CN113485408A - Phase method based flight collision avoidance method and device for alternating current power transmission line and electronic equipment - Google Patents
Phase method based flight collision avoidance method and device for alternating current power transmission line and electronic equipment Download PDFInfo
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Abstract
The application relates to the technical field of aircraft control, and discloses an alternating current power transmission line flight anti-collision method, device, electronic equipment and storage medium based on a phase method, wherein the accurate distance value from an aircraft to an alternating current power transmission line is obtained by utilizing the near-field electromagnetic phase characteristic, so that the flight safety is guaranteed, and the method comprises the following steps: acquiring the electric field phase and the magnetic field phase measured by a phase detector on the aircraft; determining a vertical distance of the aircraft to an alternating current transmission line based on a phase distribution model of the alternating current transmission line in a three-dimensional space and the measured electric field phase and magnetic field phase; wherein the phase distribution model is used for describing the distribution of the electric field phase and the magnetic field phase generated by the alternating current power transmission line at each point in the three-dimensional space; and performing collision avoidance control on the aircraft based on the vertical distance of the aircraft to the alternating current power transmission line.
Description
Technical Field
The application relates to the technical field of aircraft control, in particular to a phase method-based alternating current power transmission line flight anti-collision method and device and electronic equipment.
Background
With the more extensive application of aircrafts represented by helicopters in industrial and agricultural production and emergency rescue, the rapid development of the related industries of unmanned aerial vehicles and the continuous and deep development of the open reform of low-altitude airspace in China, the retention capacity of aircrafts will show a rapidly rising trend when the general aviation industry in China is in the golden period of development in the foreseeable future. The aircraft low-altitude flight has the characteristics of low height, high speed and complex environment, in the flight process, an aircraft driver mainly relies on visual search to identify ground obstacles, the problems of short finding distance, low judging accuracy and large limitation of weather conditions exist, particularly, when the driver identifies the overhead power transmission cable, the distance is 100-200 m to find a high-voltage wire under the condition of good visibility, the finding distance can be shortened by times in the weather with poor visibility such as low cloud, fog and the like, so that the pilot can not accurately and rapidly find the overhead power transmission cable, effective avoidance is realized, potential safety hazards exist, and the wire collision accident is easy to happen.
At present, the overhead power transmission cable detection technology of the low-altitude aircraft is mainly divided into an active detection type and a passive detection type.
The active detection type mainly comprises a laser radar and a millimeter wave radar, the working principle of the active detection type is similar, and the active detection type mainly comprises the steps of transmitting and receiving electromagnetic waves reflected by obstacles, and processing the electromagnetic waves through a signal processing technology so as to obtain information such as the position, the distance and the like of a target. As an active detection radar, the detection radar needs to consume larger power, has higher cost and occupies larger space of a machine body, the application of the detection radar on small and medium-sized low-cost aircrafts is limited due to the reasons, and meanwhile, the problems of low resolution of the millimeter wave radar and the laser radar which is easily influenced by severe weather also need to be further improved.
The passive detection method mainly comprises two methods of image recognition and electromagnetic field detection. The image recognition is mainly to shoot images of infrared, visible light, ultraviolet and other wave bands, and extract and recognize the overhead power transmission cable through an image processing technology and a matched algorithm. At present, the method has a certain research progress, but similar to the laser radar, the method is greatly influenced in severe weather, and particularly, the detection capability of a visible light band image recognition system is greatly reduced in night compared with the daytime.
Disclosure of Invention
The embodiment of the application provides an alternating current power transmission line flight anti-collision method and device based on a phase method, electronic equipment and a storage medium, and the accurate distance value from an aircraft to an alternating current power transmission line is obtained by utilizing the near-field electromagnetic phase characteristic, so that flight safety is guaranteed.
On one hand, an embodiment of the application provides an alternating current transmission line flight anti-collision method based on a phase method, which includes:
acquiring the electric field phase and the magnetic field phase measured by a phase detector on the aircraft;
determining a vertical distance of the aircraft to an alternating current transmission line based on a phase distribution model of the alternating current transmission line in a three-dimensional space and the measured electric field phase and magnetic field phase; wherein the phase distribution model is used for describing the distribution of the electric field phase and the magnetic field phase generated by the alternating current power transmission line at each point in the three-dimensional space;
and performing collision avoidance control on the aircraft based on the vertical distance of the aircraft to the alternating current power transmission line.
