CN207867349U - A kind of substation inspection unmanned plane during flying security system - Google Patents
A kind of substation inspection unmanned plane during flying security system Download PDFInfo
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- CN207867349U CN207867349U CN201820294289.6U CN201820294289U CN207867349U CN 207867349 U CN207867349 U CN 207867349U CN 201820294289 U CN201820294289 U CN 201820294289U CN 207867349 U CN207867349 U CN 207867349U
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- unmanned plane
- during flying
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Abstract
A kind of substation inspection unmanned plane during flying security system, including unmanned plane and ground observing and controlling system, unmanned plane is provided with central control module, navigation positioning module, audible-visual annunciator, electromagnetic detection module and multiple UWB modules, it is provided with holder on unmanned machine support, visible image capturing head and infrared thermography are provided on holder；The ground observing and controlling system includes UWB locating base stations, server and monitoring computer；The visible image capturing head, infrared thermography, navigation positioning module, audible-visual annunciator, electromagnetic detection module, UWB modules are connected with central control module respectively；The UWB modules and UWB locating base stations are communicated using UWB；UWB locating base stations, monitoring computer are connected with server respectively.The utility model positioning accuracy is high, strong antijamming capability, realizes substation equipment automatic detecting and by inspection information automatic storage to server, automated procedures are high.
Description
Technical field
The utility model belongs to inspecting substation equipment field, and in particular to a kind of substation inspection unmanned plane during flying safety
System.
Background technology
Inspecting substation equipment is to ensure substation safety operation, improves an element task of power supply reliability, with
The raising of automation of transformation substations level and unattended universal, transformer equipment operational reliability faces more acute examine
It tests, substation inspection receives the attention of bigger.Traditional manual patrol increasingly can not meet modern substations peace
The requirement of row for the national games.With the fast development of unmanned air vehicle technique and airmanship and wireless communication technique in recent years and it is not broken into
Ripe, domestic and international many electric power enterprises begin attempt to carry out power system inspection using unmanned plane.It was applied in current unmanned plane
Cheng Zhong, it will usually relevant optical detecting instrument is carried on unmanned plane, so as to realize to power equipment working condition
Detection, to find potential security risk in time.Using unmanned plane inspection electric system, can effectively reduce electric power inspection at
This, improves the quality of inspection operation, enhances power system automation integration capability.
And substation's electromagnetic environment is complicated, when unmanned plane executes patrol task in substation, flies control, communication system meets with
It is out of control it to be easy to cause unmanned plane when meeting strong electromagnetic interference.Since power transformation station equipment is intensive, when unmanned plane is in substation
When aircraft accident occurs, it is most likely that the damage of important equipment in substation is caused, and then endangers the safe operation of substation, because
This when flight, improves the positioning accuracy of unmanned plane and plans flight optimal air line route and be directed to environment change in real time in substation
Change situation to adjust in time, be even more important to unmanned plane safe flight.
Invention content
The purpose of this utility model can be realized in view of the above-mentioned problems, provide a kind of substation's unmanned plane during flying security system
Unmanned plane high accuracy positioning is planned unmanned plane safe flight optimal air line route and is adjusted in time for environmental change situation.
The technical solution of the utility model is a kind of substation inspection unmanned plane during flying security system, including unmanned plane and ground
Face TT＆C system, unmanned plane are provided with central control module and navigation positioning module, holder, holder are provided on unmanned machine support
On be provided with visible image capturing head and infrared thermography, the unmanned plane further include audible-visual annunciator, electromagnetic detection module and
Multiple UWB modules；The ground observing and controlling system includes UWB locating base stations, server and monitoring computer；The visible image capturing
Head, infrared thermography, navigation positioning module, audible-visual annunciator, electromagnetic detection module, UWB modules control mould with center respectively
Block connects；The UWB modules and UWB locating base stations are communicated using UWB；UWB locating base stations, monitoring computer are respectively and server
Connection；The UWB modules include UWB transmitter units and UWB receiving units；The central control module includes processor and storage
Device.
Further, the visible image capturing head is CCD visible image capturing heads；The infrared thermography is FLIR Vue
Pro infrared thermographies；The navigation positioning module is 2 navigation positioning modules of Zubax GNSS；The audible-visual annunciator is
QingYang LTE-1101 audible-visual annunciators；The central control module includes Micropilot MP2028.
