WO2016184308A1 - 基于电场强度变化率的高压同塔双回输电线路无人机巡检避障方法 - Google Patents

基于电场强度变化率的高压同塔双回输电线路无人机巡检避障方法 Download PDF

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WO2016184308A1
WO2016184308A1 PCT/CN2016/081050 CN2016081050W WO2016184308A1 WO 2016184308 A1 WO2016184308 A1 WO 2016184308A1 CN 2016081050 W CN2016081050 W CN 2016081050W WO 2016184308 A1 WO2016184308 A1 WO 2016184308A1
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electric field
obstacle avoidance
field strength
change rate
drone
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French (fr)
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宋福根
林韩
黄俊璞
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State Grid Fujian Electric Power Co Ltd
Fuzhou Power Supply Co of State Grid Fujian Electric Power Co Ltd
State Grid Corp of China SGCC
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State Grid Fujian Electric Power Co Ltd
Fuzhou Power Supply Co of State Grid Fujian Electric Power Co Ltd
State Grid Corp of China SGCC
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
    • G05D1/106—Change initiated in response to external conditions, e.g. avoidance of elevated terrain or of no-fly zones

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  • the invention relates to a method for patrolling and avoiding obstacles of a drone, in particular to a method for patrolling and avoiding obstacles of a high-voltage double-circuit transmission line based on electric field strength change rate.
  • Unmanned aerial vehicles have the advantage of being unrestricted by the terrain environment and have a high cost-effectiveness, without the need to worry about the casualties of the aircraft caused by accidental crashes. Therefore, in order to improve the efficiency of power grid inspection, and to solve the real threat to the grid security caused by frequent disasters in recent years, the use of drones for high-voltage power line inspection has become an urgent need, and will gradually replace manual inspection. Greatly improve the efficiency of inspection.
  • UAV inspection a very important aspect is the safety problem.
  • UAVs are required to take pictures of high-definition lines and towers during inspections.
  • the machine should be as close as possible to the transmission line or the tower, but the closer it is to the transmission line or the tower, there must be another safety hazard: since the flight speed of the UAV can generally reach 18 ⁇ 54Km/h, once and When the line or iron is close to the distance, it is likely to hit the line or the tower, causing a power outage such as a large-scale power outage.
  • the drone in order to shorten the distance between the drone and the transmission line or the tower as much as possible, and to ensure sufficient safety, the drone must have a high-sensitivity obstacle avoidance system, when the drone and the line target When the distance between the distances exceeds the safety distance, the signal is sent in time to the drone control system, and the safety distance is required to be as small as possible so that the photographs taken can be more clear and convenient for the fault diagnosis of the staff.
  • the obstacle avoidance system usually has infrared collision avoidance, ultrasonic collision avoidance, laser collision avoidance, radar collision avoidance, three-dimensional map GPRS obstacle avoidance and obstacle avoidance based on the principle of transmission line electromagnetic field.
  • the infrared collision avoidance has the shortest distance and can not be used under outdoor strong light; the effective distance of ultrasonic collision avoidance is difficult to exceed 10 meters, and because it is hung on the helicopter, the interference of the rotor to the air makes the application more difficult;
  • the laser collision avoidance distance can reach more than 200 meters, but because of the point reflection, the diameter of the wire is small, even if high-speed scanning is used, it is difficult to obtain a reflected signal, so the actual detection distance is greatly reduced; in addition, the reflection on the dark object It is much smaller, even without reflection.
  • Radar collision avoidance system has been studied at home and abroad, mainly for the main car Moving collision avoidance, but there are problems in how reflected radar waves are filtered, how to identify obstacle-avoidance targets, and radar obstacle-avoidance equipments have large volume and heavy weight. For drones, space and load are very limited. Therefore, there are great defects in the application of the UAV to avoid obstacles.
  • GPRS obstacle avoidance based on three-dimensional map is mainly due to the difficulty in accurately synthesizing three-dimensional maps, and the existence of variability and randomness and irregularity of ground buildings, etc.