Optionally, the phase distribution model is:
wherein phiHIs the phase of the magnetic field, phiEIs the phase of the electric field, and omega is the current of said AC transmission lineThe variation frequency, c the speed of light, r the vertical distance of the aircraft from the ac power line.
Optionally, the method further comprises:
acquiring a magnetic field direction measured by a magnetic field direction sensor and an electric field direction measured by an electric field direction sensor on the aircraft;
obtaining a poynting vector of the position of the aircraft based on the measured magnetic field direction and electric field direction;
determining a power line heading of the AC power line based on the poynting vector;
determining a spatial position of the AC power line relative to the aircraft based on the electric field direction, the vertical distance, and the power line strike.
Optionally, the method further comprises:
determining a distance of impact of the aircraft to the AC power line based on a spatial position of the AC power line relative to the aircraft and a flight direction of the aircraft.
Optionally, the method further comprises:
determining a spatial location of the AC power line based on the location information of the aircraft and the spatial location of the AC power line relative to the aircraft.
Optionally, the performing collision avoidance control on the aircraft based on the vertical distance from the aircraft to the ac power transmission line specifically includes:
and if the vertical distance from the aircraft to the alternating current transmission line is smaller than a safety distance threshold value, performing anti-collision alarm.
Optionally, the collision avoidance control further comprises: adjusting at least one parameter of a flying height, a flying direction and a flying speed of the aircraft.
On the one hand, this application embodiment provides an alternating current transmission line flight buffer stop based on phase method, includes:
the measuring module is used for acquiring the electric field phase and the magnetic field phase measured by the phase detector on the aircraft;
a processing module for determining the vertical distance of the aircraft to the alternating current transmission line based on a phase distribution model of the alternating current transmission line in a three-dimensional space and the measured electric field phase and magnetic field phase; wherein the phase distribution model is used for describing the distribution of the electric field phase and the magnetic field phase generated by the alternating current power transmission line at each point in the three-dimensional space;
and the control module is used for carrying out anti-collision control on the aircraft based on the vertical distance between the aircraft and the alternating current power transmission line.
In one aspect, an embodiment of the present application provides an electronic device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of any one of the methods when executing the computer program.
In one aspect, an embodiment of the present application provides a computer-readable storage medium having stored thereon computer program instructions, which, when executed by a processor, implement the steps of any of the above-described methods.
In one aspect, an embodiment of the present application provides a computer program product or a computer program comprising computer instructions stored in a computer readable storage medium. The processor of the computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions to cause the computer device to perform the method provided in any of the various alternative implementations of control of TCP transmission performance described above.
According to the alternating current power transmission line flight anti-collision method, the alternating current power transmission line flight anti-collision device, the electronic equipment and the storage medium based on the phase method, the alternating current power transmission line near the aircraft is regarded as an approximate straight wire with the length far larger than the diameter, model construction is conducted by utilizing near-field electromagnetic phase characteristics, a scheme for positioning by the sensor based on the single-point position is provided, the phase difference between an electric field component and a magnetic field component of a measuring point in the aircraft flight process is obtained, the phase difference is substituted into a phase distribution model, the accurate vertical distance between the aircraft and the alternating current power transmission line is obtained in real time in the flight process, the aircraft is prevented from colliding with the alternating current power transmission line, and the flight safety of the aircraft is guaranteed. Since only one measuring point of the aircraft needs to be provided with a sensor for measuring the electric field and the magnetic field, the device can be well adapted to the limited space in the aircraft, and the measuring precision is improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1A is a schematic view of an application scenario of a phase method-based ac power transmission line flight collision avoidance method according to an embodiment of the present application;
fig. 1B is a block diagram of a measurement device on an aircraft according to an embodiment of the present disclosure;
fig. 2 is a schematic flow chart of a method for preventing collision of an ac power transmission line based on a phase method according to an embodiment of the present disclosure;
fig. 3 is a schematic diagram of a method for preventing collision of an ac power transmission line based on a phase method according to an embodiment of the present disclosure;
FIG. 4 is a schematic illustration of a spatial relationship between an aircraft and an AC power line provided by an embodiment of the present application;
fig. 5 is a schematic structural diagram of an ac power transmission line flight anti-collision device based on a phase method according to an embodiment of the present application;
fig. 6 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
Embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
It should be noted that, in the case of no conflict, the features in the following embodiments and examples may be combined with each other; moreover, all other embodiments that can be derived by one of ordinary skill in the art from the embodiments disclosed herein without making any creative effort fall within the scope of the present disclosure.
