CN1305194C - Power circuit scanning test robot airplane and controlling system - Google Patents

Power circuit scanning test robot airplane and controlling system Download PDF

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Publication number
CN1305194C
CN1305194C CNB2004100989602A CN200410098960A CN1305194C CN 1305194 C CN1305194 C CN 1305194C CN B2004100989602 A CNB2004100989602 A CN B2004100989602A CN 200410098960 A CN200410098960 A CN 200410098960A CN 1305194 C CN1305194 C CN 1305194C
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control
flight
robot airplane
robot
airplane
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CN1645284A (en
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柳长安
袁景阳
周宏�
李国栋
刘春阳
王兴博
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HUABEI ELECTRICL POWER UNIV (BEIJING)
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HUABEI ELECTRICL POWER UNIV (BEIJING)
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Abstract

The present invention provides a power circuit patrolling robot airplane and a controlling system thereof. The airplane adopts a reverse drive structure with coaxial double screw propellers, the two screw propellers are respectively driven to reversely rotate by two engines, and the stabilization of the fuselage of the airplane is controlled by the rotational speed ratio of the two engines. The flight track of the airplane is determined by a GPS system (17) and a GIS system (14), the flight attitude is regulated by an embedded system which is based on a 32-position reduced instruction set computer processor ARM, and an accumulator cell is used for supplying power to motors of the engines, a detection sensor and a data link system. The control system is composed of a power circuit patrolling robot airplane vectoring system, an independent flight path planning system, the data link system and an online detecting system which is based on multi-sensor fusion. The present invention has the advantages of high monitoring quality of power circuits, safe and stable operation of a transmission network, safety, reliability, good adaptability and high monitoring speed.

Description

Power circuit scanning test robot airplane and control system thereof
Technical field
The invention belongs to robot and technical field of automation, a kind of power circuit scanning test robot airplane and control system thereof particularly are provided.
Background technology
Along with China's economy is all-round developing at a high speed, increasing to the needs of the energy, superhigh pressure large-capacity power circuit is significantly extended.The geographical environment of various complexity need be passed through in the circuit corridor, and as process large-area reservoir, lake and high and steep mountains etc., these bring a lot of difficulties all for the detection of power circuit.Particularly pass through virgin forest border district, plant seeds by airplane forest zone and high height above sea level, the ice and snow area of coverage for power circuit, and there are geological disasters such as frequent landslide, mud-rock flow along the line, high slope, most of regional mountain is steep, when traffic, communication were extremely undeveloped, the daily detection that how to solve power circuit became a great difficult problem of puzzlement power industry.Meanwhile, society and expanding economy have proposed more and more higher requirement to energy security, and paroxysmal extensive power transmission failure will cause enormous economic loss, even running and social stability that influence is economical.This just requires power circuit to detect more accurately and timely, for energy security provides powerful guarantee.
At present, the work of patrolling and examining of China's power circuit is mainly by manually finishing, and there is safety in manual inspection, and efficient is low, problems such as poor accuracy.Present high-voltage electric power circuit has reached more than the hundreds of kilovolt, and traditional manual inspection adopts the mode of climbing power line iron tower, and great potential safety hazard is arranged.A large amount of power circuits pass through the depopulated zone, and manual inspection is subjected to serious restriction from geography.The scope of physical activity is subjected to the constraint of physical efficiency, and the distance of detection is limited.Manually power circuit is observed, judged with experience whether circuit breaks down, cause error easily yet, accuracy is not high.
