned aerial vehicle body along the cable that awaits measuring the photo detector is received when the signal that the light emitter sent and was reflected back by the cable that awaits measuring is in predetermined threshold value, position judger judges unmanned aerial vehicle body and the cable that awaits measuring are in stable detectable state, and by the circuit pulse signal of the cable that awaits measuring of probe sensing.
In one example, the position determiner is electrically connected to the failure detecting device; wherein, position judger judges when unmanned aerial vehicle body and the cable that awaits measuring are in stable detectable state, position judger sends the signal and gives fault detection device, by fault detection device starts the detection.
In one example, the fault detection apparatus further includes: a first transmitting module for transmitting a sensing signal of the probe; the position judger is electrically connected with the first sending module, and the position judger judges that the unmanned aerial vehicle body and the cable to be detected are in an unstable detectable state, and sends a signal to the fault detection device to control the first sending module not to send information.
In one example, the position detecting device further includes: the second sending module is used for sending information; the second sending module is electrically connected with the position judger, and when the position judger judges that the unmanned aerial vehicle body and the cable to be detected are in an unstable and detectable state, the position judger sends a signal to the second sending module, and the second sending module sends current position information to the ground control system.
In one example, the method further comprises the following steps: and the flight instruction receiver is used for receiving a flight instruction which is sent by the ground control system and is to be executed at present by the unmanned aerial vehicle body.
In one example, the light emitter comprises an infrared light emitter and the light detector comprises an infrared light detector.
In one example, the light emitter and the light detector are disposed on the same side of the drone body as the probe.
In one example, the drone further includes at least one pinhole camera.
The invention also provides a detection method of the fault detection unmanned aerial vehicle, which comprises the following steps:
controlling the unmanned aerial vehicle body to fly along the cable to be tested;
controlling the light emitter to send a signal to a cable to be tested;
judging when the light detector receives the signal reflected from the cable to be detected;
if the signal is in the preset threshold value, the position judger judges that the unmanned aerial vehicle body and the cable to be detected are in a stable and detectable state, and controls the probe to sense the line pulse signal of the cable to be detected.
In one example, the position determiner is electrically connected to the failure detecting device; wherein, position judger judges when unmanned aerial vehicle body and the cable that awaits measuring are in stable detectable state, position judger sends a signal for fault detection device, by fault detection device control the probe starts the detection.
The invention has the beneficial effects that: because install fault detection device and position detection device on unmanned aerial vehicle, wherein, position detection device includes light emitter, photo detector and position judgement ware again, when unmanned aerial vehicle detected the flight along the cable that awaits measuring, by the position of light emitter, photo detector response detection cable that awaits measuring, judge whether unmanned aerial vehicle is in stable detectable state by position judgement ware according to the sensing signal, when being in stable detectable state, again by fault detection device's probe sensing awaits measuring the circuit pulse signal of cable. Furthermore, the position detection device can assist the unmanned aerial vehicle to keep a stable flight distance with the cable to be detected when the unmanned aerial vehicle detects the cable, so that the unmanned aerial vehicle can accurately sense the cable to be detected, and the influence of error or instability of a sensing signal on fault judgment is avoided.
Drawings
Fig. 1 is a schematic structural diagram of a fault detection unmanned aerial vehicle according to an embodiment of the present invention;
fig. 2 is a schematic device wiring diagram of the drone shown in fig. 1;
fig. 3 is a schematic diagram of a device connection of a fault detection unmanned aerial vehicle according to an embodiment of the present invention;
description of reference numerals:
100 unmanned aerial vehicle body;
110 failure detection means;
111 probe, 112 first transmitting module, 113 power supply module;
120 position detection means;
121 an optical emitter, 122 an optical detector, 123 a position determiner, 124 a second sending module;
130 flight command receiver.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein, but rather should be construed as broadly as the present invention is capable of modification in various respects, all without departing from the spirit and scope of the present invention.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
Referring to fig. 1 to 3, a fault detection drone according to an embodiment of the present invention includes a drone body 100, a fault detection device 110, and a position detection device 120.
Unmanned aerial vehicle body 100 mainly is used for loading fault detection device 110, position detection device 120 and flight instruction receiver 130 to drive above part flight, its accessible ground control system controls unmanned aerial vehicle body 100's flight gesture, orbit etc.. The drone body 100 may be a coaxial multi-rotor drone.
The fault detection device 110 is mainly used for detecting a cable to be detected. The fault detection device 110 includes at least one probe 111, the probe 111 is installed on the drone body 100, and the probe 111 is used for sensing a line pulse signal of a cable to be tested. For example, probe 111 can adopt and separate empty electrometric ware, and it is used for detecting whether the cable normally circular telegram to realize the function of detection cable, unmanned aerial vehicle is following the cable flight in-process, and probe 111 constantly detects the circular telegram condition of cable, thereby realizes adopting unmanned aerial vehicle to carry out the fault situation of high altitude detection cable.