It is noted that various aspects of the embodiments are described below within the scope of the appended claims. It should be apparent that the aspects described herein may be embodied in a wide variety of forms and that any specific structure and/or function described herein is merely illustrative. Based on the disclosure, one skilled in the art should appreciate that one aspect described herein may be implemented independently of any other aspects and that two or more of these aspects may be combined in various ways. For example, an apparatus may be implemented and/or a method practiced using any number of the aspects set forth herein. Additionally, such an apparatus may be implemented and/or such a method may be practiced using other structure and/or functionality in addition to one or more of the aspects set forth herein.
For convenience of understanding, terms referred to in the embodiments of the present application are explained below:
aircraft (aircraft): is a large category of aircraft and refers to any machine that achieves aerodynamic lift-off flight through the relative movement of the fuselage and the air (not by the reaction of the air against the ground). The aircraft in the embodiments of the present application include, but are not limited to, balloons, airships, airplanes, gliders, gyroplanes, helicopters, ornithopters, tiltrotors, and the like. The aircraft in the embodiments of the present application may be a manned or unmanned aircraft.
An alternating current transmission line: refers to a cable for transmitting electric energy by means of alternating current. The alternating current transmission line in the embodiment of the application mainly refers to an alternating current transmission line erected outdoors, in particular to a high-voltage transmission line in the field. The high-voltage power transmission cable transmits alternating current with power frequency, the power frequency of an alternating current power transmission line used in most countries including China is 50Hz, the power frequency of an alternating current power transmission line used in a few countries such as the United states and Canada is 60Hz, and the high-voltage power transmission cable transmits alternating current with power frequency.
Poynting vector (Poynting vector): refers to the fluence vector in the electromagnetic field. The electric field intensity at a certain position in the space is E, the magnetic field intensity is H, the energy flux density of the electromagnetic field at the position is S-E multiplied by H, the direction is determined by E and H according to the right-hand spiral rule, and the direction is along the propagation direction of the electromagnetic wave. The magnitude is EHsin θ, θ is the angle between E and H, representing the energy per unit time through a vertical unit area in watts/(meter).
Any number of elements in the drawings are by way of example and not by way of limitation, and any nomenclature is used solely for differentiation and not by way of limitation.
In the concrete practice process, the existing mature active detection type and passive detection type overhead transmission cable detection technologies have the problems that the technologies cannot adapt to various severe environments and the detection accuracy is low.
When the alternating current power transmission line works, a cable current can generate a power frequency electromagnetic field, when an aircraft approaches the power transmission line, the electromagnetic field emitted by the power line can be detected, electromagnetic field characteristic information contained in the electromagnetic field characteristic information can be extracted, and after algorithm conversion is carried out, information such as the distance and the direction of the power line relative to the aircraft can be obtained, so that an aircraft driver is reminded of avoiding the information in time. The power frequency electromagnetic field is an ultralong wave electromagnetic field, the wavelength of the power frequency electromagnetic field is about 6000km according to the power frequency of 50Hz used in China, and the power line detection distance of an aircraft is usually within 10km and far less than the distance of one wavelength. Although the near-far field region of the electromagnetic wave is not strictly defined at present, no matter the judgment is made by any model, the aircraft is in the near field region of the power frequency electromagnetic field. In the near field region of the electromagnetic field, the electric field and the magnetic field are independent components which can be measured respectively, and simultaneously, the synchronous phase relationship does not exist, the electromagnetic wave is different from the electromagnetic wave in the far field region in the general sense, the electric field vector and the magnetic field vector are closely coupled in the wave impedance relationship, and at the moment, the electric field vector and the magnetic field vector are considered to be independent power frequency electric field and power frequency magnetic field in the space.
The idea of using the power frequency electromagnetic field sent by the power transmission line to prevent the aircraft from wire collision begins in 1978 at first, Young proposes a method for warning the aircraft near the power line by detecting the power frequency magnetic field intensity, and the detected power frequency magnetic field intensity is increased continuously along with the fact that the aircraft is close to the power line, so that a pilot is prompted to improve the vigilance. In 1989, Merritt proposed a method for warning aircraft pilots approaching the power line by detecting the power frequency electric field, and also determined the relative distance according to the electric field strength. In 1998, Greene designed a set of audible and visual warning systems that detected the AC signal emitted by the power line at a particular frequency of 50Hz or 60Hz to alert the pilot that he is approaching the power line by detecting the strength of the AC signal. In 2003, Greene has continued to improve the aircraft anti-collision line warning system based on alternating current signal detection, and through cooperating with the GPS system, has integrated the detected power line information onto the visual navigation system, has realized the visual display of the relative position of the power line.