To patrol and examine work popular for external use that helicopter replaces manually carrying out power circuit daily, and domestic also the beginning explored.Feed back shortcoming such as the pilot steering helicopter carries out power circuit and detects bad adaptability is arranged, and fail safe is low, and is costly from use experience both domestic and external.The field, low latitude of China is subjected to national control, civil aviation relevant issues walking along the street line like flying, and the flight time etc. all must be through the approval of department of civil aviaton.Power circuit is built on stilts highly lower, and use helicopter to patrol and examine and must fly along the line in the low latitude, the air activity complexity, the pilot needs to keep sight line to contact with circuit at any time, carries out normal flight operation simultaneously, has strengthened operation easier greatly.The regulation that " avoiding high-tension bus-bar flight " arranged in general pilot manual, patrol flight is acted in a diametrically opposite way, and keeps closely parallel flight with high-voltage line, and flying speed is very fast, danger greatly increases, and inspecting helicopter air crash accident has repeatedly taken place abroad.
Along with the development of Robotics, adopt robot to carry out patrolling and examining of power circuit and cause concern gradually.At present, internal power line detection machine people's research concentrates on the walking robot direction." overhead power line inspection robot summary " and Zhao Xiaoguang that the Zhang Yunchu of Institute of Automation, Chinese Academy of sociences, Liang Zize and Tan Min etc. delivered on " robot " 2004 the 26th the 5th phases of volume, Liang Zize has elaborated walking robot and has been used for the principle of power line detection and present development level in " emulation of high-voltage power line walking robot " two pieces of articles that Tan Ming etc. deliver on " Central China University of Science and Technology's journal " 2004 the 32nd volumes supplementary issue.The detection of adopting walking robot to carry out power circuit is adopted along the autonomous walking manner of overhead ground wire, comparing traditional detection, to have expense low, safe, the reliability advantages of higher, but also there is dependence height to ground instrument, can not well adapt to complicated deficiencies such as geographical environment, yet exist gait of march slow, problem such as detection efficiency is low.
Summary of the invention
The object of the present invention is to provide power circuit scanning test robot airplane and control system thereof, solve the expense height that the traditional detection mode exists, poor stability, the problem that reliability is not high.Compare robot airplane with the walking robot detection mode and detect that to have adaptive capacity to environment good, highly intelligent, the detection efficiency advantages of higher.
The electric power line inspection robot airplane is a kind of intelligent robot technology of utilization, in conjunction with aeronautical technology, and the novel intelligent power circuit detection system of electric power detection technique.It is by ground control station and have highly intelligentizedly, can realize the miniature helicopter of autonomous flight and the various detecting sensors of lift-launch thereof, and control transducer and online detection and flight path planning system constitute.
Power circuit scanning test robot airplane of the present invention is by undercarriage 1, front-mounted engine 2, output deceleration mechanism 3, charge-coupled device ccd video camera 4, intraware fixed support 5, rear engine 6, rear engine fuel storage allocating system 7, following screw 8, the detecting sensor signal receives and sending assembly 9, pitch attitude controlling organization 10, yaw-position controlling organization 11, storage battery 12, embedded computer control system 13, generalized information system 14, following screw deflection mechanism 15, last screw deflection mechanism 16, gps system 17, automatic cruising state and Artificial Control interface module 18, last screw 19, front-mounted engine fuel storage allocating system 20 is formed.Its structure adopts coaxial twin screw (following screw 8 and last screw 19) reverse drive structure, adopt two engines (front-mounted engine 2 and rear engine 6) to drive two screw reverse rotations respectively, control the stable of airframe by the rotating ratio of controlling two engines; Use is flown based on the embedded system of 32 RISC processor (ARM) and is controlled automatically and the attitude adjustment, uses storage battery to provide power supply as flight control system, detecting sensor and communication system.
Screw 8 and last screw 19 provided power for aircraft under front-mounted engine 2 and rear engine 6 drove by a pair of gear pair 3 respectively, and storage battery 12 is as power supply, and fuel oil storage 7 and delivery system 20 provide fuel for aircraft; Output deceleration mechanism 3, rear engine fuel storage allocating system 7, pitch attitude controlling organization 10, yaw-position controlling organization 11, embedded computer control system 13.Following screw deflection mechanism 15, last screw deflection mechanism 16, gps system 17 automatic cruising states and Artificial Control interface module 18 are formed navigation system.Detection system comprises that the detecting sensor signal receives and sending assembly 9.Charge-coupled device (CCD) video camera 4 is taken the image of the power line below the aircraft flight path in the aircraft flight process, and by the wireless telecommunications transmitter receiver that image information sends it back ground control station is constituted communication system; The said system of scanning test robot airplane all by corresponding bolts and screw on supporting mechanism (5).