  • the research on the electromagnetic field of transmission lines at home and abroad mainly focuses on the electromagnetic field strength at the height of 6 meters from the ground below the transmission line and the electromagnetic field around the obstacles. It mainly studies the impact of the staff working on high-voltage operation and the health of residents living under the transmission line.
  • the electric field strength theory of high-voltage transmission lines there are still few studies on UAV patrol obstacle avoidance.
  • the current application of the electric field strength theory of high-voltage transmission lines to carry out the research on the obstacle avoidance strategy of the UAV is mentioned and deduced in the patent application Nos. 201210222359.4 and 201210222437.0.
  • the electric field strength change rate is used as the only parameter for the obstacle avoidance of the UAV, and the parameter limits of the obstacle avoidance of the transmission lines with different voltage levels are obtained through simulation and theoretical simulation analysis, respectively: electric field strength of the 220KV transmission line
  • the rate of change of the rate of change is 29; the limit of the rate of change of the electric field strength of the 500KV transmission line is 56; the limit of the rate of change of the electric field strength of the 750KV transmission line is 77; the limit of the rate of change of the electric field strength of the 1000KV transmission line is 81.
  • the flight control system issues an obstacle avoidance command to force the drone platform to change the flight direction to avoid collision between the drone and the transmission line and avoid an accident.
  • the obstacle avoidance strategy proposed by the prior art performs simulation calculation on the transmission lines of various voltage levels, and then compares the measurement results with the simulation calculation results.
  • This kind of calculation method leads to the simulation calculation of various voltage levels, which causes the increase of workload and the cumbersome simulation calculation, which is not conducive to the application in engineering practice.
  • the object of the present invention is to overcome the deficiencies of the prior art, and to provide a high-voltage homologous tower based on the electric field strength change rate that does not need to be classified according to the arrangement of the wires, without distinguishing the voltage level of the transmission line. Returning to the transmission line UAV inspection and obstacle avoidance method.
  • the high-voltage single-circuit transmission line unmanned aerial vehicle patrol obstacle avoidance method provides a high-voltage transmission line unmanned aerial vehicle patrol obstacle avoidance system based on the electric field strength change rate, which includes the inspection drone
  • An electric field obstacle avoidance device is arranged on the drone, and the device comprises a DSP data processing module, an electric field measuring sensor, a signal processing unit and an A/D conversion unit connected in turn, and the A/D conversion unit is connected with the input end of the DSP data processing module.
  • the output of the DSP data processing module is connected to the onboard flight control system.
  • the airborne flight control system includes an onboard control computer of the flight control system, which is respectively equipped with a digital compass, a three-axis gyroscope, a three-axis accelerometer, a satellite positioning module, a barometric altimeter, a rotational speed measuring sensor, a PCM remote control receiver, and a steering gear.
  • the controller, the digital transmission station, the servo controller are connected to the servo servo, and the digital transmission station communicates with the ground station.
  • the electric field obstacle avoidance device as a whole is to be in the central position directly under the inspection drone body, and the steps are as follows:
  • Step 1 Before the UAV patrols the live conductor, the staff selects the unmanned obstacle avoidance strategy under the arrangement according to the arrangement of the transmission line.
  • the specific methods of the UAV obstacle avoidance strategy include: (1) In the high-voltage and UHV transmission lines in the same-phase double-phase phase-synchronous mode, when the rate of change of the electric field strength at the main body of the drone is detected to be greater than or equal to 20V/m 2 , the obstacle avoidance command should be issued; The drone is in a safe area and does not need to issue an obstacle avoidance command; (2) The high-voltage and ultra-high-voltage transmission lines in the reverse-phase-sequence mode of the same tower, when the electric field strength change rate at the main body of the drone is detected is greater than or equal to 27.3 When V/m 2 , the obstacle avoidance instruction should be issued; otherwise, the drone is in the safe area, and there is no need to issue an obstacle avoidance instruction;
  • Step 2 When the inspection drone checks the live conductor, the direction of the fuselage and the transmission line are basically parallel;
  • Step 3 The electric field measuring sensor inputs the measured electric field strength value into the signal processing unit, extracts the electric field intensity value in the power frequency range and sends it to the DSP data processing module; the judgment algorithm in the DSP data processing module is as follows:
  • E is the effective value of the electric field strength (unit: V/m)
  • x is the distance (unit: m) of the distance from the side of the drone. It is the first derivative of the effective value of the electric field strength versus x, that is, the rate of change of the electric field strength (unit: V/m 2 ).