The research and technical development work perfects the aircraft anti-collision line technology based on power frequency electromagnetic field detection, but has some defects. For example, the power line position information obtained by the above detection means is usually fuzzy information, and generally only the pilot can be reminded of approaching distance through the enhancement of signal strength, but a specific distance value cannot be displayed; in the early scheme, because the electromagnetic wave near field theory is not mature, the physical model of the power frequency electromagnetic field around the power line is set simply, and deviation exists between the physical model and the actual situation; the scheme is limited by the performance of electronic components and the processing capacity of a computer at that time, and in practical application, the reaction time is longer, the false alarm rate is higher, and therefore large-scale popularization is not performed. However, with the use of a large number of novel low-altitude general aircrafts such as unmanned planes and high-speed helicopters, the further exploration and research of a new generation of electromagnetic detection anti-collision line technology is becoming more urgent, no matter in the military or civil fields.
For this purpose, the application provides an alternating current transmission line flight anti-collision method based on a phase method, firstly, a phase distribution model for describing the distribution relation of electric field phases and magnetic field phases generated by the alternating current transmission line at each point in a three-dimensional space is constructed, and then a phase detector for measuring the electric field phases and the magnetic field phases is installed at the same position on an aircraft. The method comprises the steps of acquiring an electric field phase and a magnetic field phase measured by a phase detector on an aircraft in real time in the flight process of the aircraft, determining the vertical distance from the aircraft to an alternating current power transmission line based on a pre-constructed phase distribution model and the electric field phase and the magnetic field phase measured in real time, and performing anti-collision control on the aircraft based on the vertical distance from the aircraft to the alternating current power transmission line, so that the aircraft can safely perform low-altitude flight in a power line existing region, and the method contributes to further opening of low-altitude and urban airspace and general aviation development. Furthermore, a sensor for measuring the direction of the magnetic field and the direction of the electric field is further installed on the aircraft, the trend of the power line of the alternating current power transmission line is determined based on the measured direction of the magnetic field and the measured direction of the electric field, and then the spatial position relation between the alternating current power transmission line and the aircraft is determined, so that the flight track of the aircraft is adjusted better, and the flight safety of the aircraft is guaranteed.
After introducing the design concept of the embodiment of the present application, some simple descriptions are provided below for application scenarios to which the technical solution of the embodiment of the present application can be applied, and it should be noted that the application scenarios described below are only used for describing the embodiment of the present application and are not limited. In specific implementation, the technical scheme provided by the embodiment of the application can be flexibly applied according to actual needs.
Reference is made to fig. 1A, which is a schematic view of an application scenario of an ac power transmission line flight collision avoidance method based on a phase method according to an embodiment of the present application. The application scenario comprises an aircraft 10 and an overhead alternating current transmission line 20, wherein a measuring device 30 suitable for a phase method is arranged inside the aircraft 10. Referring to fig. 1B, the measurement apparatus 30 includes a phase detector 101 for measuring electric field phases and magnetic field phases to measure the electric field phases and the magnetic field phases in the same spatial position. The aircraft 10 is further provided with a processor 104 connected with the phase detector 101, and during the flight of the aircraft 10, the processor 104 acquires the electric field phase and the magnetic field phase acquired by the phase detector 101, processes the electric field phase and the magnetic field phase to obtain the vertical distance from the aircraft 10 to the alternating current power transmission line 20, and outputs a corresponding collision avoidance instruction to the aircraft 10 based on the vertical distance from the aircraft 10 to the alternating current power transmission line 20 so as to perform collision avoidance control on the aircraft 10. Further, the aircraft 10 is further provided with a sensor 102 for measuring a magnetic field direction and a sensor 103 for measuring an electric field direction, and the processor 104 determines the power line direction of the alternating current power transmission line 20 based on the measured magnetic field direction and electric field direction, and further determines the spatial position relationship between the alternating current power transmission line 20 and the aircraft 10, so as to adjust the flight trajectory of the aircraft 10 better and ensure the flight safety of the aircraft 10.