Fuel oil storage 7 and delivery system 20 are communicated with, because the fuel consumption of two engines may be inequality, the fuel oil of such two fuel tanks can compensate mutually, improve the flight time of aircraft, can not be less than minimum fuel restriction because of the allowance of a fuel tank and the oil mass of another fuel tank also has the remaining situation fuel consume warning system of getting off the plane to start, cause robot airplane to make a return voyage automatically; Use storage battery 12 to drive the starter motor of engines, for the detecting sensor of robot airplane power supply is provided, for the motor of flight control system provides power supply, and provide power supply for the embedded control system 13 and the data link system of robot.Fuel oil must atomize through fuel oil dispensing control system before entering engine, embedded control system 13 then, the oil mass that the commands for controlling that produces according to fuselage attitude feedback signal and control algolithm enters each engine, the rotating speed of two engines of control, the ratio of the rotating speed of two screws of control aircraft is realized the stable of fuselage.
The last screw 19 of robot airplane rotates with different rotating speeds with following screw 8, and the moment of torsion that fuselage is produced is cancelled each other separately; Owing to adopt the coaxial reverse drive of twin screw, cancelled the balanced compensated screw of the afterbody of helicopter simultaneously.
The undercarriage 1 of robot airplane is made up of four elastic arms, and four elastic arms are separately fixed on the reinforcing ring of the bracing frame of robot and an annular.The intraware fixed support 5 of robot airplane is the skeleton of robot airplane, all dynamical systems, navigation system, data link system and the detection system of crusing robot all by corresponding bolts and screw on intraware fixed support 5.
Control system of the present invention is by power circuit scanning test robot airplane navigation system, the autonomous planning system of flight path, data link system, constitute based on the on-line detecting system of Multi-sensor Fusion.Power circuit scanning test robot adopts and controls based on the embedded system of ARM microcontroller.Has high-performance, low code size, the advantage that low-power consumption and size are little.Embedded system is finished aircraft flight control and online detection, has real-time constraint, can move under extreme environment.
The power circuit scanning test robot airplane control system uses the signal of telecommunication directly to control aircraft engine rotating speed and rotor deflection, and generation is hovered, and advances, and retreats, and rises, and descends, and turns left, and turns right, and quickens flare maneuvers such as deceleration.Control system is by the aspect information of gyrosensor feedback, and the rotation of control stabilization device keeps having a smooth flight.Control system encapsulates aforesaid operations, upwards provides the user to use interface.
The flight path flight that control system provides according to the mission planning system.Control system obtains the real-time height of aircraft from GPS, air speed, and spatial positional information obtains the aircraft flight directional information from compass, and utilizes above-mentioned information to finish the navigator fix of robot airplane.According to real-time location with plan that in advance flight path determines flight error, carry out the flight path correction.Control system also reads vision sensor information, uses the machine vision algorithm to determine barrier size, orientation, translational speed, and generate and to keep away the barrier flight path according to keeping away the barrier algorithm, former flight plan inserted, generate new flight path, flight is finished and is kept away barrier in real time according to this.
On-line detecting system adopts the mode of multi-sensor information fusion to carry out power circuit and detects.Use pyroscan to generate the infrared image distribution map of power circuit,, can determine the coordinate of power line temperature abnormity point by image processing.Analyze the video information that vision sensor generates, can check wire relaxes, icing and wave.The information that a plurality of transducers obtain is judged the possible type of power line failure by the processing of expert knowledge library system, and the return-to-operator.
