CN113485408B - Alternating current transmission line flying anti-collision method and device based on phase method and electronic equipment - Google Patents
Alternating current transmission line flying anti-collision method and device based on phase method 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 a near-field electromagnetic phase characteristic is utilized to obtain a precise distance value from an aircraft to an alternating current power transmission line, so that flight safety is ensured, and the method comprises the following steps: acquiring an electric field phase and a magnetic field phase measured by a phase detector on an aircraft; determining a vertical distance of the aircraft to the ac power line based on a phase distribution model of the ac power line in three-dimensional space, and the measured electric and magnetic field phases; the phase distribution model is used for describing the distribution of electric field phases and magnetic field phases generated by the alternating current transmission line at each point in a three-dimensional space; and performing anti-collision control on the aircraft based on the vertical distance between the aircraft and the alternating current power transmission line.
Description
Technical Field
The application relates to the technical field of aircraft control, in particular to an alternating current transmission line flying anti-collision method and device based on a phase method and electronic equipment.
Background
With the wider application of aircrafts represented by helicopters in industrial and agricultural production and emergency rescue, the rapid development of related industries of unmanned aerial vehicles and the continuous deep development of open reform of low-altitude airspace in China, the general aviation industry in China will be in a gold period of development in the foreseeable future, and the holding amount of aircrafts will show a rapid rise. The low-altitude flight of the aircraft has the characteristics of low height, high speed and complex environment, in the flight process, an aircraft pilot mainly relies on visual search to identify ground obstacles, the problems of short discovery distance, low judgment accuracy and large limitation on weather conditions exist, particularly when the pilot identifies an overhead transmission cable, the pilot can discover high-voltage wires only by 100-200 m under the condition of good visibility, the discovery distance can be shortened in multiple when weather with poor visibility such as low cloud, fog and the like, the pilot can not accurately and rapidly discover the overhead transmission cable, the pilot can effectively avoid the overhead transmission cable, potential safety hazards exist, and the cable collision accident is extremely easy to occur.
Currently, overhead power cable detection technologies of low-altitude aircraft are mainly classified into active detection type and passive detection type.
The active detection type radar mainly comprises a laser radar and a millimeter wave radar, the working principles of the active detection type radar and the millimeter wave radar are similar, electromagnetic waves reflected by obstacles are transmitted and received, and the electromagnetic waves are processed through a signal processing technology, so that information such as the position and the distance of a target is obtained. As an active detection radar, larger power needs to be consumed, the cost is higher, the occupied space is larger, the application of the detection radar on small and medium-sized low-cost aircrafts is limited due to the above reasons, and meanwhile, the problem that the resolution of the millimeter wave radar is low and the problem that the laser radar is easily affected by bad weather also need to be further improved at present.
The passive detection method mainly comprises two methods of image recognition and electromagnetic field detection. The image recognition mainly comprises the steps of capturing images of infrared, visible light, ultraviolet and other wavebands, and extracting and recognizing overhead power cables through an image processing technology and a matching algorithm. At present, the method has been researched and developed to a certain extent, but similar to a laser radar, the method is greatly influenced in severe weather, and particularly the detection capability of a visible light wave band image recognition system is greatly reduced in the daytime at night.
Disclosure of Invention
The embodiment of the application provides an alternating current power transmission line flight anti-collision method, an alternating current power transmission line flight anti-collision device, electronic equipment and a storage medium based on a phase method, and accurate distance values from an aircraft to an alternating current power transmission line are obtained by utilizing near-field electromagnetic phase characteristics, so that flight safety is guaranteed.
In one aspect, an embodiment of the present application provides a phase method-based flying anti-collision method for an ac power transmission line, including:
acquiring an electric field phase and a magnetic field phase measured by a phase detector on an aircraft;
determining a vertical distance of the aircraft to the ac power line based on a phase distribution model of the ac power line in three-dimensional space, and the measured electric and magnetic field phases; the phase distribution model is used for describing the distribution of electric field phases and magnetic field phases generated by the alternating current transmission line at each point in a three-dimensional space;
and performing anti-collision control on the aircraft based on the vertical distance between the aircraft and the alternating current power transmission line.
