CN117517737A - Unmanned aerial vehicle non-contact electroscope control method - Google Patents
Unmanned aerial vehicle non-contact electroscope control method Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U20/00—Constructional aspects of UAVs
- B64U20/80—Arrangement of on-board electronics, e.g. avionics systems or wiring
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
- B64U10/13—Flying platforms
- B64U10/14—Flying platforms with four distinct rotor axes, e.g. quadcopters
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R1/00—Details of instruments or arrangements of the types included in groups G01R5/00 - G01R13/00 and G01R31/00
- G01R1/28—Provision in measuring instruments for reference values, e.g. standard voltage, standard waveform
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R15/00—Details of measuring arrangements of the types provided for in groups G01R17/00 - G01R29/00, G01R33/00 - G01R33/26 or G01R35/00
- G01R15/14—Adaptations providing voltage or current isolation, e.g. for high-voltage or high-current networks
- G01R15/18—Adaptations providing voltage or current isolation, e.g. for high-voltage or high-current networks using inductive devices, e.g. transformers
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R19/00—Arrangements for measuring currents or voltages or for indicating presence or sign thereof
- G01R19/165—Indicating that current or voltage is either above or below a predetermined value or within or outside a predetermined range of values
- G01R19/16566—Circuits and arrangements for comparing voltage or current with one or several thresholds and for indicating the result not covered by subgroups G01R19/16504, G01R19/16528, G01R19/16533
- G01R19/16576—Circuits and arrangements for comparing voltage or current with one or several thresholds and for indicating the result not covered by subgroups G01R19/16504, G01R19/16528, G01R19/16533 comparing DC or AC voltage with one threshold
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R29/00—Arrangements for measuring or indicating electric quantities not covered by groups G01R19/00 - G01R27/00
- G01R29/12—Measuring electrostatic fields or voltage-potential
- G01R29/14—Measuring field distribution
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
- B64U2101/25—UAVs specially adapted for particular uses or applications for manufacturing or servicing
- B64U2101/26—UAVs specially adapted for particular uses or applications for manufacturing or servicing for manufacturing, inspections or repairs
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Abstract
The invention discloses a non-contact electricity inspection control method of an unmanned aerial vehicle, which relates to the technical field of electricity inspection of a power grid, and is characterized in that: selecting a voltage class as a reference input, generating a direct-current reference voltage in the early warning chip, and generating a corresponding gear self-checking voltage after the direct-current reference voltage is divided; after an electric field is sensed by an alarm sensing wire carried by the unmanned aerial vehicle, a direct current detection voltage is generated through a near-electricity early warning circuit; comparing the dc detection voltage with a dc reference voltage: outputting an uncharged signal if the DC detection voltage is smaller than the DC reference voltage; and if the direct current detection voltage is greater than or equal to the direct current reference voltage, outputting a live alarm signal. The invention can flexibly select different voltage grades, quickly judge whether the target wire is electrified, is not easily influenced by factors such as environment, weather, line running state and the like, has accurate measurement result, does not need an electroscope to contact the wire, and greatly improves the safety.
Description
Technical Field
The invention relates to the technical field of power grid electricity inspection, in particular to a non-contact electricity inspection control method of an unmanned aerial vehicle.
Background
The first step of overhauling the electricity checking overhead line is that the operation can be started only after no voltage is determined. However, in the conventional electricity test method, field personnel need to log on the pole first, and an electroscope is used for testing electricity at a safe distance, so that whether a line is electrified or not is judged. Such conventional pole climbing and electricity testing operations are time-consuming and present a high operational risk. The unmanned aerial vehicle is used as an emerging technology, is widely applied in the fields of aerial photography, agriculture, plant protection, mapping, news reporting, electric power inspection, film and television shooting and the like, and the unmanned aerial vehicle is used for carrying the electroscope to test electricity, so that the electricity test efficiency can be improved, and hidden danger of manual pole climbing and electricity test is avoided.