1, power circuit scanning test robot airplane navigation system
This system uses global positioning system (GPS) 17, GIS-Geographic Information System (GIS) 14, and vision guided navigation and conventional art combine, and can determine the locus of robot airplane accurately, state informations such as heading.The distributing position information of the GIS-Geographic Information System of robot airplane (GIS) 14 in store high-tension cables that will be detected, it is as the essential information of electric power line inspection robot airplane flight path, robot airplane is determined the real time position of robot airplane by global positioning system (GPS) 17 in flight course, and with the data of GIS-Geographic Information System relatively, constantly proofread and correct the position of robot airplane, the flight path that guarantees robot airplane is all the time along the trend of power line.Embedded control system 13 produces control command by the result of path planning, makes the Torque Control motor produce corresponding corner, drives deflexion disk deflection by connecting rod; Deflexion disk promotes pitch attitude controlling organization 10, following screw deflection mechanism 15, goes up the attitude that screw deflection mechanism 16 changes the relative fuselage of screws, thereby changes flying speed, heading, the flight attitude of robot airplane.Fuel oil must atomize through rear engine fuel storage allocating system 7 or front-mounted engine fuel storage allocating system 20 before entering engine, the commands for controlling that produces according to fuselage attitude feedback signal and control algolithm of embedded control system 13 oil mass that enters each engine then, thereby control the rotating speed of two engines, thereby the ratio of the rotating speed of two screws of control aircraft is realized the stable of fuselage.Under particular job situation, can make the higher Artificial Control pattern of priority replace automatic control mode by automatic cruise mode and Artificial Control mode switch interface module 18, to guarantee aircraft and personnel's safety.
2, the autonomous planning system of power circuit scanning test robot airplane flight path
The electric force lines distribution information that this system uses GIS to provide is independently finished path planning, and in flight line walking process, utilizes extraneous feedback to revise automatically.
3, power circuit scanning test robot airplane ground monitoring system
This system provides two-way data communication channel between ground monitoring system and robot airplane, the digital data chain is adopted in communication between robot airplane and the ground data terminal, be that data chainning adopts digital carrier modulation, comprise up link and down link; Use the local area network technology of standard to be connected between ground data terminal and the ground control station, support multiple transmission medium; Except the transmission of master data, data link system also provides data compression, and is anti-interference waits data processing function;
The data in real time that this system can beam back robot shows, information such as state of flight, external environment, power circuit state are provided to the operator, and provides man-machine interface for operator's control robot aircraft.Ground control station provides the state of flight of aircraft and the circuit situation that power line detects by the man-machine interface interface immediately to the operator, and the operator can send flight control information to robot airplane by operation interface, the flight of telecontrolled aircraft.Ground control station also has the mission planning system, finishes the pre-planning of detection task automatically, generates corresponding operation information.
4, power circuit scanning test robot airplane data link system
This system uses microwave communication system and antenna, and two-way data communication channel is provided between ground monitoring system and robot airplane.Charge-coupled device (CCD) video camera 4 is taken the image of the power line below the aircraft flight path in the aircraft flight process, by the wireless telecommunications transmitter image information is sent it back the receiver of ground control station, and be kept in the memory device of ground control station.Use microwave communication system and antenna, two-way data communication channel is provided between ground monitoring system and robot airplane.The digital data chain is adopted in communication between robot airplane and the ground data terminal, and promptly data chainning adopts digital carrier modulation, comprises up link and down link.Use the local area network technology of standard to be connected between ground data terminal and the ground control station, support multiple transmission medium.Except the transmission of master data, data link system also provides data compression, and is anti-interference waits data processing function.
5, based on the on-line detecting system of Multi-sensor Fusion
This system uses vision-based detection, pyroscan to detect the multisensor syste that combines, and can detect and fault judgement by the state to power circuit under situation about not having a power failure.Infrared detection sensor is equipped with in the detecting sensor of robot airplane and signal sending assembly 9 inside, can detect the variations in temperature of high-tension cable; Can determine the state of cable by variation of temperature.Inner sender unit can be sent to ground control station analyzed to detected signal.
