CN211928037U - Electromagnetic field detection obstacle avoidance system of mine power transmission line inspection unmanned aerial vehicle - Google Patents
Electromagnetic field detection obstacle avoidance system of mine power transmission line inspection unmanned aerial vehicle Download PDFInfo
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- CN211928037U CN211928037U CN202020315408.9U CN202020315408U CN211928037U CN 211928037 U CN211928037 U CN 211928037U CN 202020315408 U CN202020315408 U CN 202020315408U CN 211928037 U CN211928037 U CN 211928037U
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Abstract
The utility model discloses a mine transmission line patrols and examines unmanned aerial vehicle's electromagnetic field detection and keeps away barrier system, including the electrode sensor who is used for detecting built on stilts high tension transmission line's electromagnetic field intensity, a voltage signal for outputting to electrode sensor carries out the filtering, the enlarged signal pickup circuit, a lifting circuit is amplified to the self-adaptation that is used for carrying out the voltage signal of signal pickup circuit output and lifting, a signal processing DSP for carrying out signal data processing, and be used for controlling the unmanned aerial vehicle machine that unmanned aerial vehicle flies to carry out the flight and control the system, wherein, electrode sensor, signal pickup circuit and self-adaptation are amplified the lifting circuit and are connected gradually, self-adaptation is amplified lifting circuit and signal processing DSP both way junction, signal processing DSP and unmanned aerial vehicle machine carry the lifting system both way junction. The problem of near mine transmission line's high-voltage electromagnetic field influence its communication effect, data transmission effect, control and flight safety of patrolling and examining unmanned aerial vehicle is solved.
Description
Technical Field
The utility model belongs to the technical field of the industry control, a mine transmission line patrols and examines unmanned aerial vehicle's electromagnetic field and detects and keep away barrier system is related to.
Background
The mode of unmanned aerial vehicle patrols and examines the operation provides new thinking for long distance, large-span, high-altitude overhead transmission line's the operation of patrolling and examining, has advantages such as safety, efficient, with low costs, effectual. However, the detection distance and performance of the airborne imaging equipment and the sensor are limited, approaching operation is often needed, and especially when the inspection is performed on the medium conductor, the crossing flight between overhead transmission lines is needed, so that great challenges are provided for operation and maintenance personnel. And near mine transmission line's high-voltage electromagnetic field also can cause serious interference to unmanned aerial vehicle, influences unmanned aerial vehicle flight safety, influences unmanned aerial vehicle's communication and data transmission, influences unmanned aerial vehicle's control. If only rely on operation and maintenance personnel's unmanned aerial vehicle to control the level, it leads to unmanned aerial vehicle to crash the machine out of control easily to approach flight operation, and the crash that even out of control still can influence mine transmission line's safe operation.
Disclosure of Invention
An object of the embodiment of the utility model is to provide an electromagnetic field that mine transmission line patrolled and examined unmanned aerial vehicle detects keeps away barrier system to solve near mine transmission line's high-tension electromagnetic field influence its communication effect, the data transmission effect of patrolling and examining unmanned aerial vehicle and the problem of controlling, and patrol and examine the problem that unmanned aerial vehicle easily takes place the crash out of control or crash out of control and influence mine transmission line safety operation when approaching mine transmission line flight operation.
The embodiment of the utility model provides an adopted technical scheme is, mine transmission line patrols and examines unmanned aerial vehicle's electromagnetic field detection and keeps away barrier system, including the electrode sensor who is used for detecting built on stilts high tension transmission line's electromagnetic field intensity, a voltage signal for outputting to electrode sensor carries out the filtering, the enlarged signal pickup circuit, a lifting circuit is amplified to the self-adaptation that is used for carrying out the self-adaptation to the voltage signal of signal pickup circuit output and lifts, a signal processing DSP for carrying out signal data processing, and be used for controlling the unmanned aerial vehicle machine that unmanned aerial vehicle flies to carry out flight and control the system, wherein, electrode sensor, the signal pickup circuit and the lifting circuit is amplified to the self-adaptation connect gradually, lifting circuit and signal processing DSP both way junction are amplified to the self-adaptation, signal processing DSP and unmanned aerial.