Optionally, the phase distribution model is:
wherein phi is H Is the magnetic field phase phi E And ω is the current change frequency of the alternating current power transmission line, c is the speed of light, and r is the vertical distance from the aircraft to the alternating current power transmission 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;
based on the measured magnetic field direction and electric field direction, a Potentilla vector of the position of the aircraft is obtained;
determining a power line trend of the alternating current power transmission line based on the poynting vector;
based on the electric field direction, the vertical distance, and the power line strike, a spatial position of the ac power line relative to the aircraft is determined.
Optionally, the method further comprises:
an impact distance of the aircraft to the ac power line is determined based on a spatial position of the ac power line relative to the aircraft and a direction of flight of the aircraft.
Optionally, the method further comprises:
based on the positional information of the aircraft and the spatial position of the ac power line relative to the aircraft, a spatial position of the ac power line is determined.
Optionally, the performing collision avoidance control on the aircraft based on the vertical distance between the aircraft and the ac power line specifically includes:
and if the vertical distance from the aircraft to the alternating current power transmission line is smaller than a safety distance threshold, carrying out anti-collision alarm.
Optionally, the anti-collision control further includes: at least one parameter of the aircraft's altitude, direction of flight, and speed of flight is adjusted.
In one aspect, an embodiment of the present application provides an ac power line flying anti-collision device based on a phase method, including:
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 a vertical distance of the aircraft to the ac power line based on a phase distribution model of the ac power line in three-dimensional space, and measured electric and magnetic field phases; the phase distribution model is used for describing the distribution of electric field phases and magnetic field phases generated by the alternating current transmission line at each point in a three-dimensional space;
and the control module is used for carrying out anti-collision control on the aircraft based on the vertical distance from the aircraft to the alternating current power transmission line.
In one aspect, an embodiment of the present application provides an electronic device including a memory, a processor, and a computer program stored on the memory and executable on the processor, where the processor implements steps of any of the methods described above when the processor executes 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 methods described above.
In one aspect, an embodiment of the present application provides a computer program product or computer program comprising computer instructions stored in a computer readable storage medium. The computer instructions are read from a computer-readable storage medium by a processor of a computer device, and executed by the processor, cause the computer device to perform the methods provided in various alternative implementations of control of any of the TCP transmission capabilities described above.
According to the alternating current power transmission line flight anti-collision method, device, electronic equipment and storage medium based on the phase method, the alternating current power transmission line near the aircraft is regarded as an approximately straight wire with the length far greater than the diameter, and model construction is carried out by utilizing near-field electromagnetic phase characteristics. Because only one measuring point of the aircraft is provided with the sensor for measuring the electric field and the magnetic field, the method can be well suitable for the limited space in the aircraft and improves the measuring precision.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed 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 that other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1A is a schematic diagram of an application scenario of an ac power line flying anti-collision method based on a phase method according to an embodiment of the present application;
FIG. 1B is a block diagram of a measurement device on an aircraft provided in an embodiment of the present application;
fig. 2 is a schematic flow chart of an ac power transmission line flying anti-collision method based on a phase method according to an embodiment of the present application;
fig. 3 is a schematic diagram of an ac power transmission line flying anti-collision method based on a phase method according to an embodiment of the present application;
fig. 4 is a schematic diagram of a spatial relationship between an aircraft and an ac power line provided in an embodiment of the present application;
fig. 5 is a schematic structural diagram of an ac power transmission line flying 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, without conflict, the following embodiments and features in the embodiments may be combined with each other; and, based on the embodiments in this disclosure, all other embodiments that may be made by one of ordinary skill in the art without inventive effort are within the scope of the present disclosure.
It is noted that various aspects of the embodiments are described below within the scope of the following 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 present disclosure, one skilled in the art will appreciate that one aspect described herein may be implemented independently of any other aspect, 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. In addition, such apparatus may be implemented and/or such methods practiced using other structure and/or functionality in addition to one or more of the aspects set forth herein.
For ease of understanding, the terms referred to in the embodiments of the present application are explained below:
aircraft (airtrain): is a general class of aircraft and refers to any machine that achieves aerodynamic lift-off flight by relative movement of the fuselage and air (not by reaction of the air to the ground). Aircraft in embodiments of the present application include, but are not limited to, balloons, airships, aircraft, gliders, gyroplanes, helicopters, ornithopters, tiltrotors, and the like. The aircraft in embodiments of the present application may be a manned or unmanned aircraft.