The electric power line inspection robot airplane have a following technical characteristic:
1. robot airplane has the ability of autotask planning, can be according to GIS information, and GPS information, the flight path of standardized optimum of sensor information isotactic, and in flight course, realize automatic avoiding barrier.
2. the self-navigation of robot airplane energy is moved towards flight along power line.Flight control system can realize the control of Basic Flight Maneuver, adjusts flight attitude, the stability of coordinated flight.
3. robot airplane can be realized the on-line monitoring of power circuit.Robot airplane can be according to monitoring the information that sensing is returned, by the generation of on-line monitoring system judgement feeder line fault, the type of fault, the locus of fault location origination point.
Preplanned mission finish or some specific condition under, robot airplane has the function of making a return voyage automatically.
Robot airplane has automatic control and two kinds of offline mode of manual remote control.Manual remote control has the highest priority, can interrupt the flight of robot airplane at any time, by people's control of flying.
The technical scheme of electric power line inspection robot airplane realizes that principle mainly is the power circuit distributed intelligence that provides according to GIS-Geographic Information System (GIS), automatically the detection task is resolved into the experimental process task.According to the concrete condition of each subtask, independently finish path planning, cook up corresponding flight optimization track.Robot airplane by flying speed, heading, flight attitude, the flight stability of automatic controlling system aircraft, makes the patrol flight of aircraft energy according to predefined flight path.In the robot airplane flight course,, use online path planning system, handle information such as barrier, adjust flight program in real time, guarantee the safe flight of flight by different transducer collection space environmental informations.Robot airplane has also obtained the state information of power circuit by transducer, the generation and the occurrence type of electrification circuit on-line detecting system failure judgement are determined the geographical position that obstacle takes place.Aloft Fei Hang robot airplane is transferred to aircraft state information and the power circuit state information that obtains on the supervisory control system on ground by data link system, and the operator is real-time on monitoring screen to see these information.The monitor also can send control information to robot airplane by man-machine interface, adjusts the state of flight of aircraft, to reach best detection effect.
The invention has the advantages that
1. the unmanned flight of robot airplane, safe and reliable, can finish certain dangerous tasks, also can not cause personnel's injures and deaths even inflight emergency has taken place, effectively solve track walker safety issue of in ultra-high voltage environment, working and the personal casualty loss of having avoided to cause in the manned helicopter flight accident.
2. the robot airplane fuselage is small and exquisite, stable and reliable for performance, maneuverability, required crew's number and technical ability require to be less than that people's aircraft is arranged, the reliable ground transport of long-range transition operation is finished, operation cost is low, overall expenses also descends greatly, has solved manual detection and the high deficiency of manned helicopter testing cost.
But the robot airplane vertical and landing takeoff, need not any servicing unit, do not need special airport and runway, extremely low to environmental requirement, in the open air can take off everywhere and landing, duration of run short, solved the weak deficiency of manned helicopter adaptive capacity to environment.
4. robot airplane flight precision height, can hover for a long time, can before fly, after fly, side flies, spiral etc., the speed-controllable scope is big, and high flight quality is arranged, and has solved along the slow deficiency of power circuit walking robot detection mode movement velocity.
The intelligent degree height of robot airplane, can realize over the horizon observing and controlling flight, program control autonomous flight and multiple advanced function such as make a return voyage automatically, operate very simple and effective, stronger fault-tolerant ability is arranged, solved the walking robot detection mode problem high the ground instrument dependence.
6. can carry multiple-task equipment, the utilization scope is wide, extreme low-altitude operation, the suffered constraint of operation is few, has solved the inefficient problem of walking robot detection mode.
It is low that the electric power line inspection robot airplane has expense, safe, good reliability, and adaptability is good, and monitoring velocity is fast, the efficient advantages of higher.The invention of this system can effectively improve the quality monitoring of power circuit, ensures the safety and steady operation of electric power transmission network, and is significant for the reliability service of electric power system.