Furthermore, the signal pickup circuit is composed of a resistance-capacitance filter circuit, a potential conversion circuit and a signal amplification circuit, and the signal amplification circuit is connected with the output end of the electrode sensor through the resistance-capacitance filter circuit; one end of the potential conversion circuit is connected with the output end of the electrode sensor, and the other end of the potential conversion circuit is grounded.
Further, the electrode sensor comprises first electrode board and second electrode board, and first electrode board and second electrode board are fixed in unmanned aerial vehicle ventral lower part and the certain distance of interval is installed side by side.
Further, the potential conversion circuit is composed of a third capacitor, a third resistor, a fourth capacitor and a fourth resistor, wherein the third capacitor and the third resistor are connected in parallel, one end of the third capacitor and one end of the third resistor are connected with the output end of the first electrode plate, and the other end of the third capacitor and the other end of the third resistor are connected with a signal ground; the fourth capacitor and the fourth resistor are connected in parallel, one end of the fourth capacitor and one end of the fourth resistor are connected with the output end of the second electrode plate, and the other end of the fourth capacitor and the other end of the fourth resistor are connected with the signal ground.
Further, the signal amplifying circuit adopts a differential amplifying circuit comprising a signal pickup amplifier; the resistance-capacitance filtering circuit consists of a first capacitor, a second capacitor, a first resistor and a second resistor, wherein the first capacitor and the second capacitor are connected in parallel, one end of the first capacitor and one end of the second capacitor are connected with the output end of the first electrode plate, and the other end of the first capacitor and one end of the second capacitor are connected with the non-inverting input end of the signal pickup amplifier through the first resistor; the other ends of the first capacitor and the second capacitor are connected with the output end of the second electrode plate on one hand, and are connected with the reverse input end of the signal pickup amplifier through the second resistor on the other hand, and the output end of the signal pickup amplifier is connected with the input end of the self-adaptive amplification lifting circuit.
Furthermore, the adaptive amplification and lifting circuit comprises an adaptive amplifier, a voltage lifting amplifier and a single-pole switch, wherein the non-inverting input end of the adaptive amplifier is connected with the output end of the signal pickup amplifier, the output end of the adaptive amplifier is connected with the input end of the AD conversion module of the signal processing DSP through the voltage lifting amplifier, the output end of the signal processing DSP is connected with the input end of the single-pole switch, and the output end of the single-pole switch is connected with the inverting input end of the adaptive amplifier through a corresponding precision resistor.
Further, the single-pole switch adopts a single-pole quadruple switch;
four DSP output interfaces of the signal processing DSP are connected with four input ports of the single-pole switch in a one-to-one corresponding mode, four output ports of the single-pole switch are connected with one ends of the first precision resistor to the fourth precision resistor in a one-to-one corresponding mode, and the other ends of the first precision resistor to the fourth precision resistor are connected with the inverting input end of the self-adaptive amplifier;
the resistance values of the first to fourth precision resistors are different and correspond to the amplification factor of 4 orders of magnitude.
Furthermore, an input end of an AD conversion module of the signal processing DSP adopts an ADCIN0 pin, and 4 paths of DSP output interfaces adopt ADDR 1-ADDR 4 pins;
the model of the single-pole switch is ADG1611, four input pins, namely input ports IN1, IN2, IN3 and IN4, of the single-pole switch are connected with ADDR 1-ADDR 4 pins of the signal processing DSP IN a one-to-one correspondence mode, four output pins, namely output ports S1, S2, S3 and S4 of the single-pole switch are connected with one ends of the first precision resistor to the fourth precision resistor IN a one-to-one correspondence mode, and the other ends of the first precision resistor to the fourth precision resistor are connected with the inverting input end of the self-adaptive amplifier.
Furthermore, the resistances of the first to fourth precision resistors are 500 Ω, 1k Ω, 10k Ω and 100k Ω respectively.