Ac power line: refers to a cable for transmitting electric energy by means of alternating current. The ac power transmission line in the embodiments of the present application mainly refers to an ac power transmission line erected outdoors, especially a high-voltage power transmission line in the field. The power frequency of the alternating current power transmission line used in most countries including China is 50Hz, the power frequency of the alternating current power transmission line used in few countries such as the United states, canada and the like is 60Hz, and the alternating current with the power frequency is transmitted by the high voltage power transmission line.
Poynting vector: refers to the energy flux density vector in the electromagnetic field. The electric field strength is E and the magnetic field strength is H at a certain place in space, the energy flow density of the electromagnetic field is s=e×h, and the direction is determined by E and H according to the right-hand spiral rule, along the propagation direction of the electromagnetic wave. The magnitude of s=ehsin θ, θ is the angle between E and H, and represents the energy per unit time passing through a vertical unit area in watts/(meter).
Any number of elements in the figures are for illustration and not limitation, and any naming is used for distinction only and not for any limiting sense.
In a specific practice process, the existing mature active detection type and passive detection type overhead power transmission cable detection technologies have the problems that the existing active detection type and passive detection type overhead power transmission cable detection technologies cannot be suitable for various severe environments and detection accuracy is low.
When the alternating current power transmission line works, the cable current can generate a power frequency electromagnetic field, when the aircraft approaches the power transmission line, electromagnetic field emitted by the power line can be detected, electromagnetic field characteristic information contained in the electromagnetic field characteristic information is extracted, and after the electromagnetic field characteristic information is converted through an algorithm, information such as distance, direction and the like of the power line relative to the aircraft can be obtained, so that an aircraft driver is reminded of avoiding in time. The power frequency electromagnetic field is an ultra-long wave electromagnetic field, calculated according to 50Hz power frequency used in China, the wavelength of the power frequency electromagnetic field is about 6000km, and the power line detection distance of an aircraft is generally within 10km and is far smaller than the distance of one wavelength. Although the far-near field region of the electromagnetic wave is not strictly defined at present, no matter any model is used for judging, the aircraft is in the near field region of the power frequency electromagnetic field at the moment. 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 meanwhile, the synchronous phase relation is not existed, unlike the electromagnetic wave in the far field region in the general sense, the electric field vector and the magnetic field vector are tightly coupled in the wave impedance relation, and at the moment, the independent power frequency electric field and the independent power frequency magnetic field exist in the space.
The idea of utilizing the power frequency electromagnetic field sent by the power transmission line to prevent the collision of the aircraft starts in 1978 at the earliest, young proposes a method for warning the aircraft nearby the power line by detecting the strength of the power frequency magnetic field, and as the aircraft approaches the power line continuously, the strength of the detected power frequency magnetic field is increased continuously, so that the pilot is prompted to improve vigilance. In 1989, merritt proposed a method of warning the pilot of an aircraft approaching the electric line of force by detecting the electric field of the power frequency, and also judging the relative distance according to the intensity of the electric field. In 1998 Greene designed a set of acousto-optic warning systems that detected ac signals at specific frequencies of 50Hz or 60Hz from the power line, and detected ac signal strength to warn the pilot that the pilot is approaching the power line. In 2003, greene has continued to improve the aircraft anti-collision line warning system based on ac signal detection, and through cooperation with the GPS system, detected power line information is integrated into the visual navigation system, thereby realizing visual display of the relative positions of the power lines.
The research and the technical development work perfects the aircraft anti-collision line technology based on the power frequency electromagnetic field detection, but the technology also has some defects. For example, the power line position information obtained by the above detection means is usually fuzzy information, and the pilot is generally only reminded of approaching distance by the enhancement of signal strength, but specific distance values are not displayed; in the early proposal, because the electromagnetic wave near field theory is still immature, the physical model setting of the power frequency electromagnetic field around the power line is simpler and has deviation from the actual situation; the scheme is limited by the performance of electronic components and the processing capacity of a computer at the time, and in practical application, the reaction time is longer, the false alarm rate is higher, so that the method is not popularized on a large scale. However, with the massive use of novel low-altitude general aircrafts such as unmanned aerial vehicles, high-speed helicopters and the like, further research and study of new generation electromagnetic detection anti-collision line technologies has become more urgent whether in the military or civil fields.