Description of drawings
Fig. 1 is a robot airplane front view of the present invention.Wherein, undercarriage 1, front-mounted engine 2, output deceleration mechanism 3, ccd video camera 4, intraware fixed support 5, rear engine 6, rear engine fuel storage allocating system 7, following screw 8, the detecting sensor signal receives and sending assembly 9, pitch attitude controlling organization 10, yaw-position controlling organization 11, storage battery 12, embedded computer control system 13, generalized information system 14, following screw deflection mechanism 15, last screw deflection mechanism 16, gps system 17, automatic cruising state and Artificial Control interface module 18, last screw 19, front-mounted engine fuel storage allocating system 20.Front-mounted engine 2 and rear engine 6 are respectively by coaxial two screws up and down of a pair of gear pair 3 reverse drive.And two engines are realized the balance to airframe under the control of control system, guarantee the stable of robot airplane fuselage.
Fig. 2 is a robot airplane left view of the present invention.Wherein, the detecting sensor signal receives and sending assembly 9, pitch attitude controlling organization 10, yaw-position controlling organization 11, storage battery 12, embedded computer control system 13, generalized information system 14, time screw deflection mechanism 15, last screw deflection mechanism 16, gps system 17, automatic cruising state and Artificial Control interface module 18.
Fig. 3 is a robot airplane vertical view of the present invention.
Fig. 4 is a robot airplane ground control station functional structure chart of the present invention.
Fig. 5 is a robot airplane system configuration of the present invention.
Embodiment
When high-voltage electric power circuit is detected, robot airplane and GCU need be placed a comparatively smooth place, so that robot airplane steadily takes off.Taken off and arrived the height that is suitable for detecting beginning by the Artificial Control robot airplane, start automatic cruising flight control program, scanning test robot airplane begins along power line flight, and the state to power line detects simultaneously.
In the flight testing process, robot airplane is sent to ground station with visual signal, infrared signal and the positional information of detected power line by the signal transmitter of aircraft and the receiving equipment of ground control station, and be kept in the memory, utilize MATLAB signal processing tool box to carry out analyzing and processing.
When aircraft fuel was depleted to set point, control system started the program of making a return voyage, and robot airplane sends real-time position information and makes a return voyage to starting point, and the state to robot airplane carries out necessary inspection then, and power line detects so that carry out next time.
When this regional power line detect finish after, the positional information the when detection that provides when making a return voyage according to robot airplane finishes is transported to robot airplane and GCU near this position, prepares beginning and detects next time.

Claims (10)

1, a kind of power circuit scanning test robot airplane is characterized in that: by undercarriage (1), front-mounted engine (2), output deceleration mechanism (3), charge-coupled device ccd video camera (4), intraware fixed support (5), rear engine (6), rear engine fuel storage allocating system (7), following screw (8), the detecting sensor signal receives and sending assembly (9), pitch attitude controlling organization (10), yaw-position controlling organization (11), storage battery (12), embedded computer control system (13), generalized information system (14), following screw deflection mechanism (15), last screw deflection mechanism (16), gps system (17), automatic cruising state and Artificial Control interface module (18), last screw (19), front-mounted engine fuel storage allocating system (20) is formed; Its structure adopts screw under the coaxial twin screw (8) and last screw (19) reverse drive structure, adopt two engine behind front wheel engines (2) and rear engine (6) to drive two screw reverse rotations respectively, control the stable of airframe by the rotating ratio of controlling two engines; Use gps system (17) and generalized information system (14) to determine the flight path of aircraft, use is carried out the flight attitude adjustment based on the embedded system of 32 RISC processor ARM, uses storage battery to provide power supply as motor of engine, detecting sensor and data link system; Screw (8) and last screw (19) provided power for aircraft under front-mounted engine (2) and rear engine (6) drove by a pair of output deceleration mechanism (3) respectively, storage battery (12) is as power supply, and rear engine fuel storage allocating system (7) and front-mounted engine fuel storage allocating system (20) provide fuel for aircraft; Output deceleration mechanism (3), rear engine fuel storage allocating system (7), pitch attitude controlling organization (10), yaw-position controlling organization (11), embedded computer control system (13), generalized information system (14), following screw deflection mechanism (15), last screw deflection mechanism (16), gps system (17), automatic cruising state and Artificial Control interface module (18) are formed navigation and autonomous path planning system; Ground control station is as ground control system; The receiver composition data chain-circuit system of charge-coupled device ccd video camera (4) and ground control station; Detection system comprises that the detecting sensor signal receives and sending assembly (9).