  • Step 4 The obstacle avoidance command is output to the airborne flight control system by the DSP data processing module, and then the servo servo is controlled by the unmanned servo servo controller to perform the next action.
  • the command is “safe”, the current flight task is continued;
  • the UAV is first hovered, and the instruction of "original return” or “temporary adjustment of route” is issued through the video transmitted in real time.
  • the invention overcomes the erroneous view that the rate of change of the electric field intensity around the transmission line is mainly determined by the voltage level of the transmission line in the prior art, and proposes that the rate of change of the electric field intensity around the transmission line is mainly determined by the arrangement of the wires and the structure of the tower.
  • the theory of the decision and the resulting obstacle avoidance method thereby improving the accuracy of obstacle avoidance, can greatly simplify the obstacle avoidance method.
  • electromagnetic field strength testing instruments suitable for high voltage, and it has high real-time performance, high precision and high resolution.
  • the US HOLADAY HI-3604 power frequency electromagnetic field strength tester can be used for substations, high-voltage transmission lines, transformers, and distribution.
  • Electromagnetic radiation sources such as electric room, cable, mobile phone signal tower, TV signal tower, and broadcast signal tower are tested. The range: electric field: 1V/m-200kV/m; meet relevant requirements.
  • the surrounding electric field is carried out on the ultra-high voltage 500kV and UHV 1000kV transmission lines with the same phase and double phase in the same tower.
  • the simulation analysis of the rate of change of the intensity studies the main factors affecting the rate of change of the electric field strength.
  • the heights of phase A, phase C and phase B are 33 meters, 44.8 meters and 56.6 meters respectively;
  • the transverse span between A1 and A2 is 21 meters;
  • B1 and The lateral span between the two phases of B2 is 19 meters;
  • the lateral span between the two phases of C1 and C2 is 20 meters;
  • the height of both grounds is 63.6 meters and the lateral span is 23 meters.
  • the heights of phase A, phase C and phase B are 43.6 meters, 86.2 meters and 64.9 meters respectively; the transverse span between A1 and A2 is 42 meters; B1 and The lateral span between the two phases of B2 is 40 meters; the lateral span between the two phases of C1 and C2 is 38 meters; the height of both grounds is 102.7 meters and the lateral span is 44 meters.
  • the heights of phase A, phase C and phase B are 43.6 meters, 86.2 meters and 64.9 meters respectively; the transverse span between A1 and A2 is 42 meters; B1 and The lateral span between the two phases of B2 is 40 meters; the lateral span between the two phases of C1 and C2 is 38 meters; the height of both grounds is 102.7 meters and the lateral span is 44 meters.
  • the length of the rotor of the large UAV is generally 4 meters (radius)
  • the closest distance between the large UAV and the side conductor is 24 meters, that is, when the distance between the UAV fuselage and the side conductor is less than 24 meters.
  • the obstacle avoidance instruction should be issued at the same time; otherwise, there is no need to issue an obstacle avoidance instruction.
  • the electric field strength change rate is 19.3V/m 2 ;
  • the electric field strength change rate is 20.1V/m 2 ; that is, the limit of the obstacle avoidance parameter (electric field strength change rate) of the 500kV EHV transmission line and the 1000kV UHV transmission line is basically the same, that is, both It is about 20V/m 2 .
  • the obstacle limit can be avoided according to the electric field strength change rate limit of 20V/m 2 .