Furthermore, the voltage boost amplifier adopts a two-way operational amplifier;
the signal pickup amplifier is of a CLC1200 model, the adaptive amplifier is of an SGM8582 model, and the voltage boost amplifier is of a TLV2432 model;
the model of the unmanned aerial vehicle airborne flight control system is RK3399pro, and the unmanned aerial vehicle airborne flight control system and the signal processing DSP adopt SPI two-way communication.
The embodiment of the utility model provides a beneficial effect is: the field intensity detection of the electromagnetic field of the overhead high-voltage transmission line is realized through the first electrode plate and the second electrode plate, the detection electric signals output by the first electrode plate and the second electrode plate are subjected to resistance-capacitance filtering and signal amplification by the signal pickup circuit, and then are input to the signal processing DSP, the distance between the unmanned aerial vehicle and the transmission line in the inspection operation is determined according to the strength of the electromagnetic field, and aiming at the requirement of positive voltage input of the signal processing DSP during AD conversion, the self-adaptive amplifying and lifting circuit is designed for amplifying and lifting the output of the signal pickup circuit so as to meet the input voltage requirement of an AD conversion module of the signal processing DSP, the measurement precision and accuracy are ensured, the communication, data transmission and control interference of the electromagnetic field of the high-voltage line on the unmanned aerial vehicle are successfully avoided, the safe operation of the mine transmission line is ensured, the problem that the high-voltage electromagnetic field near the mine transmission line, The problem of data transmission effect, control and flight safety to and patrol and examine unmanned aerial vehicle and easily take place out of control when approaching mine transmission line flight operation and collide the problem that the mine transmission line safety operation is influenced to the crash or fall out of control. The self-adaptive amplifying circuit is designed, the proportional coefficient of the voltage and the electromagnetic field is self-adaptively adjusted, and different measurement accuracies can be adopted aiming at the electromagnetic field of the low-voltage transmission line and the electromagnetic field of the high-voltage transmission line, so that the measurement system has a wider dynamic measurement range.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic structural diagram of an electric field measurement obstacle avoidance system of a power transmission line.
Fig. 2 is a schematic diagram of a signal pickup circuit.
Fig. 3 is a schematic structural diagram of an adaptive boost amplifying circuit.
In the figure, 1, an electrode sensor, 1-1, a first electrode plate, 1-2, a second electrode plate, 2, a signal pickup circuit, 2-1, a first capacitor, 2-2, a second capacitor, 2-3, a first resistor, 2-4, a second resistor, 2-5, a third capacitor, 2-6, a third resistor, 2-7, a fourth capacitor, 2-8, a fourth resistor, 2-9, a signal ground, 2-10, a signal pickup amplifier, 3, an adaptive amplification and lifting circuit, 3-1, an adaptive amplifier, 3-2, a voltage amplifier, 3-3, a single-pole switch, 3-3-1, a first precision resistor, 3-3-2, a second precision resistor, 3-3-3, a third precision resistor, 3-3-4 of a fourth precision resistor, 4 of a signal processing DSP, 4-1 of an AD conversion module, 4-2 of a DSP output interface, and 5 of an unmanned aerial vehicle airborne flight control system.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
The embodiment provides an electromagnetic field that unmanned aerial vehicle was patrolled and examined to mine transmission line detects obstacle avoidance system, as shown in fig. 1, including electrode sensor 1, signal pickup circuit 2, self-adaptation lift circuit 3 that amplifies, signal processing DSP4 and unmanned aerial vehicle airborne flight control system 5, electrode sensor 1, signal pickup circuit 2 and self-adaptation lift circuit 3 connect gradually, self-adaptation lift circuit 3 and signal processing DSP4 both way junction, signal processing DSP4 and unmanned aerial vehicle airborne flight control system 5 both way junction. The electrode sensor 1 is used for detecting the field intensity of an electromagnetic field of the overhead high-voltage transmission line and generating a voltage signal, namely field intensity data; the signal pickup circuit 2 is used for filtering and amplifying the voltage signal generated by the electrode sensor 1; the self-adaptive amplifying and lifting circuit 3 is used for performing self-adaptive amplification and lifting on a voltage signal output by the signal pickup circuit 2, the signal processing DSP4 is used for performing data processing, specifically comprises calculating the amplification factor of the voltage signal according to the output voltage of the self-adaptive amplifying and lifting circuit 3, and performing data reduction on the voltage signal after self-adaptive lifting, field intensity data which are not amplified and lifted are reduced, the distance between the unmanned aerial vehicle and the overhead transmission line is determined according to the measured field intensity data, and the field intensity data are input to the unmanned aerial vehicle airborne flight control system 5 to avoid the overhead transmission line.