The conventional unmanned aerial vehicle electricity test method often comprises two kinds of unmanned aerial vehicle contact electricity test and unmanned aerial vehicle non-contact electricity test. The unmanned aerial vehicle contact electroscope is that the unmanned aerial vehicle carries the electroscope of the voltage class that corresponds with the circuit, flies near to the circuit, and the adjustment position makes electroscope and circuit contact to realize electroscope effect. However, the electroscope of each grade has a large weight, and the common large-scale eidolon 4 has a carrying weight of 1kg, so that the load-bearing requirement is difficult to meet, and the unmanned aerial vehicle of other types is inconvenient to carry. Meanwhile, when the electric power is tested at high altitude, the electric power testing contact is required to be observed to be contacted with the electric power testing ring, and erroneous judgment is easy to cause. And secondly, the non-contact type electricity testing method comprises a capacitive voltage division electroscope, an ultraviolet pulse method induction type electroscope, an ultrahigh frequency partial discharge induction type electricity testing device and an electromagnetic induction type electricity testing device, and the existing non-contact type electricity testing device is easily influenced by the electrified state and induction current of adjacent wires, so that the electricity testing result is misjudged.
Therefore, how to study and design an unmanned aerial vehicle non-contact electroscope control method capable of overcoming the defects is a problem which needs to be solved at present.
Disclosure of Invention
In order to solve the defects in the prior art, the invention aims to provide the unmanned aerial vehicle non-contact electricity testing control method which can quickly judge whether a target wire is electrified or not, is not easily influenced by factors such as environment, weather, line running state and the like, has accurate measurement results, does not need an electroscope to contact the wire, and greatly improves the safety.
The technical aim of the invention is realized by the following technical scheme: an unmanned aerial vehicle non-contact electroscope control method comprises the following steps:
selecting a voltage class as a reference input, generating a direct-current reference voltage in the early warning chip, and generating a corresponding gear self-checking voltage after the direct-current reference voltage is divided;
after an electric field is sensed by an alarm sensing wire carried by the unmanned aerial vehicle, a direct current detection voltage is generated through a near-electricity early warning circuit;
comparing the dc detection voltage with a dc reference voltage: outputting an uncharged signal if the DC detection voltage is smaller than the DC reference voltage; and if the direct current detection voltage is greater than or equal to the direct current reference voltage, outputting a live alarm signal.
Further, the method further comprises:
modulating the audio signal converted from the non-electrified signal or the electrified alarm signal into radio waves by a radio transmitter carried by the unmanned aerial vehicle, and transmitting the radio waves from an antenna;
and then the original sound signal is restored after being received by a radio receiver arranged on the ground.
Further, the method further comprises:
determining a first electricity testing path and a second electricity testing path of the unmanned aerial vehicle for carrying out non-contact electricity testing on the target wire;
controlling the unmanned aerial vehicle to fly along a first electricity inspection path, and collecting the electric field intensity in the flying process to obtain a first electric field change curve;
controlling the unmanned aerial vehicle to fly along a second electricity inspection path, and collecting the electric field intensity in the flying process to obtain a second electric field change curve;
and analyzing the similarity between the first electric field change curve and the second electric field change curve, and determining the validity result of the non-contact electricity test by combining the first threshold value and the second threshold value.
Further, if the validity result of the non-contact electricity test is an invalid result, the outputted uncharged signal or the charged alarm signal is regarded as an invalid signal;
and if the validity result of the non-contact electricity test is not an invalid result, performing non-contact electricity test detection according to a first electric field change curve.
Further, the determining process of the first electroscope path specifically includes:
taking a straight line where the shortest distance connecting line between the target wire and the adjacent wire is located as a reference line;
and selecting a path which is positioned on one side of the reference line, away from the adjacent wire, of the target wire and is close to the target wire for flying as a first electricity inspection path.
Further, the determining process of the second electroscope path specifically includes:
the path offset angle between the second electroscopic path and the first electroscopic path is less than 90 degrees;
and the second electroscopic path is located within the same circumferential cross section of the target conductor as the first electroscopic path.
Further, the similarity calculation formula between the first electric field variation curve and the second electric field variation curve specifically includes:
wherein S represents the similarity between the first electric field variation curve and the second electric field variation curve; l represents the total path length of the first electroscopic path and the second electroscopic path;representing the electric field strength at the path length i in the first electric field variation curve; />The electric field strength at the path length i in the second electric field variation curve is indicated.
Further, the first threshold is greater than the second threshold;
if the similarity between the first electric field change curve and the second electric field change curve is greater than or equal to a first threshold value, the validity result of the non-contact electricity test is a valid result;
if the similarity between the first electric field change curve and the second electric field change curve is larger than the second threshold value and smaller than the first threshold value, the effectiveness result of the non-contact electricity test is an error result;
and if the similarity between the first electric field change curve and the second electric field change curve is smaller than or equal to a second threshold value, the validity result of the non-contact electricity test is an invalid result.