Of course, the method provided in the embodiment of the present application is not limited to the application scenario shown in fig. 1A, and may also be used in other possible application scenarios, and the embodiment of the present application is not limited. Functions that can be implemented by each device of the application scenario shown in fig. 1A will be described in the following method embodiment, and will not be described in detail herein.
To further illustrate the technical solutions provided by the embodiments of the present application, the following detailed description is made with reference to the accompanying drawings and the detailed description. Although the embodiments of the present application provide the method operation steps as shown in the following embodiments or figures, more or less operation steps may be included in the method based on the conventional or non-inventive labor. In steps where no necessary causal relationship exists logically, the order of execution of the steps is not limited to that provided by the embodiments of the present application.
The following describes the technical solution provided in the embodiment of the present application with reference to the application scenario shown in fig. 1A.
Referring to fig. 2, an embodiment of the present application provides a phase method-based ac power transmission line flight collision avoidance method, including the following steps:
s201, acquiring an electric field phase and a magnetic field phase measured by a phase detector on the aircraft.
Wherein the phase detector is installed at a measurement point on the aircraft to obtain an electric field phase and a magnetic field phase generated at the measurement point to the alternating current transmission line. Along with the flight of the aircraft, the position of the measuring point in the three-dimensional space changes, so that the electric field phase and the magnetic field phase of the alternating current transmission line at different points in the three-dimensional space are measured.
S202, determining the vertical distance from the aircraft to the alternating current power transmission line based on the phase distribution model of the alternating current power transmission line in the three-dimensional space and the measured electric field phase and magnetic field phase.
The phase distribution model is used for describing the distribution of electric field phases and magnetic field phases generated by the alternating current power transmission line at each point in three-dimensional space.
In specific implementation, the alternating current power transmission line near the aircraft is regarded as an approximate straight wire with the length much larger than the diameter, so that a phase distribution model of the alternating current power transmission line in a three-dimensional space is obtained. Specifically, the phase distribution model can be expressed by the following formula:
wherein phiHIs the phase of the magnetic field, phiEIn terms of electric field phase, ω is the current change frequency (i.e., the power frequency) of the ac power line, c is the speed of light, and r is the vertical distance from the aircraft to the ac power line. Where ω and c are known quantities, and the vertical distance r from the aircraft to the ac power transmission line can be calculated by inputting the electric field phase and the magnetic field phase measured by the phase detector into the phase distribution model.
It should be noted that r obtained by the above formula calculation is actually the vertical distance from the measurement point on the aircraft to the ac power line, and within the error tolerance, r can be directly used as the vertical distance from the aircraft to the ac power line. If the measurement accuracy is to be improved, the vertical distance of the aircraft from the ac power line may be further determined based on the specific location of the measurement point on the aircraft and r.
And S203, performing collision avoidance control on the aircraft based on the vertical distance between the aircraft and the alternating current power transmission line.
When the method is specifically implemented, a safety distance threshold value can be preset, and if the vertical distance from the aircraft to the alternating current power transmission line is smaller than the safety distance threshold value, collision avoidance alarm is performed to prompt that the aircraft is too close to the alternating current power transmission line. After receiving the anti-collision alarm, the aircraft operator can manually adjust the flying height, flying direction, flying speed and the like of the aircraft, so that the aircraft is far away from the alternating current power transmission line.
Further, if the vertical distance from the aircraft to the alternating current power line is smaller than the safety distance threshold value, at least one parameter of the flying height, the flying direction and the flying speed of the aircraft can be automatically adjusted according to the vertical distance from the aircraft to the alternating current power line, so that the aircraft avoids the alternating current power line. The anti-collision mode of automatically adjusting the attitude of the aircraft can ensure the flight safety of the unmanned aircraft.
According to the existing near-field electromagnetic ranging scheme, a conventional model which needs to be provided with three different position sensors for three-point positioning is used, space in an aircraft is limited, high-precision distance measurement can be realized only by using a high-precision sensor, and the method is difficult to realize in the actual scene of the aircraft.