2, according to the described robot airplane of claim 1, it is characterized in that: undercarriage (1) is made up of four elastic arms, and four elastic arms are separately fixed on the reinforcing ring of the bracing frame of robot airplane and an annular; The intraware fixed support (5) of robot airplane is the skeleton of robot airplane, all dynamical systems, navigation system, data link system and the detection system of crusing robot all by corresponding bolts and screw on intraware fixed support (5).
3, according to claim 1 or 2 described robot airplanes, it is characterized in that: the last screw (19) of robot airplane rotates with different rotating speeds with following screw (8), and the moment of torsion that fuselage is produced is cancelled each other separately; Owing to adopt the coaxial reverse drive of twin screw, cancelled the balanced compensated screw of the afterbody of helicopter simultaneously.
4, according to claim 1 or 2 described robot airplanes, it is characterized in that: rear engine fuel storage allocating system (7) and front-mounted engine fuel storage allocating system (20) are communicated with, the fuel oil of such two fuel tanks can compensate mutually, improve the flight time of aircraft, fuel oil must atomize through the fuel oil allocating system before entering engine, entered embedded control system (13) then.
5, a kind of intelligent power circuit that is used for the described robot airplane of claim 1 detects control system, it is characterized in that: be made of power circuit scanning test robot airplane navigation and autonomous path planning system, robot airplane ground monitoring system, data link system, the on-line detecting system that merges based on dual sensor;
A, employing are controlled based on the embedded system of ARM microcontroller, use the signal of telecommunication directly to control aircraft engine rotating speed and rotor deflection, and generation is hovered, and advances, and retreats, and rises, and descends, and turn left, and flare maneuvers such as deceleration are quickened in right-hand rotation;
B, intelligent power circuit detect the aspect information of control system by the gyrosensor feedback, and the rotation of control stabilization device keeps having a smooth flight, and with the aforesaid operations encapsulation, upwards provide the user to use interface;
C, intelligent power circuit detect the flight path flight that control system provides according to the mission planning system, obtain the real-time height of aircraft, air speed, spatial positional information from GPS, obtain the aircraft flight directional information from compass, and utilize above-mentioned information to finish the navigator fix of robot airplane; According to real-time location with plan that in advance flight path determines flight error, carry out the flight path correction;
D, intelligent power circuit detect control system and also read vision sensor information, use the machine vision algorithm to determine the barrier size, the orientation, translational speed, and generate and to keep away the barrier flight path according to keeping away the barrier algorithm, insert former flight plan, generate new flight path, flight is finished and is kept away barrier in real time according to this.
E, on-line detecting system adopt the mode of multi-sensor information fusion to carry out power circuit and detect; Use pyroscan to generate the infrared image distribution map of power circuit,, can determine the coordinate of power line temperature abnormity point by image processing; Analyze the video information that vision sensor generates, can check wire relaxes, icing and wave.The information that a plurality of transducers obtain is judged the possible type of power line failure by the processing of expert knowledge library system, and the return-to-operator.