For this purpose, the application provides an alternating current power transmission line flying anti-collision method based on a phase method, which comprises the steps of firstly constructing a phase distribution model for describing the distribution relation of electric field phases and magnetic field phases generated by the alternating current power transmission line at each point in a three-dimensional space, and then installing phase detectors for measuring the electric field phases and the magnetic field phases at the same position on an aircraft. In the flight process of the aircraft, the electric field phase and the magnetic field phase measured by the phase detector on the aircraft are acquired in real time, the vertical distance from the aircraft to the alternating current power transmission line is determined based on a pre-built phase distribution model and the electric field phase and the magnetic field phase measured in real time, and the aircraft is crashproof controlled based on the vertical distance from the aircraft to the alternating current power transmission line, so that the aircraft can fly in a low altitude in a power line existence area more safely, and the method contributes to further opening of a low altitude and urban airspace and general aviation development. Further, a sensor for measuring the magnetic field direction and the electric field direction is further arranged on the aircraft, the trend of the power line of the alternating current power line is determined based on the measured magnetic field direction and the electric field direction, and then the spatial position relationship between the alternating current power line and the aircraft is determined, so that the flight track of the aircraft is better adjusted, and the flight safety of the aircraft is ensured.
After the design concept of the embodiment of the present application is introduced, some simple descriptions are made below for application scenarios applicable to the technical solution of the embodiment of the present application, and it should be noted that the application scenarios described below are only used to illustrate the embodiment of the present application and are not limiting. In specific implementation, the technical scheme provided by the embodiment of the application can be flexibly applied according to actual needs.
Referring to fig. 1A, an application scenario diagram of an ac power transmission line flying anti-collision method based on a phase method according to an embodiment of the present application is provided. The application scenario comprises an aircraft 10 and an overhead ac power line 20, wherein a measuring device 30 suitable for phase method is arranged inside the aircraft 10. Referring to fig. 1B, the measuring 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 location. 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 ac power transmission line 20, and outputs a corresponding anti-collision instruction to the aircraft 10 based on the vertical distance from the aircraft 10 to the ac power transmission line 20 so as to perform anti-collision 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 trend of the power line of the ac power line 20 based on the measured magnetic field direction and the electric field direction, so as to determine the spatial position relationship between the ac power line 20 and the aircraft 10, so as to better adjust the flight track of the aircraft 10 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, but may be used in other possible application scenarios, and the embodiment of the present application is not limited. The functions that can be implemented by each device in the application scenario shown in fig. 1A will be described together in the following method embodiments, which are not described in detail herein.
In order to further explain the technical solutions provided in the embodiments of the present application, the following details are described with reference to the accompanying drawings and the detailed description. Although the embodiments of the present application provide the method operational steps as shown in the following embodiments or figures, more or fewer operational steps may be included in the method, either on a routine or non-inventive basis. In steps where there is logically no necessary causal relationship, the execution order of the steps is not limited to the execution order provided by the embodiments of the present application.
The technical solution provided in the embodiment of the present application is described below with reference to an application scenario shown in fig. 1A.
Referring to fig. 2, an embodiment of the present application provides an ac power line flying anti-collision method based on a phase 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 mounted 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 ac power 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 different points of the alternating current transmission line in the three-dimensional space are measured.
S202, determining the vertical distance from the aircraft to the alternating-current power transmission line based on a phase distribution model of the alternating-current power transmission line in a 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 the three-dimensional space.
In practice, the ac power line near the aircraft is regarded as an approximately straight wire with a length much greater than the diameter, so as to obtain a phase distribution model of the ac power line in three-dimensional space. In particular the phase distribution model can be expressed by the following formula:
wherein phi is H Is the magnetic field phase phi E For the 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 of the aircraft from the ac power line. Wherein ω and c are known amounts, and the electric field phase and the magnetic field phase measured by the phase detector are input to the phase divisionIn the cloth model, the vertical distance r from the aircraft to the alternating current transmission line can be calculated.
It should be noted that r obtained by calculation according to the above formula is actually the vertical distance from the measurement point on the aircraft to the ac power line, and r may be directly used as the vertical distance from the aircraft to the ac power line within the allowable error range. If the measurement accuracy is to be improved, the vertical distance from the aircraft to the ac power line can be further determined based on the specific position of the measurement point on the aircraft and r.
