CN207704269U - A kind of unmanned plane inspection obstacle avoidance module - Google Patents
A kind of unmanned plane inspection obstacle avoidance module Download PDFInfo
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- CN207704269U CN207704269U CN201721681053.XU CN201721681053U CN207704269U CN 207704269 U CN207704269 U CN 207704269U CN 201721681053 U CN201721681053 U CN 201721681053U CN 207704269 U CN207704269 U CN 207704269U
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Abstract
The utility model discloses a kind of unmanned plane inspection obstacle avoidance module, the utility model above and below unmanned plane body, left and right and front and back six direction arrangement electromagnetic wave acquire sensor, to realize different directions electromagnetic wave precise acquisition during unmanned plane inspection；Electromagnetic wave information acquisition is completed, it can be achieved that being acquired to 9kHz~6.2GHz band limits electromagnetic waves in space during unmanned plane inspection using all frequency bands antenna, effectively overcomes electric field avoidance limitation.Antenna acquire electromagnetic wave information, be sent to low-noise amplifier, through window relatively after be sent to radio-frequency filter, digital signal is converted to finally by A/D converter and is sent to CPU processing.Keyboard interface, liquid crystal display, RS485 interfaces and wireless communication module are increased in model for the ease of debugging；Make up existing avoidance technology and avoidance sensor limitation；A kind of new barrier-avoiding method is proposed to unmanned plane inspection job safety, can be further assured that upkeep operation safety.
Description
Technical field
The utility model is related to a kind of inspection obstacle avoidance module, specially a kind of unmanned plane inspection obstacle avoidance module belongs to transmission of electricity
Circuit O＆M overhauls applied technical field.
Background technology
In recent years, the sustained and rapid development of Chinese national economy proposes increasingly higher demands to China's power industry.
China territory is vast, with a varied topography, and hills and mountain area are more, and meteorological condition is complicated, in order to realize safe and reliable power supply, compels
Cut requirements automation, modernization inspection technological means.Currently, Guo Wang companies just gradually improved using unmanned air vehicle technique it is aerial
The operational efficiency and quality of transmission line of electricity, unmanned plane have become the important technical of power grid inspection.As unmanned plane inspection is gone through
How safely, effectively the increase of journey and acquisition transmission line information amount, is rapidly performed by transmission line information acquisition, realizes nothing
The problem of man-machine safe avoidance becomes intelligent patrol detection urgent need to resolve.Existing unmanned helicopter avoidance, such as patent
" CN201210222437 " a kind of differential electric field obstacle avoidance system and method for unmanned plane inspection band point conducting wire " is to pass through detection
The variation of the electric field strength of unmanned plane present position is compared with simulation result, and then is carried out to position detection and judgement.It is detecting
In the process, patent " CN201210222437 " utilizes the change rate of the difference of two electric field strengths in transmission line of electricity section, in nothing
It is man-machine in transmission line of electricity flight, it is desirable that unmanned plane flight parallel with transmission line of electricity, actually may not be in a level
On line, so the result obtained by this detection method has limitation to the flight safety of unmanned plane.
As the three-dimensional electric field difference of transmission line of electricity is charged in a kind of unmanned helicopter inspection of patent " CN201510582234.6 "
Barrier-avoiding method is that electric field intensity measuremenrt sensor is equipped on unmanned helicopter, DSP data processors, and three roads are identical
Electric field measurement circuit, each electric field measurement circuit include sequentially connected electric field measurement sensor, signal processing unit, DSP data
Processor, DSP data processor output ends are connect with system for flight control computer, and providing one kind can realize unmanned helicopter to defeated
The three dimensions avoidance of electric lead.Electric field is a kind of electromagnetic wave, and unmanned plane during flying safety is influenced during practical inspection not
Only only have circuit electric field, the above three-dimensional electric field detection method that there is limitation to the flight safety of unmanned plane.
Utility model content
The purpose of this utility model is that solve the above-mentioned problems and provides a kind of unmanned plane inspection obstacle avoidance module, can
Unmanned plane inspection is realized in the process to the adaptive avoidance such as conducting wire, insulator chain, shaft tower and gold utensil, so that it is guaranteed that unmanned plane inspection
Job safety, the utility model are compared with threshold value by acquiring different frequency range electromagnetic wave information around unmanned plane, are being faced
Feedback information to unmanned plane flies control when nearly danger zone, and control unmanned plane is moved to negative direction, to realize avoidance.