  • the electric field strength change rate is greater than 20V/m 2 , it indicates that the distance between the UAV fuselage and the side conductor is less than the limit obstacle avoidance distance of 24 meters.
  • the obstacle avoidance command should be issued; otherwise, when the electric field strength change rate is less than 20V/ The m 2 indicates that the drone is within a safe distance and there is no need to issue an obstacle avoidance command.
  • the obstacle avoidance strategy when studying the obstacle avoidance strategy of the UAV double-circuit transmission line based on the electric field strength change rate, the obstacle avoidance strategy is the same for the different voltage grade transmission lines in the same tower mode. Regardless of the voltage level, the drone avoidance strategy for each tower is determined according to the tower method.
  • the 500kV ultra-high voltage transmission line is taken as an example to study the electric field based on each tower mode.
  • the obstacle avoidance scheme of intensity change rate because the obstacle avoidance strategy is independent of the voltage level, the same type of tower mode of other voltage levels is the same as the obstacle avoidance strategy of the patented 500kV ultrahigh voltage transmission line.
  • the heights of phase A, phase C and phase B are 33 meters, 44.8 meters and 56.6 meters respectively;
  • the transverse span between A1 and A2 is 21 meters;
  • B1 and The lateral span between the two phases of B2 is 19 meters;
  • the lateral span between the two phases of C1 and C2 is 20 meters;
  • the height of both grounds is 63.6 meters and the lateral span is 23 meters.
  • High-voltage transmission line model of 500kV double-circuit line on the same tower the heights of the left A phase, C phase and B phase are 33 meters, 44.8 meters and 56.6 meters respectively; the heights of the right B phase, C phase and A phase are respectively It is 33 meters, 44.8 meters and 56.6 meters; the transverse span between A1 and B2 is 21 meters; the lateral span between B1 and A2 is 19 meters; the horizontal span between C1 and C2 is 20 m; the height of the two ground lines is 63.6 meters, and the horizontal span is 23 meters. As shown in Figure 5.
  • the electric field strength change rate corresponding to the safety distance of 24 meters is about 27.3V/m 2 . Therefore, in the high-voltage and UHV transmission lines in the reverse phase sequence of the same tower, when the rate of change of the electric field strength at the main body of the drone is detected to be greater than or equal to 27.3V/m 2 , the obstacle avoidance command should be issued; otherwise, The drone is in a safe area and there is no need to issue an obstacle avoidance command.
  • the present invention proposes to calculate the rate of change of the electric field strength as an obstacle avoidance parameter, and calculate the arrangement of various different overhead line conductors.
  • the same tower is divided into three categories: equilateral triangle arrangement, inverted triangle arrangement and horizontal arrangement to study the obstacle avoidance strategy, thus simplifying the drone inspection and obstacle avoidance strategy.
  • the electric field strength is mainly determined by the voltage level of the transmission line, it is not affected by the tidal current distribution and variation of the line, and the other obstacles in the space are generally non-charged bodies, so the electric field in the space is mainly caused by the transmission line, so The electric field strength change rate is used as the obstacle avoidance parameter of the UAV inspection, which is less affected by the changes of the remaining obstacles in the space and the power flow of the power grid, and the accuracy is improved.
  • the UAV obstacle avoidance system based on the electric field strength change rate is designed according to the particularity of the electric field environment around the transmission line, and the components used are small, simple and light, which can overcome the ultrasonic ranging, infrared ranging and laser ranging equipment.
  • the problem of low detection accuracy is able to overcome the drawbacks of the size and weight of the microwave radar ranging device and the inconvenience of the UAV.
  • the invention analyzes the rate of change of the electric field strength around the transmission line, and summarizes the obstacle avoidance strategy under different phase sequences of the double-circuit transmission line on the same tower, and gives the safety distance between the UAV and the transmission line edge conductor. .
  • Figure 1 is a spatial orientation map (unit: m) of the same phase of the same tower in the same tower of 500kV EHV transmission line.
  • Figure 2 shows the variation trend of the electric field strength change rate of the same phase in the same tower of the 500kV EHV transmission line.