According to the alternating current power transmission line flight anti-collision method based on the phase method, the alternating current power transmission line near the aircraft is regarded as an approximate straight wire with the length far larger than the diameter, model construction is carried out by utilizing the near-field electromagnetic phase characteristic, a scheme for positioning by the sensor based on the single-point position is provided, the phase difference between the electric field component and the magnetic field component of a measuring point in the aircraft flight process is obtained, the phase difference is substituted into a phase distribution model, the accurate vertical distance between the aircraft and the alternating current power transmission line is obtained in real time in the flight process, the aircraft is prevented from colliding with the alternating current power transmission line, and the flight safety of the aircraft is guaranteed. Since only one measuring point of the aircraft needs to be provided with a sensor for measuring the electric field and the magnetic field, the device can be well adapted to the limited space in the aircraft, and the measuring precision is improved.
On the basis of any one of the above embodiments, referring to fig. 3, the method for preventing collision of a flying ac power line based on a phase method according to the embodiment of the present application further includes the following steps:
s301, acquiring the magnetic field direction measured by the magnetic field direction sensor and the electric field direction measured by the electric field direction sensor on the aircraft.
The magnetic field direction and the electric field direction which are respectively output by the magnetic field direction sensor and the electric field direction sensor are three-dimensional vectors. Magnetic field direction sensors and electric field direction sensors are also provided at measurement points on the aircraft to detect the magnetic field direction and the electric field direction at the measurement points.
In a specific implementation, the sensor for measuring the direction of the electric field may be a three-dimensional electric field sensor, and the sensor for measuring the direction of the magnetic field may be a three-component fluxgate sensor.
S302, obtaining the poynting vector of the position of the aircraft based on the measured magnetic field direction and electric field direction.
The poynting vector is a three-dimensional vector, and is E multiplied by H, E represents the direction of the electric field, and H represents the direction of the magnetic field.
S303, determining the power line direction of the alternating current power transmission line based on the poynting vector.
According to the poynting theorem, the direction of the poynting vector is the direction of the energy flux density in the electromagnetic field, and in the approximately infinite straight conductor model, the direction of the poynting vector can be considered to coincide with the current direction of the ac power line, and therefore, the direction expressed by the poynting vector is the power line direction of the ac power line.
And S304, determining the spatial position of the alternating current power transmission line relative to the aircraft based on the electric field direction, the vertical distance and the power line trend.
Taking fig. 4 as an example, the spatial position of the ac power line relative to the aircraft can be obtained starting from a measurement point O of the aircraft along the electric field direction E over a vertical distance r to a point a on the ac power line, along the power line direction S at point a. Wherein, the electric field direction E and the electric line of force trend S are mutually perpendicular. According to the included angle beta and the vertical distance r between the electric field direction and the vertical direction, the altitude difference h between the aircraft and the alternating current transmission line is calculated to be rcos beta.
Further, the position information of the aircraft may be acquired by a positioning system such as a GPS, a gyroscope, or the like, and the spatial position of the ac power line may be determined based on the position information of the aircraft and the spatial position of the ac power line with respect to the aircraft.
Through the method, in the flight process of the aircraft, the accurate three-dimensional space position information of the alternating current power transmission line measured at each position on the flight track of the aircraft is obtained, so that the distribution position of the alternating current power transmission line in the map data is drawn based on a large amount of position information and is recorded in the database, and the obstacle data in the three-dimensional navigation map data is updated. At present, the position information of the alternating current power transmission line in China is not public, so that the three-dimensional navigation map data can be continuously updated through the measurement data of the aircraft, and the flight safety of the aircraft is improved.
Further, the method of the embodiment of the present application further includes the following steps: the aircraft-to-ac power line impact distance is determined based on the spatial position of the ac power line relative to the aircraft and the flight direction of the aircraft.
The flight direction of the aircraft can be acquired based on positioning systems such as a GPS (global positioning system) and a gyroscope on the aircraft, and the specific process is not repeated.
Wherein the impact distance is the distance of the aircraft to the vertical plane on which the ac power line is located in the direction of flight. Taking fig. 4 as an example, the impact distance D from the aircraft to the ac power line can be calculated by translating the ac power line to the altitude of the aircraft, where OA' is rsin β, the included angle α between v and S is calculated according to the flight direction v of the aircraft and the power line trend S, and then the impact distance D is rsin β/sin α is calculated.
According to data such as the impact distance and the spatial position of the alternating current power transmission line relative to the aircraft, the flying height, the flying direction, the flying speed and the like can be adjusted more accurately, and the aircraft is prevented from colliding with the alternating current power transmission line.