The utility model is achieved through the following technical solutions above-mentioned purpose, a kind of unmanned plane inspection obstacle avoidance module, including
Pin connection keyboard interface, liquid crystal display, RS485 interfaces and the wireless communication module of CPU, the CPU, and the CPU is another
Side pin connects intrinsic VCO by VOC frequencies；The pin of the CPU connects low-noise amplifier, and the low noise amplification
Device connecting adapter；The adapter connects radio-frequency filter, and the radio-frequency filter connects A/D converter, and the A/D
Converter connects the pin of the CPU；The low-noise amplifier connects antenna.
A kind of method for arranging of unmanned plane inspection obstacle avoidance module, includes the following steps：
Step A, electromagnetic wave signal acquires；
A) antenna is arranged
Not influence unmanned plane normal flight, and ensure signal acquisition reliability, signal acquisition antenna is arranged in
Unmanned body is all around and upper and lower six positions, antenna frequencies coverage area are 9kHz~6.2GHz ,+20dBm~-160dBm
Measurement range；
B) signal processing
The down coversion of signal is completed using frequency mixer and completes signal amplitude, frequency spectrum detection, frequency mixer will be acquired by antenna
The signal multiplication that generates of electromagnetic wave signal and local oscillator, the difference frequency of two signals is obtained, to realize input signal
Frequency conversion adjusts local oscillator frequencies, you can realizes unlike signal frequency collection；
C) signal is analyzed
Build the antenna sensor and multi-way intelligence formula signal acquiring system of diversified forms；It is special to obtain a large amount of reflection time-space domains
The transducing signal of property constructs multidimensional mathematical model by numerical computations and Data Analysis Services；
Step B, electromagnetic signal physical model is built according to signal characteristic, is adopted using antenna sensor and high speed shelf depreciation
Collecting system obtains the great amount of samples of shelf depreciation, constructs electromagnetic wave spectrogram and image；
Step C, early warning and avoidance
The electromagnetic wave information of six different directions acquisition is respectively X1, X2, Y1, Y2, Z1, Z2, wherein
X1, X2 acquire electromagnetic wave information before and after unmanned plane；
Y1, Y2 acquire unmanned plane or so electromagnetic wave information；
Z1, Z2 acquire unmanned plane electromagnetic wave information up and down；
When unmanned plane either direction electromagnetic wave is more than threshold value, winged control is sent a command to, from flying control control unmanned plane to phase
Negative direction moves, to realize avoidance.
Preferably, it is adopted using the PD mode identification methods of the uncorrelated discriminant vectors of statistics based on core in the step B
With the algorithm of principal component analysis based on image array；Using core feature extracting method, electromagnetic wave three-dimensional spectrum is decomposed, and
Core feature extraction is carried out, then the feature of subgraph is merged, pattern-recognition, improves the precision of identification.
Preferably, the signal acquiring system includes electric field acquisition sensor, RF signal collection is rodlike and plate senses
Device, corona discharge acquire sensor.
Preferably, unmanned plane traffic direction during inspection is around and upper and lower six direction, signal are adopted
It is consistent with the unmanned plane direction of motion on collection.
The utility model has the beneficial effects that：
1), the utility model above and below unmanned plane body, left and right and front and back six direction arrangement electromagnetic wave acquire sensor,
To realize different directions electromagnetic wave precise acquisition during unmanned plane inspection；Electromagnetic wave information is completed using all frequency bands antenna to adopt
Collection effectively overcomes electric field, it can be achieved that acquired to 9kHz~6.2GHz band limits electromagnetic waves in space during unmanned plane inspection
Avoidance limitation.
2), antenna acquire electromagnetic wave information, be sent to low-noise amplifier, through window relatively after be sent to rf filtering
Device is converted to digital signal finally by A/D converter and is sent to CPU processing.Increase in model for the ease of debugging
Keyboard interface, liquid crystal display, RS485 interfaces and wireless communication module are added.