And S203, performing anti-collision control on the aircraft based on the vertical distance between the aircraft and the alternating current power transmission line.
In specific implementation, a safety distance threshold value can be preset, and if the vertical distance between the aircraft and the alternating current power transmission line is smaller than the safety distance threshold value, an anti-collision alarm is carried out to prompt that the aircraft is too close to the alternating current power transmission line. After receiving the anti-collision alarm, an aircraft operator can manually adjust the flight height, the flight direction, the flight 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 between the aircraft and the ac power line is smaller than the safe distance threshold, 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 between the aircraft and the ac power line, so that the aircraft avoids the ac power line. The anti-collision mode for automatically adjusting the gesture of the unmanned aircraft can ensure the flight safety of the unmanned aircraft.
The existing near-field electromagnetic ranging scheme uses a conventional model which needs to be provided with three sensors at different positions for three-point positioning, but the space in an aircraft is limited, and the distance measurement with higher precision can be realized only by the sensors with extremely high precision, so that the distance measurement is difficult to realize in the actual scene of the aircraft.
According to the alternating current power transmission line flying anti-collision method based on the phase method, alternating current power transmission lines near an aircraft are regarded as approximate straight wires with the length far greater than the diameter, model construction is carried out by utilizing near-field electromagnetic phase characteristics, a scheme for positioning a sensor based on a 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 flying process is obtained, the phase difference is substituted into a phase distribution model, the accurate vertical distance from the aircraft to the alternating current power transmission lines is obtained in real time in the flying process, the aircraft is prevented from colliding with the alternating current power transmission lines, and flying safety of the aircraft is guaranteed. Because only one measuring point of the aircraft is provided with the sensor for measuring the electric field and the magnetic field, the method can be well suitable for the limited space in the aircraft and improves the measuring precision.
On the basis of any one of the above embodiments, referring to fig. 3, the ac power line flying anti-collision method based on the phase method according to the embodiment of the present application further includes the following steps:
s301, 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 magnetic field direction sensor and the electric field direction sensor respectively output magnetic field directions and electric field directions which are three-dimensional vectors. The magnetic field direction sensor and the electric field direction sensor are also provided at a measurement point on the aircraft to detect a magnetic field direction and an electric field direction of the measurement point.
In 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, based on the measured magnetic field direction and the electric field direction, a Potentilla vector of the position of the aircraft is obtained.
Where the poynting vector is a three-dimensional vector, poynting vector s=e×h, E represents the electric field direction, and H represents the magnetic field direction.
S303, determining the trend of the power line of the alternating current power transmission line based on the Potin vector.
According to the PointTen theorem, the direction of the PointTen vector is the direction of energy density in the electromagnetic field, and in the approximately infinitely long straight wire model, the direction of the PointTen vector can be considered to be coincident with the current direction of the AC transmission line, so that the direction indicated by the PointTen vector is the trend of the power line of the AC transmission line.
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, from the measurement point O of the aircraft, a vertical distance r is passed along the electric field direction E to a point a on the ac power line, where a spatial position of the ac power line with respect to the aircraft is obtained along the power line trend S. Wherein the electric field direction E and the electric line of force S are perpendicular to each other. According to the included angle beta between the electric field direction and the vertical distance r, the height difference h=rcos beta between the aircraft and the alternating current transmission line can be calculated.
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.
By the method, 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 in the flight process of the aircraft, so that the distribution position of the alternating current power transmission line in map data is drawn based on a large amount of position information and recorded in a database to update obstacle data in the three-dimensional navigation map data. At present, the position information of the alternating current transmission line in China is not disclosed, 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 application further comprises the following steps: the impact distance of the aircraft to the ac power line is determined based on the spatial position of the ac power line relative to the aircraft and the direction of flight of the aircraft.
The flight direction of the aircraft can be obtained based on a positioning system such as a GPS (global positioning system) and a gyroscope on the aircraft, and the specific process is not repeated.
The impact distance is the distance that the aircraft reaches the vertical plane where the alternating current power transmission line is located along the flight direction. Taking fig. 4 as an example, the ac power line is translated to the height of the aircraft, so as to calculate the impact distance D between the aircraft and the ac power line, where OA' =rsinβ, and according to the flight direction v of the aircraft and the power line trend S, the included angle α between v and S is calculated, and then the impact distance d=rsinβ/sin α is calculated.