Further, navigation positioning module includes concurrent GPS/GLONASS receivers, high accuracy number barometer and high-precision
Spend triaxial testing system, the concurrent GPS/GLONASS receivers model u-blox MAX-M8Q, the high accuracy number gas
Pressure meter model TE Connectivity MS5611, the high-precision triaxial testing system model LIS3MDL.
Preferably, the unmanned plane include 5 UWB modules, be respectively arranged at unmanned plane front, rear, left, right and
Below holder.
Preferably, UWB locating base stations and the connection type of server are wireless network.
The utility model has the beneficial effects that unmanned plane high accuracy positioning can be realized, the optimal boat of unmanned plane safe flight is planned
Road route is simultaneously adjusted for environmental change situation in time；Strong antijamming capability realizes substation equipment automatic detecting and will patrol
Information automatic storage is examined to server, automated procedures are high；UWB modular powers are small, and transmission communication transmission rate is high；Realize inspection without
Man-machine dynamic monitoring, in monitoring Real time vision.
Description of the drawings
The utility model is described in further detail with reference to the accompanying drawings and examples.
Fig. 1 is unmanned plane structure chart.
Fig. 2 is the utility model structure diagram.
Fig. 3 is the process for using figure of unmanned plane during flying security system.
Fig. 4 is unmanned plane air route route planning method flow chart.
Specific implementation mode
As depicted in figs. 1 and 2, a kind of substation inspection unmanned plane during flying security system, including unmanned plane and ground observing and controlling
System, unmanned plane are provided with central control module 1, navigation positioning module 4, audible-visual annunciator 5, electromagnetic detection module 6 and multiple
UWB modules 7 are provided with holder on unmanned machine support, visible image capturing head 2 and infrared thermography 3 are provided on holder；Ground
TT＆C system includes UWB locating base stations 8, server 9 and monitoring computer 10；Visible image capturing head 2, is led at infrared thermography 3
Locating module 4, audible-visual annunciator 5, electromagnetic detection module 6, the UWB modules 7 of navigating are connected with central control module 1 respectively；UWB modules
7 and UWB locating base stations 8 are communicated using UWB；UWB locating base stations 8, monitoring computer 10 are connected with server 9 respectively；UWB modules
7 include UWB transmitter units and UWB receiving units；Central control module 1 includes processor and memory, is stored on memory
Power threshold calculation procedure, (the Objective extraction recognizer research in the super machine vision images of Wu Ji of Machine Vision Recognition program
[D] Agricultural University Of Hebei, 2010.), routeing program (the unmanned plane air route of Li Nan, Zhang Jianhua based on improved adaptive GA-IAGA
Plan [J] Computer Simulations, 2016,33 (04):91-94+170.).UWB locating base stations 8 and the connection type of server 9 are
Wireless network.
Visible image capturing head 2 is CCD visible image capturing heads；Infrared thermography 3 is FLIR Vue Pro infrared thermal imagings
Instrument；Navigation positioning module 4 is 2 navigation positioning modules of Zubax GNSS；Audible-visual annunciator 5 is QingYang LTE-1101 acousto-optics
Alarm；Central control module 6 includes Micropilot MP2028.The built-in control of Micropilot MP2028 central control modules
Gain table processed obtains optimal control results；Aileron feedforward compensation is used to rudder, increases steering behaviour；Servo position operation
Precision is 11；User can customize pid control circuit.
Navigation positioning module 4 includes three number of axle of concurrent GPS/GLONASS receivers, high accuracy number barometer and high-precision
Word compass, concurrent GPS/GLONASS receivers model u-blox MAX-M8Q, high accuracy number barometer model TE
Connectivity MS5611, high-precision triaxial testing system model LIS3MDL.
In a kind of embodiment, unmanned plane includes 5 UWB modules 7, is respectively arranged at unmanned plane front, rear, left, the right side
Below side and holder.
Navigation positioning module Zubax GNSS 2 use concurrent GPS/GLONASS receivers u-blox MAX-M8Q.It 35
Millimeter high-gain paster antenna, with giant ground plane, the AFE(analog front end) of LNA and SAW ensure high noisy elasticity.In high precision
Digital altimeter is TE Connectivity MS5611,10 centimetres of height resolution.High-precision triaxial testing system anticipates method partly
Conductor LIS3MDL has thermal compensation function.