6, the intelligent power circuit according to the described robot airplane of claim 5 detects control system, it is characterized in that: the power circuit scanning test robot airplane navigation system is used global position system GPS (17), GIS-Geographic Information System GIS (14), vision guided navigation and conventional art combine, can determine the locus of robot airplane accurately, the heading state information; The distributing position information of the in store high-tension cable that will be detected of the GIS-Geographic Information System GIS of robot airplane (14), it is as the essential information of electric power line inspection robot airplane flight path, robot airplane is determined the real time position of robot airplane by global position system GPS (17) in flight course, and with the data of GIS-Geographic Information System relatively, constantly proofread and correct the position of robot airplane, the flight path that guarantees robot airplane is all the time along the trend of power line; Embedded control system (13) produces control command by the result of path planning, makes the Torque Control motor produce corresponding corner, drives deflexion disk deflection by connecting rod; Deflexion disk promotes pitch attitude controlling organization (10), following screw deflection mechanism (15), goes up the attitude that screw deflection mechanism (16) changes the relative fuselage of screw, thereby changes flying speed, heading, the flight attitude of robot airplane; Fuel oil must atomize through rear engine fuel storage allocating system (7) or front-mounted engine fuel storage allocating system (20) before entering engine, the commands for controlling that produces according to fuselage attitude feedback signal and control algolithm of embedded control system (13) oil mass that enters each engine then, thereby control the rotating speed of two engines, thereby the ratio of the rotating speed of two screws of control aircraft is realized the stable of fuselage; Under particular job situation, can make the higher Artificial Control pattern of priority replace automatic control mode by automatic cruise mode and Artificial Control mode switch interface module (18), to guarantee aircraft and personnel's safety.
7, the intelligent power circuit according to the described robot airplane of claim 5 detects control system, it is characterized in that: the electric force lines distribution information that the autonomous planning system of power circuit scanning test robot airplane flight path uses GIS to provide, independently finish path planning, and in flight line walking process, utilize extraneous feedback to revise automatically.
8, the intelligent power circuit according to the described robot airplane of claim 5 detects control system, it is characterized in that: the power circuit scanning test robot airplane ground control system provides two-way data communication channel between ground control system and robot airplane, the digital data chain is adopted in communication between robot airplane and the ground data terminal, be that data chainning adopts digital carrier modulation, comprise up link and down link; Use the local area network technology of standard to be connected between ground data terminal and the ground control station, support multiple transmission medium; Except the transmission of master data, data link system also provides data compression, anti-interference data processing function; The data in real time that this system can beam back robot shows, provides state of flight, external environment, power circuit state information to the operator, and provides man-machine interface for operator's control robot aircraft; Ground control station is by the man-machine interface interface, immediately provide the state of flight of aircraft and the circuit situation that power line detects to the operator, the operator can send flight control information to robot airplane by operation interface, the flight of telecontrolled aircraft, ground control station also has the mission planning system, automatically finish the pre-planning of detection task, generate corresponding operation information.
9, the intelligent power circuit according to the described robot airplane of claim 5 detects control system, it is characterized in that: the power circuit scanning test robot airplane data link system uses microwave communication system and antenna, and two-way data communication channel is provided between ground monitoring system and robot airplane; Charge-coupled device ccd video camera (4) is taken the image of the power line below the aircraft flight path in the aircraft flight process, by the wireless telecommunications transmitter image information is sent it back the receiver of ground control station, and is kept in the memory device of ground control station; Use microwave communication system and antenna, two-way data communication channel is provided between ground control system and robot airplane; The digital data chain is adopted in communication between robot airplane and the ground data terminal, and promptly data chainning adopts digital carrier modulation, comprises up link and down link; Use the local area network technology of standard to be connected between ground data terminal and the ground control station, support multiple transmission medium; Except the transmission of master data, data link system also provides data compression, anti-interference data processing function.
10, the intelligent power circuit according to the described robot airplane of claim 5 detects control system, it is characterized in that: the on-line detecting system based on Multi-sensor Fusion uses vision-based detection, pyroscan to detect the multisensor syste that combines, and can detect and fault judgement by the state to power circuit under situation about not having a power failure; The detecting sensor signal of robot airplane receives and infrared detection sensor is equipped with in sending assembly (9) inside, can detect the variations in temperature of high-tension cable; Can determine the situation of cable by variation of temperature; The sender unit that the detecting sensor signal receives and sending assembly (9) is inner can be sent to ground control station analyzed to detected signal.
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