According to the data such as the impact distance and the space 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 the ranging and anti-collision control mode of high accuracy, when the aircraft is patrolled and examined the AC transmission line, can press close to the AC transmission line and fly, improve the colleague of the accuracy degree of patrolling and examining, guarantee the aircraft safety.
As shown in fig. 5, based on the same inventive concept as the ac power line flying and collision avoidance method based on the phase method, the embodiment of the present application further provides an ac power line flying and collision avoidance device 50 based on the phase method, including:
a measurement module 501 for acquiring the electric field phase and the magnetic field phase measured by the phase detector on the aircraft;
a processing module 502 for determining a vertical distance of the aircraft to the ac power line based on a phase distribution model of the ac power line in three-dimensional space, and the measured electric and magnetic field phases; the phase distribution model is used for describing the distribution of electric field phases and magnetic field phases generated by the alternating current transmission line at each point in a three-dimensional space;
and the control module 503 is used for performing anti-collision control on the aircraft based on the vertical distance between the aircraft and the alternating current power transmission line.
Optionally, the phase distribution model is:
wherein phi is H Is the magnetic field phase phi E And ω is the current change frequency of the alternating current power transmission line, c is the speed of light, and r is the vertical distance from the aircraft to the alternating current power transmission 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: based on the measured magnetic field direction and electric field direction, a Potentilla vector of the position of the aircraft is obtained; determining a power line trend of the alternating current power transmission line based on the poynting vector; based on the electric field direction, the vertical distance, and the power line strike, a spatial position of the ac power line relative to the aircraft is determined.
Optionally, the processing module 502 is further configured to: an impact distance of the aircraft to the ac power line is determined based on a spatial position of the ac power line relative to the aircraft and a direction of flight of the aircraft.
Optionally, the processing module 502 is further configured to: based on the positional information of the aircraft and the spatial position of the ac power line relative to the aircraft, a spatial position of the ac power line is determined.
Optionally, the control module 503 is specifically configured to: and if the vertical distance from the aircraft to the alternating current power transmission line is smaller than a safety distance threshold, carrying out anti-collision alarm.
Optionally, the anti-collision control further includes: at least one parameter of the aircraft's altitude, direction of flight, and speed of flight is adjusted.
The alternating current power transmission line flying anti-collision device based on the phase method and the alternating current power transmission line flying anti-collision method based on the phase method adopt the same inventive concept, can obtain the same beneficial effects, and are not described in detail herein.
Based on the same inventive concept as the alternating current transmission line flying anti-collision method based on the phase method, the embodiment of the application also provides an electronic device, which can be specifically a control device or a control system in an aircraft, or can be an additionally arranged 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), digital signal processor (Digital Signal Processor, DSP), application specific integrated circuit (Application Specific Integrated Circuit, ASIC), field programmable gate array (Field Programmable gate array) or other programmable logic device, discrete gate or transistor logic device, discrete hardware components, and may implement or perform the methods, steps, and logic blocks disclosed in embodiments of the present application. The 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 embodied directly in a hardware processor for execution, or in a combination of hardware and software modules in the processor for execution.
The memory 602 is a non-volatile computer readable storage medium that can 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, which may include, for example, flash Memory, hard disk, multimedia card, card Memory, random access Memory (RandomAccess Memory, RAM), static random access Memory (Static Random Access Memory, SRAM), programmable Read-Only Memory (Programmable Read Only Memory, PROM), read-Only Memory (ROM), charged erasable programmable Read-Only Memory (Electrically Erasable Programmable Read-Only Memory, EEPROM), magnetic Memory, magnetic disk, optical disk, and the like. 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 present embodiment may also be circuitry or any other device capable of implementing a memory function for storing program instructions and/or data.