When UWB communications are normal, using TDOA (Time Difference of Arrival) reaching time-difference, according to nobody
The time difference of 7 same communication data of machine UWB modules to different UWB locating base stations calculates the accurate location data of unmanned plane, nobody
When machine completes inspecting substation equipment and drop to point of safes, communicated equipment routing inspection information through UWB locating base stations 8 using UWB
Transmission is stored to server 9, and UWB communications are low in energy consumption, and transmission rate is high, strong antijamming capability；When UWB communications are abnormal, navigation
Locating module 4 obtains unmanned plane coordinate data.Meanwhile UWB modules 7 detect unmanned plane periphery barrier situation.
It is empty that substation equipment, building and other fixed unmanned plane barriers are stored in ground observing and controlling system server 9
Between position, coordinate information, and be stored with routeing program.Server according to unmanned plane coordinate information, setting for inspection is completed
The standby data such as data and unmanned plane current location electromagnetic field intensity, plan unmanned plane optimal air line route, and through UWB locating base stations
8 are sent to unmanned plane.The monitored picture that computer 10 shows unmanned plane inspection is monitored, administrative staff carry out patrol unmanned machine real
When dynamic monitor, server can be issued a command at any time as needed, plan unmanned plane air route route again.
As shown in figure 3, the application method of substation inspection unmanned plane during flying security system, specifically comprises the steps of：
Step 1：Unmanned plane present position electromagnetic field intensity is detected using electromagnetic detection module 6, judges that electromagnetic field intensity is
It is no excessively high；
Step 1.1：If electromagnetic field intensity is excessively high, air route road is planned using unmanned plane air route route planning method again
Line executes step 2；
Step 1.2：If electromagnetic field intensity is not high, 2 are thened follow the steps；
Step 2：Central control module 1 judges whether the equipment dense degree around unmanned plane meets required by autonomous inspection
Steric requirements, judge whether unmanned plane can continue inspection；
Step 2.1：If inspection can be continued, 3 are thened follow the steps；
Step 2.2：If being unsatisfactory for inspection condition, 6 are thened follow the steps；
Step 3：Judge whether unmanned plane remaining capacity is higher than threshold value；
Step 3.1：If remaining capacity is higher than threshold value, 4 are thened follow the steps；
Step 3.2：If remaining capacity is not higher than threshold value, 6 are thened follow the steps；
Step 4：Unmanned plane carries out inspecting substation equipment, by equipment routing inspection information preservation to unmanned plane memory；
Step 5：Judge whether to complete all inspection targets；
Step 5.1：If completing inspection, 6 are thened follow the steps；
Step 5.2：If not completing inspection, 1 is thened follow the steps；
Step 6：The optimal path of point of safes, unmanned plane during flying to peace are planned for using unmanned plane air route route planning method
Quan Dian；
Step 7：Judge whether UWB communication systems are normal；
Step 7.1：If communication system is normal, 9 are thened follow the steps；
Step 7.2：If communication system is abnormal, 10 are thened follow the steps；
Step 8：Inspection information is sent to server 9 through UWB；
Step 9：Trigger unmanned aerial vehicle onboard audible-visual annunciator 5.
As shown in figure 4, unmanned plane air route route planning method is as follows,
Step 1：Judge whether UWB communications are normal between UWB modules 7 and UWB locating base stations 8；
Step 1.1：If UWB communications are normal, 2 are thened follow the steps；
Step 1.2：If UWB communications are abnormal, 4 are thened follow the steps；
Step 2：Server 9 plans optimal air line route；
Step 3：Optimal air line route is sent to unmanned plane through UWB；
Step 4：Central control module 1 plans optimal air line route.