As shown in fig. 2, the electrode sensor 1 is composed of a first electrode plate 1-1 and a second electrode plate 1-2, the first electrode plate 1-1 and the second electrode plate 1-2 are fixed at the lower part of the abdomen of the unmanned aerial vehicle and are installed in parallel at a certain distance, the output ends of the first electrode plate 1-1 and the second electrode plate 1-2 are respectively connected with the input end of the signal pickup circuit 2, and the first electrode plate 1-1 and the second electrode plate 1-2 output voltage signals of relative potentials.
The signal pickup circuit 2 consists of a resistance-capacitance filter circuit, a potential conversion circuit and a signal amplification circuit, and the signal amplification circuit is connected with the output end of the electrode sensor 1 through the resistance-capacitance filter circuit; one end of the potential conversion circuit is connected with the output end of the electrode sensor 1, and the other end of the potential conversion circuit is grounded. The signal amplification circuit of the embodiment adopts a differential amplification circuit comprising a signal pickup amplifier 2-10, the resistance-capacitance filtering circuit consists of a first capacitor 2-1, a second capacitor 2-2, a first resistor 2-3 and a second resistor 2-4, and the signal amplification circuit adopts the signal pickup amplifier 2-10; the first capacitor 2-1 and the second capacitor 2-2 are connected in parallel; one ends of the first capacitor 2-1 and the second capacitor 2-2 are connected with the output end of the first electrode plate 1-1 on one hand, and the other ends are connected with the non-inverting input end of the signal pick-up amplifier 2-10 through the first resistor 2-3 on the other hand; the other ends of the first capacitor 2-1 and the second capacitor 2-2 are connected with the output end of the second electrode plate 1-2 on one hand, and are connected with the reverse input end of the signal pickup amplifier 2-10 through the second resistor 2-4 on the other hand, and the output end of the signal pickup amplifier 2-10 is connected with the input end of the self-adaptive amplification and lifting circuit 3.
The potential conversion circuit consists of a third capacitor 2-5, a third resistor 2-6, a fourth capacitor 2-7 and a fourth resistor 2-8, wherein the third capacitor 2-5 and the third resistor 2-6 are connected in parallel, one end of the third capacitor 2-5 and one end of the third resistor 2-6 are connected with the output end of the first electrode plate 1-1, and the other end of the third capacitor 2-5 and one end of the third resistor 2-6 are connected with a signal ground 2-9; the fourth capacitor 2-7 and the fourth resistor 2-8 are connected in parallel, one end of the fourth capacitor 2-7 and one end of the fourth resistor 2-8 are connected with the output end of the second electrode plate 1-2, and the other end of the fourth capacitor 2-7 and the other end of the fourth resistor 2-8 are connected with the signal ground 2-9.
As shown in fig. 3, the adaptive boost amplifying circuit 3 in this embodiment comprises an adaptive amplifier 3-1, a voltage boost amplifier 3-2 and a single-pole switch 3-3, wherein the non-inverting input terminal of the adaptive amplifier 3-1 is connected to the output terminal of the signal pick-up amplifier 2-10, the output terminal of the adaptive amplifier 3-1 is connected to the input terminal of the AD conversion module 4-1 of the signal processing DSP4 via the voltage boost amplifier 3-2, the output terminal of the signal processing DSP4, i.e. the DSP output interface 4-2, is connected to the input terminal of the single-pole switch 3-3 in a one-to-one correspondence, the output terminal of the single-pole switch 3-3 is connected to the inverting input terminal of the adaptive amplifier 3-1 via a precision resistor corresponding thereto, the number of the precision resistors is at least 1, i.e. at least one single-, when the number of the precision resistors is 2, a unipolar duplex switch may be used here.