Those of ordinary skill in the art will appreciate that: all or part of the steps for implementing the above method embodiments may be implemented by hardware associated with program instructions, where the foregoing program may be stored in a computer readable storage medium, and when executed, the program performs steps including the above method embodiments; such computer storage media can 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 code, such as a mobile storage device, a random access memory (RAM, random Access Memory), a magnetic memory (e.g., a floppy disk, a hard disk, a magnetic tape, a magneto-optical disk (MO), etc.), an optical memory (e.g., CD, DVD, BD, HVD, etc.), and a semiconductor memory (e.g., ROM, EPROM, EEPROM, a nonvolatile memory (NAND FLASH), a Solid State Disk (SSD)), etc.
Alternatively, the integrated units described above may be stored in a computer readable storage medium if implemented in the form of software functional modules and sold or used as a stand-alone product. Based on such understanding, the technical solutions of the embodiments of the present application may be essentially or partly contributing to the prior art, and the computer software product may be stored in a storage medium, and include several instructions to cause a computer device (which may be a personal computer, a server, or a network device, etc.) 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 code, such as a mobile storage device, a random access memory (RAM, random Access Memory), a magnetic memory (e.g., a floppy disk, a hard disk, a magnetic tape, a magneto-optical disk (MO), etc.), an optical memory (e.g., CD, DVD, BD, HVD, etc.), and a semiconductor memory (e.g., ROM, EPROM, EEPROM, a nonvolatile memory (NAND FLASH), a Solid State Disk (SSD)), etc.
The foregoing is merely illustrative of the present invention, and the present invention is not limited thereto, and any changes or substitutions easily contemplated by those skilled in the art within the scope of the present invention should be included in the present invention. Therefore, the protection scope of the invention is subject to the protection scope of the claims.
Claims (9)
1. An alternating current transmission line flying anti-collision method based on a phase method is characterized by comprising the following steps of:
acquiring an electric field phase and a magnetic field phase measured by a phase detector on an aircraft;
determining a vertical distance of the aircraft to the ac power line based on a phase distribution model of the ac power line in three-dimensional space, and the measured electric and magnetic field phases; the phase distribution model is used for describing the distribution of electric field phases and magnetic field phases generated by the alternating current transmission line at each point in a three-dimensional space;
performing collision avoidance control on the aircraft based on the vertical distance from the aircraft to the alternating current power transmission line;
the phase distribution model is as follows:
wherein phi is H Is the magnetic field phase phi E And ω is the current change frequency of the alternating current power transmission line, c is the speed of light, and r is the vertical distance from the aircraft to the alternating current power transmission line.
2. The method according to claim 1, wherein 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;
based on the measured magnetic field direction and electric field direction, a Potentilla vector of the position of the aircraft is obtained;
determining a power line trend of the alternating current power transmission line based on the poynting vector;
based on the electric field direction, the vertical distance, and the power line strike, a spatial position of the ac power line relative to the aircraft is determined.
3. The method according to claim 2, wherein the method further comprises:
an impact distance of the aircraft to the ac power line is determined based on a spatial position of the ac power line relative to the aircraft and a direction of flight of the aircraft.
4. The method according to claim 2, wherein the method further comprises:
based on the positional information of the aircraft and the spatial position of the ac power line relative to the aircraft, a spatial position of the ac power line is determined.
5. The method according to any one of claims 1 to 4, characterized in that said collision avoidance control of said aircraft is based on the vertical distance of said aircraft from said ac power line, in particular comprising:
and if the vertical distance from the aircraft to the alternating current power transmission line is smaller than a safety distance threshold, carrying out anti-collision alarm.
6. The method of claim 5, the collision avoidance control further comprising: at least one parameter of the aircraft's altitude, direction of flight, and speed of flight is adjusted.
7. Alternating current transmission line flight buffer stop based on phase method, characterized by comprising:
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 a vertical distance of the aircraft to the ac power line based on a phase distribution model of the ac power line in three-dimensional space, and measured electric and magnetic field phases; the phase distribution model is used for describing the distribution of electric field phases and magnetic field phases generated by the alternating current transmission line at each point in a three-dimensional space;
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;
the phase distribution model is as follows:
wherein phi is H Is the magnetic field phase phi E And ω is the current change frequency of the alternating current power transmission line, c is the speed of light, and r is the vertical distance from the aircraft to the alternating current power transmission line.
8. 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 processor implements the steps of the method of any one of claims 1 to 6 when the computer program is executed by the processor.
9. A computer readable storage medium having stored thereon computer program instructions, which when executed by a processor, implement the steps of the method of any of claims 1 to 6.
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