Realize that power threshold algorithm, power threshold algorithm consider 4 shadows when power threshold calculation procedure is executed by processor
The factor of sound U, s, t, c, wherein U is transformer substation voltage grade, unit kV；S is the space length that unmanned plane has flown, and unit is
km；T is the time that unmanned plane has flown, unit min；C is environment temperature, and unit is DEG C to be by this 4 factor unified definitions
Ei, i=1...n, n=4.Power threshold algorithm the specific steps are,
Step 1：Calculate Ei, EjFuzzy number Pi, PjSimilar function S (Pi,Pj),
S(Pi,Pj) ∈ [0,1] is similar function, Pi,PjIt is fuzzy number, EVi,EVjP is indicated respectivelyi,PjExpectation, i=
1...n, n=4 defines Triangular Fuzzy Number A=(a1,a2,a3) expectation
Whereina1,a2,a3The respectively lower limit of fuzzy number A, most probable value,
The upper limit, fuzzy number
The membership function of A is
Step 2：Calculate average homogeneity degree
I=1...n, n=4
Wherein；
Step 3：Calculate relatively uniform degree
I=1...n, n=4
Wherein；
Step 4：Calculate weight Wi
Wi=(1- α) * RADi
Wherein i=1...n, n=4, α (0≤α≤1) indicate relaxation factor, take α=0.5；
Step 5：Calculate synthesis result coefficient
Wherein PiIt is factor EiFuzzy number, WiIt is EiWeight；
Step 6：Calculate threshold value
Wherein
Claims (5)
1. a kind of substation inspection unmanned plane during flying security system, including unmanned plane and ground observing and controlling system, unmanned plane are provided with
Central control module（1）And navigation positioning module（4）, holder is provided on unmanned machine support, and being provided with visible light on holder takes the photograph
As head（2）And infrared thermography（3）, which is characterized in that the unmanned plane further includes audible-visual annunciator（5）, electromagnetic detection mould
Block（6）With multiple UWB modules（7）；The ground observing and controlling system includes UWB locating base stations（8）, server（9）It is calculated with monitoring
Machine（10）；The visible image capturing head（2）, infrared thermography（3）, navigation positioning module（4）, audible-visual annunciator（5）, electromagnetism
Detection module（6）, UWB modules（7）Respectively and central control module（1）Connection；The UWB modules（7）With UWB locating base stations
（8）It is communicated using UWB；UWB locating base stations（8）, monitoring computer（10）Respectively and server（9）Connection；The UWB modules
（7）Including UWB transmitter units and UWB receiving units；The central control module（1）Including processor and memory.
2. substation inspection unmanned plane during flying security system according to claim 1, which is characterized in that the visible light is taken the photograph
As head（2）For CCD visible image capturing heads；The infrared thermography（3）For FLIR Vue Pro infrared thermographies.
3. substation inspection unmanned plane during flying security system according to claim 1, which is characterized in that navigation positioning module
（4）Including concurrent GPS/GLONASS receiver, high accuracy number barometer and high-precision triaxial testing system.
4. substation inspection unmanned plane during flying security system according to claim 1 or 2, which is characterized in that it is described nobody
Machine includes 5 UWB modules（7）, it is respectively arranged at below unmanned plane front, rear, left, right and holder.
5. substation inspection unmanned plane during flying security system according to claim 1 or 2, which is characterized in that UWB positions base
It stands（8）And server（9）Connection type be wireless network.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820294289.6U CN207867349U (en) | 2018-03-02 | 2018-03-02 | A kind of substation inspection unmanned plane during flying security system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820294289.6U CN207867349U (en) | 2018-03-02 | 2018-03-02 | A kind of substation inspection unmanned plane during flying security system |
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| Publication Number | Publication Date |
|---|---|
| CN207867349U true CN207867349U (en) | 2018-09-14 |
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ID=63455706
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820294289.6U Expired - Fee Related CN207867349U (en) | 2018-03-02 | 2018-03-02 | A kind of substation inspection unmanned plane during flying security system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112816939A (en) * | 2020-12-31 | 2021-05-18 | 广东电网有限责任公司 | Substation unmanned aerial vehicle positioning method based on Internet of things |
-
2018
- 2018-03-02 CN CN201820294289.6U patent/CN207867349U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112816939A (en) * | 2020-12-31 | 2021-05-18 | 广东电网有限责任公司 | Substation unmanned aerial vehicle positioning method based on Internet of things |
| CN112816939B (en) * | 2020-12-31 | 2023-08-01 | 广东电网有限责任公司 | Substation unmanned aerial vehicle positioning method based on Internet of things |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180914 Termination date: 20190302 |
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| CF01 | Termination of patent right due to non-payment of annual fee |