3) unmanned plane inspection, can be achieved in the process to the adaptive avoidance such as conducting wire, insulator chain, shaft tower and gold utensil, thus
Ensure unmanned plane inspection job safety, the utility model is by acquiring different frequency range electromagnetic wave information around unmanned plane, and and threshold
Value is compared, and when closing on danger zone, feedback information to unmanned plane flies control, and control unmanned plane is moved to negative direction, to real
Existing avoidance.A) existing avoidance technology and avoidance sensor limitation are made up；Unmanned plane inspection job safety is proposed a kind of new
Barrier-avoiding method, can be further assured that upkeep operation safety.
Description of the drawings
Fig. 1 is that the utility model data communication connects block diagram；
Fig. 2 is the six direction schematic diagram of the utility model；
Fig. 3 is the intrinsic VCO circuit diagrams of the utility model；
Fig. 4 is the cpu circuit figure of the utility model；
Fig. 5 is the radio frequency filter circuit figure of the utility model；
Fig. 6 is the wireless communication module circuit diagram of the utility model；
Fig. 7 is the A/D converter circuit diagram of the utility model；
Fig. 8 is the amplifier circuit in low noise figure of the utility model；
Fig. 9 is the utility model embodiment detection intensity schematic diagram；
Figure 10 is that the utility model embodiment detects frequency diagram.
Specific implementation mode
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole
Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are without making creative work
The every other embodiment obtained, shall fall within the protection scope of the present invention.
It please refers to Fig.1 shown in -10, a kind of unmanned plane inspection obstacle avoidance module, including the pin of CPU, the CPU connect keyboard
Interface, liquid crystal display, RS485 interfaces and wireless communication module, and the other sides CPU pin connects this by VOC frequencies
Levy VCO；The pin of the CPU connects low-noise amplifier, and the low-noise amplifier connecting adapter；The adapter connects
Radio-frequency filter is connect, and the radio-frequency filter connects A/D converter, and the A/D converter connects the pin of the CPU；
The low-noise amplifier connects antenna.
A kind of method for arranging of unmanned plane inspection obstacle avoidance module, includes the following steps：
Step A, electromagnetic wave signal acquires；
A) antenna is arranged
Not influence unmanned plane normal flight, and ensure signal acquisition reliability, signal acquisition antenna is arranged in
Unmanned body is all around and upper and lower six positions, antenna frequencies coverage area are 9kHz~6.2GHz ,+20dBm~-160dBm
Measurement range；
B) signal processing
The down coversion of signal is completed using frequency mixer and completes signal amplitude, frequency spectrum detection, frequency mixer will be acquired by antenna
The signal multiplication that generates of electromagnetic wave signal and local oscillator, the difference frequency of two signals is obtained, to realize input signal
Frequency conversion adjusts local oscillator frequencies, you can realizes unlike signal frequency collection；
C) signal is analyzed
Build the antenna sensor and multi-way intelligence formula signal acquiring system of diversified forms；It is special to obtain a large amount of reflection time-space domains
The transducing signal of property constructs multidimensional mathematical model by numerical computations and Data Analysis Services；
Step B, electromagnetic signal physical model is built according to signal characteristic, is adopted using antenna sensor and high speed shelf depreciation
Collecting system obtains the great amount of samples of shelf depreciation, constructs electromagnetic wave spectrogram and image；
Step C, early warning and avoidance
The electromagnetic wave information of six different directions acquisition is respectively X1, X2, Y1, Y2, Z1, Z2, wherein
X1, X2 acquire electromagnetic wave information before and after unmanned plane；
Y1, Y2 acquire unmanned plane or so electromagnetic wave information；
Z1, Z2 acquire unmanned plane electromagnetic wave information up and down；
When unmanned plane either direction electromagnetic wave is more than threshold value, winged control is sent a command to, from flying control control unmanned plane to phase
Negative direction moves, to realize avoidance.
Using the PD mode identification methods of the uncorrelated discriminant vectors of statistics based on core in the step B, using based on
The algorithm of principal component analysis of image array；Using core feature extracting method, electromagnetic wave three-dimensional spectrum is decomposed, and carries out core
Then feature extraction is merged the feature of subgraph, pattern-recognition, the precision of identification is improved.
The signal acquiring system includes that electric field acquisition sensor, RF signal collection be rodlike and plate sensor, corona
Electric discharge acquisition sensor.
Unmanned plane traffic direction during inspection be around and upper and lower six direction, in signal acquisition with
The unmanned plane direction of motion is consistent.