Based on range finding and crashproof control mode of high accuracy for the airborne vehicle can press close to the alternating current power transmission line and fly when patrolling and examining the alternating current power transmission line, patrols and examines the colleague of the degree of accuracy in the improvement, guarantees airborne vehicle safety.
As shown in fig. 5, based on the same inventive concept as the above-mentioned ac power line flight collision avoidance method based on the phase method, the embodiment of the present application further provides an ac power line flight collision avoidance apparatus 50 based on the phase method, including:
a measuring module 501, configured to acquire an electric field phase and a magnetic field phase measured by a phase detector on the aircraft;
a processing module 502 for determining a vertical distance of the aircraft to an alternating current transmission line based on a model of a phase distribution of the alternating current transmission line in three-dimensional space and the measured electric field phase and magnetic field phase; wherein the phase distribution model is used for describing the distribution of the electric field phase and the magnetic field phase generated by the alternating current power transmission line at each point in the three-dimensional space;
a control module 503, configured to perform collision avoidance control on the aircraft based on a vertical distance from the aircraft to the ac power line.
Optionally, the phase distribution model is:
wherein phiHIs the phase of the magnetic field, phiEω is the frequency of the current change of the ac power line, c is the speed of light, and r is the vertical distance of the aircraft from the ac power line.
Optionally, the measurement module 501 is further configured to: acquiring a magnetic field direction measured by a magnetic field direction sensor and an electric field direction measured by an electric field direction sensor on the aircraft;
the processing module 502 is further configured to: obtaining a poynting vector of the position of the aircraft based on the measured magnetic field direction and electric field direction; determining a power line heading of the AC power line based on the poynting vector; determining a spatial position of the AC power line relative to the aircraft based on the electric field direction, the vertical distance, and the power line strike.
Optionally, the processing module 502 is further configured to: determining a distance of impact of the aircraft to the AC power line based on a spatial position of the AC power line relative to the aircraft and a flight direction of the aircraft.
Optionally, the processing module 502 is further configured to: determining a spatial location of the AC power line based on the location information of the aircraft and the spatial location of the AC power line relative to the aircraft.
Optionally, the control module 503 is specifically configured to: and if the vertical distance from the aircraft to the alternating current transmission line is smaller than a safety distance threshold value, performing anti-collision alarm.
Optionally, the collision avoidance control further comprises: adjusting at least one parameter of a flying height, a flying direction and a flying speed of the aircraft.
The phase method-based alternating current power transmission line flight anti-collision device and the phase method-based alternating current power transmission line flight anti-collision method provided by the embodiment of the application adopt the same inventive concept, can obtain the same beneficial effects, and are not repeated herein.
Based on the same inventive concept as the above-mentioned phase method-based ac power transmission line flight collision avoidance method, the embodiment of the present application further provides an electronic device, which may specifically be a control device or a control system in an aircraft, or an additionally provided processing system, and the like. As shown in fig. 6, the electronic device 60 may include a processor 601 and a memory 602.
The Processor 601 may be a general-purpose Processor, such as a Central Processing Unit (CPU), a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, discrete gate or transistor logic device, discrete hardware component, and may implement or execute the methods, steps, and logic blocks disclosed in the embodiments of the present Application. A general purpose processor may be a microprocessor or any conventional processor or the like. The steps of a method disclosed in connection with the embodiments of the present application may be directly implemented by a hardware processor, or may be implemented by a combination of hardware and software modules in a processor.
The memory 602, which is a non-volatile computer-readable storage medium, may be used to store non-volatile software programs, non-volatile computer-executable programs, and modules. The Memory may include at least one type of storage medium, and may include, for example, a flash Memory, a hard disk, a multimedia card, a card-type Memory, a Random Access Memory (RAM), a Static Random Access Memory (SRAM), a Programmable Read Only Memory (PROM), a Read Only Memory (ROM), a charge Erasable Programmable Read Only Memory (EEPROM), a magnetic Memory, a magnetic disk, an optical disk, and so on. The memory is any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer, but is not limited to such. The memory 602 in the embodiments of the present application may also be circuitry or any other device capable of performing a storage function for storing program instructions and/or data.