The single-pole switch 3-3 of the embodiment adopts a single-pole quadruple switch, the corresponding 4 precision resistors are the first precision resistor 3-3-1 to the fourth precision resistor 3-3-4, the 4 input ports of the single-pole switch 3-3 are correspondingly connected with the four DSP output interfaces 4-2 of the AD conversion module 4-1 of the signal processing DSP4 one by one, the 4 output ports of the single-pole switch 3-3 are respectively connected with the first precision resistor 3-3-1 to the fourth precision resistor 3-3-4, namely the first precision resistor 3-3-1, the second precision resistor 3-3-2, the third precision resistor 3-3-3 and the fourth precision resistor 3-3-4 one by one, and the other ends of the first precision resistor 3-3-1 to the fourth precision resistor 3-3-4 are respectively connected with the adaptive amplifier 3- The inverting input end of the resistor 1 is connected, and the resistance values of the first precision resistor 3-3-1 to the fourth precision resistor 3-3-4 are different. The reason why the precision resistor is used instead of the ordinary resistor is that the ordinary resistor has large error and temperature drift, which affects the adaptive amplification factor and is not beneficial to the adaptive amplification of the voltage signal.
In this embodiment, the model of the unmanned aerial vehicle airborne flight control system 5 is RK3399pro, and the unmanned aerial vehicle airborne flight control system 5 and the signal processing DSP4 adopt SPI two-way communication. The model of the signal pickup amplifier 2-10 is CLC1200, the model of the adaptive amplifier 3-1 is SGM8582, the voltage boost amplifier 3-2 adopts a two-way operational amplifier, the model is TLV2432, the model of the single-pole switch 3-3 is ADG1611, the CLC1200 is a low-drift and low-power consumption instrument amplifier, and the offset voltage of the operational amplifier is small and does not change along with the change of temperature; SGM8582 is a high-precision, high-speed operational amplifier; TLV2432 is a two-way operational amplifier with low power consumption, and the front primary signal pickup needs low drift and low offset, so CLC1200 is selected; the middle self-adaptive amplification requires high precision, so that SGM8582 is selected, and SGM8582 is a double operational amplifier and is reserved for standby; two paths are needed for voltage lifting, so TLV2432 is selected; the single-pole switch ADG1611 is internally provided with four independent single-pole single-connection switches and is suitable for being connected with the first precise resistor 3-3-1 to the fourth precise resistor 3-3-4. An input end of the AD conversion module 4-1 selects a pin ADCIN0, a 4-way DSP output interface 4-2 selects ADDR 1-ADDR 4 pins, four input pins, namely input pins, IN1, IN2, IN3 and IN4 of the single-pole switch 3-3 are correspondingly connected with the ADDR 1-ADDR 4 pins of the signal processing DSP4 one by one, and 4 output pins, namely output ports S1, S2, S3 and S4 of the single-pole switch 3-3 are respectively connected with an inverting input end of the adaptive amplifier 3-1 through four precise resistors, namely first precise resistors 3-3-1-fourth precise resistors 3-3-4, which are correspondingly connected with the output pins one by one. The 4-path DSP output interface 4-2 of the signal processing DSP4 is used for controlling the single-pole switch 3-3, and further controlling whether the first precision resistor 3-3-1 to the fourth precision resistor 3-3-4 at the other end of the single-pole switch 3-3 are connected to the reverse input end of the adaptive amplifier 3-1, so as to change the amplification factor.