Specifically, in the working process, the fault detection unmanned aerial vehicle is controlled to fly right above a cable and fly along the extension direction of the cable, the light emitter 121 emits light, the emitted light is reflected by the cable to be detected and then received by the light detector 122, and if the ratio of the light energy received by the light detector 122 to the light energy emitted by the light emitter 121 is within a set threshold range, the flying position judger 123 judges that the flying state of the fault detection unmanned aerial vehicle is stable and is suitable for detection; it is understood that the set threshold can be pre-calibrated according to various device parameters, and those skilled in the art can determine the set threshold by the optical power of the optical transmitter 121, the beam waist radius, the optical transmitter 121, the cable distance, and the cable reflectivity. The flying position determiner 123 may be a comparison circuit, a single chip, a processor, or the like, and is mainly configured to determine a ratio of light energy detected by the light detector 122 to light energy emitted by the light emitter 121, for example, a threshold range of the ratio of the two light energies is preset to be 2:1-2:1.2, that is, the ratio of the two detected light energies is in the range, both indicating that the flying state is stable, that is, the stable detectable state. If the flight position judger 123 judges that the flight state of the unmanned aerial vehicle is stable and suitable for detection, the detection device enters a sensing working state.
Further, the position determiner 123 is electrically connected to the failure detecting device 110; when the position judger 123 judges that the main body 100 of the unmanned aerial vehicle and the cable to be detected are in a stable and detectable state, the position judger 123 sends a signal to the fault detection device 110, and the fault detection device 110 starts detection.
Specifically, whether or not the failure detection device 110 detects is controlled by the position determiner 123. When the position determiner 123 determines that the unmanned aerial vehicle is in a stable detectable state, the position determiner 123 sends a signal to the fault detection device 110, and then the fault detection device 110 restarts detection. When the position judger 123 judges that the unmanned aerial vehicle is in an unstable detectable state, that is, the flight state of the unmanned aerial vehicle is unstable and not suitable for detection, the detection device stops detection after the position judger 123 sends a signal to the fault detection device 110. This configuration associates the failure detection device 110 with the position determiner 123, and can prevent an error or instability of the sensing signal of the probe 111 from affecting the failure determination.
Further, the fault detection apparatus 110 further includes: a first transmitting module 112, wherein the first transmitting module 112 is used for transmitting the sensing signal of the probe 111; the position determiner 123 is electrically connected to the first sending module 112, and when the position determiner 123 determines that the main body 100 of the unmanned aerial vehicle and the cable to be detected are in an unstable detectable state, the position determiner 123 sends a signal to the fault detection device 110 to control the first sending module 112 not to send information.
Specifically, the first sending module 112 is configured to send a line pulse signal sensed by the drone for the cable to be tested to the ground control system. If the position judger 123 judges that the flight state of the unmanned aerial vehicle is unstable and is not suitable for detection, the first sending module 112 is stopped sending information. This structure associates the position determiner 123 with the first sending module 112, and can prevent the first sending module 112 from erroneously sending information to affect the failure determination.
Further, the position detecting device 120 further includes: a second sending module 124, configured to send information; the second sending module 124 is electrically connected to the position judger 123, and when the position judger 123 judges that the unmanned aerial vehicle body 100 and the cable to be tested are in an unstable and detectable state, the position judger 123 sends a signal to the second sending module 124, and the second sending module 124 sends current position information to the ground control system.
Specifically, if the position judger 123 judges that the flight state of the unmanned aerial vehicle is unstable and unsuitable for detection, it is necessary to send the current position information of the unmanned aerial vehicle to the ground control system, so that the ground control system adjusts the flight position of the unmanned aerial vehicle.
Further, the fault detection unmanned aerial vehicle still includes: the flight instruction receiver 130 is configured to receive a flight instruction that the ground control system sends to the drone body 100 that is currently to be executed.
Specifically, if the position judger 123 judges that the flight status of the unmanned aerial vehicle is unstable and not suitable for detection, it is necessary to send the current position information of the unmanned aerial vehicle to the ground control system, and the flight instruction receiver 130 is configured to receive an instruction for adjusting the flight position of the unmanned aerial vehicle by the ground control system.
Further, light emitter 121 includes infrared light emitter 121 in position detection device 120, and photo detector 122 includes infrared light detector 122 to light emitter 121 and photo detector 122 set up in the homonymy of unmanned aerial vehicle body 100 with probe 111, so that can carry out accurate judgement to unmanned aerial vehicle's flight state.
Further, unmanned aerial vehicle still includes at least one pinhole camera, can acquire on-the-spot cable image through the pinhole camera, and the ground control system of being convenient for controls unmanned aerial vehicle.
Further, the fault detection apparatus 110 further includes: a power supply module 113; the position determiner 123 is electrically connected to the power supply module 113. In operation, the power module 113 is used to supply power to the fault detection device 110. In addition, if the position judger 123 judges that the flight state of the unmanned aerial vehicle is unstable and is not suitable for detection work, the power supply of the power module 113 is stopped, and false detection can be avoided while power consumption is saved.