Those of ordinary skill in the art will understand that: all or part of the steps for implementing the method embodiments may be implemented by hardware related to program instructions, and the program may be stored in a computer readable storage medium, and when executed, the program performs the steps including the method embodiments; the computer storage media may be any available media or data storage device that can be accessed by a computer, including but not limited to: various media that can store program codes include a removable Memory device, a Random Access Memory (RAM), a magnetic Memory (e.g., a flexible disk, a hard disk, a magnetic tape, a magneto-optical disk (MO), etc.), an optical Memory (e.g., a CD, a DVD, a BD, an HVD, etc.), and a semiconductor Memory (e.g., a ROM, an EPROM, an EEPROM, a nonvolatile Memory (NAND FLASH), a Solid State Disk (SSD)).
Alternatively, the integrated units described above in the present application may be stored in a computer-readable storage medium if they are implemented in the form of software functional modules and sold or used as independent products. Based on such understanding, the technical solutions of the embodiments of the present application may be essentially implemented or portions thereof contributing to the prior art may be embodied in the form of a software product stored in a storage medium, and including several instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the methods described in the embodiments of the present application. And the aforementioned storage medium includes: various media that can store program codes include a removable Memory device, a Random Access Memory (RAM), a magnetic Memory (e.g., a flexible disk, a hard disk, a magnetic tape, a magneto-optical disk (MO), etc.), an optical Memory (e.g., a CD, a DVD, a BD, an HVD, etc.), and a semiconductor Memory (e.g., a ROM, an EPROM, an EEPROM, a nonvolatile Memory (NAND FLASH), a Solid State Disk (SSD)).
The above description is only for the specific embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. The utility model provides an alternating current transmission line flight anticollision method based on phase place method which characterized in that includes:
acquiring the electric field phase and the magnetic field phase measured by a phase detector on the aircraft;
determining a vertical distance of the aircraft to an alternating current transmission line based on a phase distribution model of the alternating current transmission line in a three-dimensional space and the measured electric field phase and magnetic field phase; wherein the phase distribution model is used for describing the distribution of the electric field phase and the magnetic field phase generated by the alternating current power transmission line at each point in the three-dimensional space;
and performing collision avoidance control on the aircraft based on the vertical distance of the aircraft to the alternating current power transmission line.
2. The method of claim 1, wherein the phase distribution model is:
wherein phiHIs the phase of the magnetic field, phiEω is the frequency of the current change of the ac power line, c is the speed of light, and r is the vertical distance of the aircraft from the ac power line.
3. The method of claim 1, further comprising:
acquiring a magnetic field direction measured by a magnetic field direction sensor and an electric field direction measured by an electric field direction sensor on the aircraft;
obtaining a poynting vector of the position of the aircraft based on the measured magnetic field direction and electric field direction;
determining a power line heading of the AC power line based on the poynting vector;
determining a spatial position of the AC power line relative to the aircraft based on the electric field direction, the vertical distance, and the power line strike.
4. The method of claim 3, further comprising:
determining a distance of impact of the aircraft to the AC power line based on a spatial position of the AC power line relative to the aircraft and a flight direction of the aircraft.
5. The method of claim 3, further comprising:
determining a spatial location of the AC power line based on the location information of the aircraft and the spatial location of the AC power line relative to the aircraft.
6. The method according to any one of claims 1 to 5, wherein the performing collision avoidance control on the aircraft based on the vertical distance of the aircraft from the ac power line comprises:
and if the vertical distance from the aircraft to the alternating current transmission line is smaller than a safety distance threshold value, performing anti-collision alarm.
7. The method of claim 6, the collision avoidance control further comprising: adjusting at least one parameter of a flying height, a flying direction and a flying speed of the aircraft.
8. The utility model provides an alternating current transmission line flight buffer stop based on phase method which characterized in that includes: .
The measuring module is used for acquiring the electric field phase and the magnetic field phase measured by the phase detector on the aircraft;
a processing module for determining the vertical distance of the aircraft to the alternating current transmission line based on a phase distribution model of the alternating current transmission line in a three-dimensional space and the measured electric field phase and magnetic field phase; wherein the phase distribution model is used for describing the distribution of the electric field phase and the magnetic field phase generated by the alternating current power transmission line at each point in the three-dimensional space;
and the control module is used for carrying out anti-collision control on the aircraft based on the vertical distance between the aircraft and the alternating current power transmission line.
9. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the steps of the method of any of claims 1 to 7 are implemented when the computer program is executed by the processor.
10. A computer-readable storage medium having computer program instructions stored thereon, which, when executed by a processor, implement the steps of the method of any one of claims 1 to 7.
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