The working principle is as follows:
the periphery of the overhead transmission line has a larger electromagnetic field, for example, for a +/-500 kV transmission line, the maximum field intensity of the periphery of the transmission line is larger than 300 kV/m, so that the distance between the unmanned aerial vehicle and the transmission line can be defined by detecting the field intensity of the electromagnetic field, and obstacle avoidance of the unmanned aerial vehicle is realized. The field intensity of the power transmission line is detected by adopting the electrode sensor 1 consisting of the first electrode plate 1-1 and the second electrode plate 1-2, and the electrode sensor 1 outputs a very weak voltage signal of relative potential, so that the signal pickup circuit 2 is adopted to pick up and amplify the weak voltage signal output by the electrode sensor 1 and convert the relative potential into the ground potential.
The voltage signal amplified by the signal pickup circuit 2 needs to be further amplified, and after the voltage signal is amplified by the adaptive amplifier 3-1, the voltage signal of the field intensity is between-5V and + 5V. The signal processing DSP4 is provided with an AD conversion module 4-1, but the signal processing DSP is required to be input with positive voltage, and the input range is 0-5V. Therefore, the voltage lifting circuit is designed to lift the voltage, and the specific principle is as follows: a4-path DSP output port 4-2 of a signal processing DSP4 controls the switch of a single-pole switch 3-3, further controls a first precision resistor 3-3-1 to a fourth precision resistor 3-3-4 connected with a self-adaptive amplifier 3-1, adaptively changes the amplification factor of the self-adaptive amplifier 3-1 to enable a voltage signal to be within-5V to +5V, then raises the voltage to 0V to 10V by a voltage raising amplifier 3-2, finally amplifies the voltage by 1/3 times by another operational amplifier in the voltage raising amplifier 3-2, changes the voltage signal to 0 to 3.3V, and if the signal input into a signal processing DSP4 for AD conversion is close to 0V, the amplification factor is not enough, and the amplification factor needs to be adjusted. The resistances of the first precise resistor 3-3-1 to the fourth precise resistor 3-3-4 are respectively 500 Ω, 1k Ω, 10k Ω and 100k Ω, which correspond to 4 orders of magnitude of amplification factors and 16 different amplification factors, and in order to meet the requirements of different amplification factors in different environments, the resistances of the first precise resistor 3-3-1 to the fourth precise resistor 3-3-4 can be adjusted. The detection range is greatly widened by selecting a larger amplification factor for the low-voltage transmission line and a smaller amplification factor for the high-voltage transmission line, and the specific amplification factor is determined by the signal processing DSP 4. After the lifting is finished, the voltage signals are input into an AD conversion module 4-1 for AD conversion, after the AD conversion is finished, reverse operation is needed to restore the data, namely, the voltage signals obtained after the AD conversion are multiplied by 3, then divided by the amplification factor of the adaptive amplifier 3-1, and finally the lifting voltage value is subtracted, and the voltage signal data which are not amplified and lifted are restored to obtain the measured field intensity data. And finally, the signal processing DSP4 determines the distance between the unmanned aerial vehicle and the overhead transmission line according to the measured field intensity data, and inputs the distance to the unmanned aerial vehicle airborne flight control system 5 to avoid the overhead transmission line. The distance between the unmanned aerial vehicle and the overhead transmission line is determined by setting an electromagnetic field intensity threshold value, if the electromagnetic field intensity is greater than the set electromagnetic field intensity threshold value, the unmanned aerial vehicle is controlled by the unmanned aerial vehicle airborne flight control system 5 to increase the distance between the unmanned aerial vehicle and the overhead transmission line, and the unmanned aerial vehicle is guaranteed to fly at the critical point of the electromagnetic field.
It should be noted that the software components related to the present embodiment are all conventional in the art, and do not relate to any improvement of the software components, and the technical problem to be solved by the present embodiment does not relate to the software components.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention shall fall within the protection scope of the present invention.