Further, the voltage levels include 220V, 10kV, 35kV, 110kV, and 220kV.
Further, the induction frequency of the early warning chip ranges from 47 Hz to 300Hz.
Compared with the prior art, the invention has the following beneficial effects:
1. according to the unmanned aerial vehicle non-contact electricity testing control method, different voltage levels can be flexibly selected, corresponding direct current reference voltages are generated, the direct current detection voltage generated by the near electricity early warning circuit is compared with the direct current reference voltages, whether a target wire is electrified or not can be rapidly judged, the influence of factors such as environment, weather and line running state is avoided, the accuracy of a measurement result is improved, an electroscope is not required to contact the wire, and the safety is greatly improved;
2. according to the invention, the difference condition of electric field change is analyzed by selecting two different electricity testing paths, so that the invalid condition that the non-contact electricity testing result is in a charged state due to the fact that the target wire is not charged can be effectively screened, the condition that the target wire and the adjacent wire are charged possibly to cause electricity testing errors can be marked, and the accuracy and the reliability of the non-contact electricity testing result are ensured.
Drawings
The accompanying drawings, which are included to provide a further understanding of embodiments of the invention and are incorporated in and constitute a part of this application, illustrate embodiments of the invention. In the drawings:
FIG. 1 is a schematic illustration of a non-contact electroscopic scene in an embodiment of the present invention;
FIG. 2 is a schematic circuit diagram of near field infection in an embodiment of the invention;
fig. 3 is a schematic distribution diagram of a first electroscopic path and a second electroscopic path according to an embodiment of the present invention.
Detailed Description
For the purpose of making apparent the objects, technical solutions and advantages of the present invention, the present invention will be further described in detail with reference to the following examples and the accompanying drawings, wherein the exemplary embodiments of the present invention and the descriptions thereof are for illustrating the present invention only and are not to be construed as limiting the present invention.
It will be understood that when an element is referred to as being "mounted" or "disposed" on another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly or indirectly connected to the other element.
It is to be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are merely for convenience in describing and simplifying the description based on the orientation or positional relationship shown in the drawings, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus are not to be construed as limiting the invention.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present invention, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.
Examples: a non-contact electricity inspection control method of an unmanned aerial vehicle is shown in fig. 1, and mainly comprises near electric field induction control and remote buzzer alarm control. The unmanned aerial vehicle carries the electroscope to fly to near the target wire, and the staff knows the electroscope result through observing the state of alarm receiver.
As shown in fig. 2, the near electric field induction mainly detects whether a wire is charged, and if so, transmits a charged signal to a remote buzzer alarm part to inform ground workers.
Specifically, the induction frequency range of the early warning chip U1 is 47-300Hz, and the working principle is as follows: the circuit takes 220V voltage class as reference input, and generates direct current reference voltage in the early warning chip U1. The direct-current reference voltage is divided to generate different gear self-checking voltages. The input induces an electric field and generates voltage, 50Hz power grid signals are detected through amplification and digital filtering in the early warning chip U1, and direct current detection voltage is generated after detection. The dc detection voltage is compared with a dc reference voltage: if the voltage is smaller than the direct-current reference voltage, the test result is not electrified, so that no alarm is given; if the direct current detection voltage is greater than or equal to the direct current reference voltage, the electrification of the electricity detection result is indicated, and therefore an alarm is sent out.
The remote buzzer alarm is to transmit alarm information to the ground in time after the electrified information of the lead is obtained. After the alarm information is obtained, the alarm receiver on the ground realizes sound amplification through the amplifier.
The remote buzzer alarm consists of a radio transmitter and a radio receiver. The radio transmitter modulates the audio signal into radio waves, transmits the radio waves from the antenna, and then receives the radio waves by the radio receiver to restore the original sound signals.
The modulation of the wireless microphone adopts a frequency modulation mode, and the frequency modulation method mainly comprises two methods: one is that the capacitor microphone directly modulates frequency, namely connect the polar head of the capacitor microphone directly into the oscillation loop of the frequency modulation oscillator, act as a loop capacitor, when the diaphragm is vibrated by the sound wave, the capacitance between diaphragm and back polar plate of the capacitor microphone changes with it, cause the total capacity of LC oscillation loop to change, thus make the oscillation frequency change, realize the frequency modulation; the other is to change the internal capacitance of the active device connected in parallel to the oscillator loop to change the oscillation frequency, thereby obtaining frequency modulation, and the change of the interelectrode capacitance is controlled by the sound signal of the microphone.