The detection method of the fault detection unmanned aerial vehicle comprises the following steps: controlling the unmanned aerial vehicle body 100 to fly along the cable to be tested; controlling the optical transmitter 121 to send a signal to the cable to be tested; when the photodetector 122 receives a signal reflected from the cable to be measured, a determination is made; if the signal is within the predetermined threshold, the position determiner 123 determines that the main body 100 of the drone and the cable to be tested are in a stable detectable state, and controls the probe 111 to sense the line pulse signal of the cable to be tested. In addition, when the position determiner 123 determines that the main body 100 of the drone and the cable to be detected are in a stable detectable state, the position determiner 123 sends a signal to the fault detection device 110, and the fault detection device 110 controls the probe 111 to start detection.
Above-mentioned fault detection unmanned aerial vehicle's advantage lies in: when the unmanned aerial vehicle flies along the cable to be detected, the light emitter 121 and the light detector 122 sense and detect the position of the cable to be detected, the position judger 123 judges whether the unmanned aerial vehicle is in a stable detectable state according to the sensing signal, and when the unmanned aerial vehicle is in the stable detectable state, the probe 111 of the fault detection device 110 senses a line pulse signal of the cable to be detected. Furthermore, the position detection device 120 in the invention can assist the unmanned aerial vehicle to maintain a stable flight distance with the cable to be detected when detecting the cable, thereby ensuring that the unmanned aerial vehicle can accurately sense the cable to be detected and avoiding the influence on fault judgment caused by error or instability of a sensing signal.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A fault detection drone, wherein the drone includes:
a drone body (100);
a fault detection device (110) disposed on the drone body (100), the fault detection device (110) including at least one probe (111);
position detection apparatus (120) comprising:
a light emitter (121) disposed on the drone body (100);
a light detector (122) disposed on the drone body (100);
a position determiner (123) electrically connected to the light emitter (121) and the light detector (122), respectively;
wherein, along with unmanned aerial vehicle body (100) are along the flight of the cable that awaits measuring photodetector (122) receive signal that light emitter (121) sent and reflected back by the cable that awaits measuring is in when predetermined threshold value, position judger (123) judge unmanned aerial vehicle body (100) and the cable that awaits measuring are in stable detectable state, and by probe (111) sensing awaits measuring the circuit pulse signal of cable.
2. The fault-detecting drone of claim 1 wherein,
the position judger (123) is electrically connected to the failure detection device (110);
wherein, when the position judger (123) judges that the unmanned aerial vehicle body (100) and the cable to be measured are in a stable detectable state, the position judger (123) sends a signal to the fault detection device (110), and the fault detection device (110) starts detection.
3. The fault detecting drone of claim 2, wherein the fault detecting device (110) further comprises:
a first transmitting module (112), the first transmitting module (112) being configured to transmit a sensing signal of the probe (111);
the position judger (123) is electrically connected with the first sending module (112), and when the position judger (123) judges that the unmanned aerial vehicle body (100) and the cable to be detected are in an unstable and detectable state, the position judger (123) sends a signal to the fault detection device (110) to control the first sending module (112) not to send information.
4. The fault-detecting drone of claim 1, wherein the position detection device (120) further comprises:
a second sending module (124) for sending information;
the second sending module (124) is electrically connected with the position judger (123), when the position judger (123) judges that the unmanned aerial vehicle body (100) and the cable to be tested are in an unstable and detectable state, the position judger (123) sends a signal to the second sending module (124), and the second sending module (124) sends current position information to the ground control system.
5. The fault detecting drone of claim 4, further comprising:
the flight instruction receiver (130) is used for receiving a flight instruction which is sent by the ground control system and is to be executed currently by the unmanned aerial vehicle body (100).
6. The fault detecting drone of claim 1, wherein the light emitter (121) comprises an infrared light emitter (121) and the light detector (122) comprises an infrared light detector (122).
7. The fault detecting drone of claim 6, wherein the light emitter (121) and the light detector (122) are disposed on the same side of the drone body (100) as the probe (111).
8. The fault detecting drone of claim 1, wherein the drone further comprises at least one pinhole camera.
9. The method of detecting a fault detecting drone of any one of claims 1 to 8, wherein the method of detecting includes:
controlling the unmanned aerial vehicle body (100) to fly along a cable to be tested;
controlling the optical transmitter (121) to send a signal to a cable to be tested;
when the optical detector (122) receives the signal reflected from the cable to be tested, judging;
if the signal is in the preset threshold value, the position judger (123) judges that the unmanned aerial vehicle body (100) and the cable to be detected are in a stable and detectable state, and controls the probe (111) to sense the line pulse signal of the cable to be detected.
10. The detection method according to claim 9,
the position judger (123) is electrically connected to the failure detection device (110);
when the position judger (123) judges that the unmanned aerial vehicle body (100) and the cable to be detected are in a stable detectable state, the position judger (123) sends a signal to the fault detection device (110), and the fault detection device (110) controls the probe (111) to start detection.
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| CN202011002874.2A CN112130039A (en) | 2020-09-22 | 2020-09-22 | Fault detection unmanned aerial vehicle and detection method |
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| CN202011002874.2A CN112130039A (en) | 2020-09-22 | 2020-09-22 | Fault detection unmanned aerial vehicle and detection method |
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Application publication date: 20201225 |
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