Embodiment one：
A kind of unmanned plane barrier-avoiding method, includes the following steps：
Step 1：Electromagnetic sensor is installed, usb interfaces are carried, respectively in unmanned plane head, tail, wing both sides and machine
Lower arrangement with it, and signal output end is respectively connected with No. six low-noise amplifiers respectively, each road signal is sent out after individually handling
It send to CPU.
Step 2：Monitoring of tools frequency range 2400MHz-2483.5MHz, setting Dangerous Frequency 2441MHz, 2442.5MHz
And threshold value is input to CPU, shown in Figure 10.
Step 3：It analyzes 6 road electromagnetic wave informations and is compared with threshold value (- 8dBm), send out dangerous police when a threshold is exceeded
Show and sends information to winged control.Shown in Fig. 9.
Step 4：Fly control control unmanned plane to adjust round about, to realize avoidance.
The utility model above and below unmanned plane body, left and right and front and back six direction arrangement electromagnetic wave acquire sensor, with
Different directions electromagnetic wave precise acquisition during realization unmanned plane inspection；Electromagnetic wave information acquisition is completed using all frequency bands antenna,
It can be achieved to acquire 9kHz~6.2GHz band limits electromagnetic waves in space during unmanned plane inspection, effectively overcome electric field avoidance
Limitation.Antenna acquires electromagnetic wave information, is sent to low-noise amplifier, through window relatively after be sent to radio-frequency filter, most
Digital signal is converted to by A/D converter afterwards and is sent to CPU processing.
The utility model proposes a kind of tromagnetic wave detection method, spatial electromagnetic during real-time detection unmanned plane inspection
Wave, when electromagnetic wave exceeds secure threshold in a direction, unmanned plane moves to realize inspection avoidance round about.
It is obvious to a person skilled in the art that the present invention is not limited to the details of the above exemplary embodiments, and
And without departing substantially from the spirit or essential attributes of the utility model, it can realize that this practicality is new in other specific forms
Type.Therefore, in all respects, the present embodiments are to be considered as illustrative and not restrictive, this practicality is new
The range of type is indicated by the appended claims rather than the foregoing description, it is intended that containing in the equivalent requirements of the claims will be fallen
All changes in justice and range are embraced therein.Any reference numeral in claim should not be considered as limitation
Involved claim.
In addition, it should be understood that although this specification is described in terms of embodiments, but not each embodiment is only wrapped
Containing an independent technical solution, this description of the specification is merely for the sake of clarity, and those skilled in the art should
It considers the specification as a whole, the technical solutions in the various embodiments may also be suitably combined, forms those skilled in the art
The other embodiment being appreciated that.
Claims (1)
1. a kind of unmanned plane inspection obstacle avoidance module, including CPU, it is characterised in that：Pin connection keyboard interface, the liquid of the CPU
Crystal display, RS485 interfaces and wireless communication module, and the other sides CPU pin connects intrinsic VCO by VOC frequencies；Institute
State the pin connection low-noise amplifier of CPU, and the low-noise amplifier connecting adapter；The adapter connection radio frequency filter
Wave device, and the radio-frequency filter connects A/D converter, and the A/D converter connects the pin of the CPU；The low noise
Acoustic amplifier connects antenna.
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| CN201721681053.XU CN207704269U (en) | 2017-12-06 | 2017-12-06 | A kind of unmanned plane inspection obstacle avoidance module |
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| CN201721681053.XU CN207704269U (en) | 2017-12-06 | 2017-12-06 | A kind of unmanned plane inspection obstacle avoidance module |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112068597A (en) * | 2020-09-25 | 2020-12-11 | 中国直升机设计研究所 | Obstacle avoidance system of helicopter based on front-driving unmanned aerial vehicle |
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2017
- 2017-12-06 CN CN201721681053.XU patent/CN207704269U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112068597A (en) * | 2020-09-25 | 2020-12-11 | 中国直升机设计研究所 | Obstacle avoidance system of helicopter based on front-driving unmanned aerial vehicle |
| CN112068597B (en) * | 2020-09-25 | 2022-09-13 | 中国直升机设计研究所 | Obstacle avoidance system of helicopter based on front-driving unmanned aerial vehicle |
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