Claims (10)
1. An electromagnetic field detection obstacle avoidance system of a mine power transmission line inspection unmanned aerial vehicle is characterized by comprising an electrode sensor (1) for detecting the electromagnetic field intensity of an overhead high-voltage power transmission line, a signal pick-up circuit (2) for filtering and amplifying the voltage signal output by the electrode sensor (1), an adaptive amplification and lifting circuit (3) for performing adaptive amplification and lifting on the voltage signal output by the signal pickup circuit (2), a signal processing DSP (4) used for processing signal data, and an unmanned aerial vehicle airborne flight control system (5) used for controlling the flight of the unmanned aerial vehicle, wherein, electrode sensor (1), signal pickup circuit (2) and self-adaptation amplify lifting circuit (3) and connect gradually, and self-adaptation amplify lifting circuit (3) and signal processing DSP (4) both way junction, signal processing DSP (4) and unmanned aerial vehicle machine carry flight control system (5) both way junction.
2. The electromagnetic field detection obstacle avoidance system of the mine power transmission line inspection unmanned aerial vehicle according to claim 1, characterized in that the signal pickup circuit (2) is composed of a resistance-capacitance filter circuit, a potential conversion circuit and a signal amplification circuit, and the signal amplification circuit is connected with the output end of the electrode sensor (1) through the resistance-capacitance filter circuit; one end of the potential conversion circuit is connected with the output end of the electrode sensor (1), and the other end of the potential conversion circuit is grounded.
3. The electromagnetic field detection obstacle avoidance system of the mine power transmission line inspection unmanned aerial vehicle according to claim 2, wherein the electrode sensor (1) is composed of a first electrode plate (1-1) and a second electrode plate (1-2), and the first electrode plate (1-1) and the second electrode plate (1-2) are fixed to the lower portion of the abdomen of the unmanned aerial vehicle and are installed in parallel at intervals.
4. The electromagnetic field detection obstacle avoidance system of the mine power transmission line inspection unmanned aerial vehicle according to claim 3, wherein the potential conversion circuit is composed of a third capacitor (2-5), a third resistor (2-6), a fourth capacitor (2-7) and a fourth resistor (2-8), wherein the third capacitor (2-5) and the third resistor (2-6) are connected in parallel, one end of the third capacitor (2-5) and one end of the third resistor (2-6) are connected with the output end of the first electrode plate (1-1), and the other end of the third capacitor (2-5) and one end of the third resistor (2-6) are connected with a signal ground (2-9); the fourth capacitor (2-7) and the fourth resistor (2-8) are connected in parallel, one end of the fourth capacitor (2-7) and one end of the fourth resistor (2-8) are connected with the output end of the second electrode plate (1-2), and the other end of the fourth capacitor (2-7) and the other end of the fourth resistor (2-8) are connected with the signal ground (2-9).
5. The electromagnetic field detection obstacle avoidance system of the mine power transmission line inspection unmanned aerial vehicle according to claim 3 or 4, characterized in that the signal amplification circuit adopts a differential amplification circuit comprising signal pickup amplifiers (2-10);
the resistance-capacitance filter circuit is composed of a first capacitor (2-1), a second capacitor (2-2), a first resistor (2-3) and a second resistor (2-4), wherein the first capacitor (2-1) and the second capacitor (2-2) are connected in parallel, one end of the first capacitor (2-1) and one end of the second capacitor (2-2) are connected with the output end of the first electrode plate (1-1), and the other end of the first capacitor (2-1) and one end of the second capacitor (2-2) are connected with the non-inverting input end of the signal pickup amplifier (2-10) through the first resistor (2-3); the other ends of the first capacitor (2-1) and the second capacitor (2-2) are connected with the output end of the second electrode plate (1-2), the other ends of the first capacitor and the second capacitor are connected with the reverse input end of the signal pickup amplifier (2-10) through a second resistor (2-4), and the output end of the signal pickup amplifier (2-10) is connected with the input end of the self-adaptive amplification lifting circuit (3).