In addition, in order to avoid being influenced by the charged state and the induced current of the adjacent wires, the unmanned aerial vehicle non-contact electroscope control method disclosed by the invention further comprises the following steps of: as shown in fig. 3, a first electricity testing path A and a second electricity testing path B for the unmanned aerial vehicle to conduct non-contact electricity testing on the target wire are determined; controlling the unmanned aerial vehicle to fly along a first electricity inspection path, and collecting the electric field intensity in the flying process to obtain a first electric field change curve; controlling the unmanned aerial vehicle to fly along a second electricity inspection path, and collecting the electric field intensity in the flying process to obtain a second electric field change curve; and analyzing the similarity between the first electric field change curve and the second electric field change curve, and determining the validity result of the non-contact electricity test by combining the first threshold value and the second threshold value.
If the validity result of the non-contact electricity test is an invalid result, the output non-electrified signal or electrified alarm signal is regarded as an invalid signal; and if the validity result of the non-contact electricity test is not an invalid result, performing non-contact electricity test detection according to the first electric field change curve.
In this embodiment, the determining process of the first electroscope path specifically includes: taking a straight line where the shortest distance connecting line between the target wire m and the adjacent wire n is located as a reference line; and selecting a path which is positioned on one side of the reference line, away from the adjacent wire, of the target wire and is close to the target wire for flying as a first electricity inspection path A.
The determination process of the second electroscope path B is specifically as follows: the path offset angle K between the second electroscopic path and the first electroscopic path is smaller than 90 degrees; and the second electroscopic path is located within the same circumferential cross section of the target conductor as the first electroscopic path.
It should be noted that, because the electric field intensities of the power transmission lines at different distances are symmetrically distributed, the charged relative situation of the target conductor and the adjacent conductor can be analyzed through the near electric induction results of two different directions.
The similarity calculation formula between the first electric field change curve and the second electric field change curve is specifically as follows:
wherein S represents the similarity between the first electric field variation curve and the second electric field variation curve; l represents the total path length of the first electroscopic path and the second electroscopic path;representing the electric field strength at the path length i in the first electric field variation curve; />The electric field strength at the path length i in the second electric field variation curve is indicated.
It should be noted that the first threshold is greater than the second threshold; if the similarity between the first electric field change curve and the second electric field change curve is greater than or equal to a first threshold value, the validity result of the non-contact electricity test is a valid result; if the similarity between the first electric field change curve and the second electric field change curve is larger than the second threshold value and smaller than the first threshold value, the effectiveness result of the non-contact electricity test is an error result; and if the similarity between the first electric field change curve and the second electric field change curve is smaller than or equal to a second threshold value, the validity result of the non-contact electricity test is an invalid result.
In this embodiment, the voltage levels include, but are not limited to, 220V, 10kV, 35kV, 110kV, and 220kV.
For simple electroscope operation, the manual pole climbing electroscope takes about 20 minutes, and the time can be shortened to within 5 minutes by using the unmanned aerial vehicle electroscope, so that the working efficiency is greatly improved, and meanwhile, the result shows that through multiple laboratory tests: the success rate of electricity test is up to 100%. Meanwhile, compared with the existing unmanned aerial vehicle electricity inspection method, the non-contact electricity inspection method is higher in accuracy and reliability, potential safety hazards existing in the electricity inspection process can be effectively reduced, the risk of violating regulations is reduced, the safety of operators is protected, and the non-contact electricity inspection method has important significance for guaranteeing the safety of high-altitude operators and has a good application prospect.
Working principle: according to the invention, different voltage grades can be flexibly selected, corresponding direct current reference voltages are generated, the direct current detection voltage generated by the near electricity early warning circuit is compared with the direct current reference voltages, whether a target wire is electrified or not can be rapidly judged, the influence of factors such as environment, weather, line running state and the like is avoided, the accuracy of a measurement result is realized, an electroscope is not required to contact the wire, and the safety is greatly improved; in addition, through selecting two different electricity inspection paths to analyze the difference condition of electric field variation, the condition that the non-contact electricity inspection result is in a charged state due to the fact that the target wire is not charged can be effectively screened out, meanwhile, the condition that the target wire and the adjacent wire are charged and possibly cause electricity inspection errors can be marked, and the accuracy and the reliability of the non-contact electricity inspection result are ensured.
The foregoing description of the embodiments has been provided for the purpose of illustrating the general principles of the invention, and is not meant to limit the scope of the invention, but to limit the invention to the particular embodiments, and any modifications, equivalents, improvements, etc. that fall within the spirit and principles of the invention are intended to be included within the scope of the invention.
Claims (10)
1. The unmanned aerial vehicle non-contact electricity testing control method is characterized by comprising the following steps of:
selecting a voltage class as a reference input, generating a direct-current reference voltage in the early warning chip, and generating a corresponding gear self-checking voltage after the direct-current reference voltage is divided;
after an electric field is sensed by an alarm sensing wire carried by the unmanned aerial vehicle, a direct current detection voltage is generated through a near-electricity early warning circuit;
comparing the dc detection voltage with a dc reference voltage: outputting an uncharged signal if the DC detection voltage is smaller than the DC reference voltage; and if the direct current detection voltage is greater than or equal to the direct current reference voltage, outputting a live alarm signal.
2. The unmanned aerial vehicle non-contact electroscope control method of claim 1, further comprising:
modulating the audio signal converted from the non-electrified signal or the electrified alarm signal into radio waves by a radio transmitter carried by the unmanned aerial vehicle, and transmitting the radio waves from an antenna;
and then the original sound signal is restored after being received by a radio receiver arranged on the ground.
3. The unmanned aerial vehicle non-contact electroscope control method of claim 1, further comprising:
determining a first electricity testing path and a second electricity testing path of the unmanned aerial vehicle for carrying out non-contact electricity testing on the target wire;
controlling the unmanned aerial vehicle to fly along a first electricity inspection path, and collecting the electric field intensity in the flying process to obtain a first electric field change curve;
controlling the unmanned aerial vehicle to fly along a second electricity inspection path, and collecting the electric field intensity in the flying process to obtain a second electric field change curve;
and analyzing the similarity between the first electric field change curve and the second electric field change curve, and determining the validity result of the non-contact electricity test by combining the first threshold value and the second threshold value.
4. The unmanned aerial vehicle non-contact electricity inspection control method according to claim 1, wherein if the validity result of the non-contact electricity inspection is an invalid result, the outputted non-electrified signal or electrified alarm signal is regarded as an invalid signal;
and if the validity result of the non-contact electricity test is not an invalid result, performing non-contact electricity test detection according to a first electric field change curve.
5. The unmanned aerial vehicle non-contact electroscope control method of claim 3, wherein the determining process of the first electroscope path specifically comprises:
taking a straight line where the shortest distance connecting line between the target wire and the adjacent wire is located as a reference line;
and selecting a path which is positioned on one side of the reference line, away from the adjacent wire, of the target wire and is close to the target wire for flying as a first electricity inspection path.
6. The unmanned aerial vehicle non-contact electroscope control method of claim 5, wherein the determining process of the second electroscope path specifically comprises:
the path offset angle between the second electroscopic path and the first electroscopic path is less than 90 degrees;
and the second electroscopic path is located within the same circumferential cross section of the target conductor as the first electroscopic path.
7. The unmanned aerial vehicle non-contact electroscope control method of claim 3, wherein the similarity calculation formula between the first electric field change curve and the second electric field change curve is specifically:
wherein S represents the similarity between the first electric field variation curve and the second electric field variation curve; l represents the total path length of the first electroscopic path and the second electroscopic path;representing the electric field strength at the path length i in the first electric field variation curve; />The electric field strength at the path length i in the second electric field variation curve is indicated.
8. A method of controlling non-contact electroscope of an unmanned aerial vehicle according to claim 3, wherein the first threshold is greater than the second threshold;
if the similarity between the first electric field change curve and the second electric field change curve is greater than or equal to a first threshold value, the validity result of the non-contact electricity test is a valid result;
if the similarity between the first electric field change curve and the second electric field change curve is larger than the second threshold value and smaller than the first threshold value, the effectiveness result of the non-contact electricity test is an error result;
and if the similarity between the first electric field change curve and the second electric field change curve is smaller than or equal to a second threshold value, the validity result of the non-contact electricity test is an invalid result.
9. The unmanned aerial vehicle non-contact electroscope control method of claim 1, wherein the voltage levels comprise 220V, 10kV, 35kV, 110kV and 220kV.
10. The unmanned aerial vehicle non-contact electroscope control method of claim 1, wherein the induction frequency of the early warning chip is 47-300Hz.
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