6. The electromagnetic field detection obstacle avoidance system of the mine power transmission line inspection unmanned aerial vehicle as claimed in claim 5, characterized in that the self-adaptive amplification and lifting circuit (3) comprises a self-adaptive amplifier (3-1), a voltage lifting amplifier (3-2) and a single-pole switch (3-3), the non-inverting input end of the self-adaptive amplifier (3-1) is connected with the output end of the signal pickup amplifier (2-10), the output end of the self-adaptive amplifier (3-1) is connected with the input end of the AD conversion module (4-1) of the signal processing DSP (4) through the voltage boost amplifier (3-2), the output end of the signal processing DSP (4) is connected with the input end of the single-pole switch (3-3), and the output end of the single-pole switch (3-3) is connected with the inverting input end of the self-adaptive amplifier (3-1) through the corresponding precision resistor.
7. The electromagnetic field detection obstacle avoidance system of the mine power transmission line inspection unmanned aerial vehicle as claimed in claim 6, wherein the single-pole switch (3-3) is a single-pole quadruple switch;
four DSP output interfaces (4-2) of the signal processing DSP (4) are correspondingly connected with four input ports of the single-pole switch (3-3), four output ports of the single-pole switch (3-3) are correspondingly connected with one ends of the first precise resistor (3-3-1) to the fourth precise resistor (3-3-4), and the other ends of the first precise resistor (3-3-1) to the fourth precise resistor (3-3-4) are connected with the inverting input end of the adaptive amplifier (3-1);
the first precision resistor (3-3-1) to the fourth precision resistor (3-3-4) are different in resistance value and correspond to 4 orders of magnitude of amplification factor.
8. The electromagnetic field detection obstacle avoidance system of the mine power transmission line inspection unmanned aerial vehicle of claim 7, characterized in that an input port of an AD conversion module (4-1) of the signal processing DSP (4) adopts an ADCIN0 pin, and 4 paths of DSP output interfaces (4-2) adopt ADDR 1-ADDR 4 pins;
the model of the single-pole switch (3-3) is ADG1611, four input pins IN1, IN2, IN3 and IN4 of the single-pole switch are correspondingly connected with ADDR 1-ADDR 4 pins of the signal processing DSP (4) one by one, four output pins S1, S2, S3 and S4 of the single-pole switch are correspondingly connected with one ends of the first precise resistor (3-3-1) to the fourth precise resistor (3-3-4) one by one, and the other ends of the first precise resistor (3-3-1) to the fourth precise resistor (3-3-4) are connected with the inverting input end of the adaptive amplifier (3-1).
9. The electromagnetic field detection obstacle avoidance system of the mine power transmission line inspection unmanned aerial vehicle according to claim 7, wherein the resistances of the first to fourth precision resistors (3-3-1) to (3-3-4) are 500 Ω, 1k Ω, 10k Ω and 100k Ω, respectively.
10. The electromagnetic field detection obstacle avoidance system of the mine power transmission line inspection unmanned aerial vehicle according to any one of claims 6 to 9, wherein the voltage boost amplifier (3-2) adopts a two-way operational amplifier;
the signal pick-up amplifier (2-10) is of a CLC1200, the adaptive amplifier (3-1) is of a SGM8582, and the voltage boost amplifier (3-2) is of a TLV 2432;
the model of the unmanned aerial vehicle airborne flight control system (5) is RK3399pro, and the unmanned aerial vehicle airborne flight control system and the signal processing DSP (4) adopt SPI two-way communication.
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| CN202020315408.9U CN211928037U (en) | 2020-03-14 | 2020-03-14 | Electromagnetic field detection obstacle avoidance system of mine power transmission line inspection unmanned aerial vehicle |
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| CN115718501A (en) * | 2022-11-21 | 2023-02-28 | 众芯汉创（北京）科技有限公司 | Safety state regulation and control system and method for unmanned aerial vehicle flight |
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| CN115718501A (en) * | 2022-11-21 | 2023-02-28 | 众芯汉创（北京）科技有限公司 | Safety state regulation and control system and method for unmanned aerial vehicle flight |
| CN115718501B (en) * | 2022-11-21 | 2023-07-14 | 众芯汉创（北京）科技有限公司 | Safety state regulation and control system and method for unmanned aerial vehicle flight |
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