  • Figure 3 is a spatial orientation map (unit: meter) of the same phase sequence of the same tower of 1000kV UHV transmission line.
  • Figure 4 shows the variation trend of the electric field strength change rate of the same phase sequence of the same tower in the 1000kV EHV transmission line.
  • Figure 5 is a spatial orientation map of the double-reverse reverse phase sequence of the same tower on the 500kV EHV transmission line (unit: meter).
  • Figure 6 shows the variation trend of the electric field strength change rate of the double-phase reverse phase sequence of the same tower on the 500kV EHV transmission line.
  • the high-voltage single-circuit transmission line unmanned aerial vehicle patrol obstacle avoidance method provides a high-voltage transmission line unmanned aerial vehicle patrol obstacle avoidance system based on the electric field strength change rate, which includes the inspection drone
  • An electric field obstacle avoidance device is arranged on the drone, and the device comprises a DSP data processing module, an electric field measuring sensor, a signal processing unit and an A/D conversion unit connected in turn, and the A/D conversion unit is connected with the input end of the DSP data processing module.
  • the output of the DSP data processing module is connected to the onboard flight control system.
  • the airborne flight control system includes an onboard control computer of the flight control system, which is respectively equipped with a digital compass, a three-axis gyroscope, a three-axis accelerometer, a satellite positioning module, a barometric altimeter, a rotational speed measuring sensor, a PCM remote control receiver, and a steering gear.
  • the controller, the digital transmission station, the servo controller are connected to the servo servo, and the digital transmission station communicates with the ground station.
  • the electric field obstacle avoidance device as a whole is to be in the central position directly under the inspection drone body, and the steps are as follows:
  • Step 1 Before the UAV patrols the live conductor, the staff selects the unmanned obstacle avoidance strategy under the arrangement according to the arrangement of the transmission line.
  • the specific methods of the UAV obstacle avoidance strategy include: (1); in the high-voltage and UHV transmission lines in the same-phase double-phase in-phase sequence mode, when the rate of change of electric field strength at the main body of the drone is detected to be greater than or equal to 20V/m 2 , an obstacle avoidance command should be issued; Explain that the drone is in a safe area and does not need to issue an obstacle avoidance command; (2) The high-voltage and ultra-high-voltage transmission lines in the reverse-phase-sequence mode of the same tower, when the electric field strength change rate at the main body of the drone is detected is greater than or equal to At 27.3V/m 2 , the obstacle avoidance instruction should be issued; otherwise, the drone is in the safe area and there is no need to issue an obstacle avoidance instruction;
  • Step 2 When the inspection drone checks the live conductor, the direction of the fuselage and the transmission line are basically parallel;
  • Step 3 The electric field measuring sensor inputs the measured electric field strength value into the signal processing unit, extracts the electric field intensity value in the power frequency range and sends it to the DSP data processing module; the judgment algorithm in the DSP data processing module is as follows:
  • E is the effective value of the electric field strength (unit: V/m)
  • x is the distance (unit: m) of the distance from the side of the drone. It is the first derivative of the effective value of the electric field strength versus x, that is, the rate of change of the electric field strength (unit: V/m 2 ).
  • Step 4 The obstacle avoidance command is output to the airborne flight control system by the DSP data processing module, and then the servo servo is controlled by the unmanned servo servo controller to perform the next action.
  • the command is “safe”, the current flight task is continued;
  • the UAV is first hovered, and the instruction of "original return” or “temporary adjustment of route” is issued through the video transmitted in real time.

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Abstract

一种基于电场强度变化率的高压同塔双回输电线路无人机巡检避障方法，其提出了全新的输电线路周围电场强度变化率主要由导线排列方式和塔架结构决定的理论，并由此得出避障方法，从而提高避障的准确性，大大简化避障方法。

Description

基于电场强度变化率的高压同塔双回输电线路无人机巡检避障方法 技术领域
本发明涉及一种无人机巡检避障方法，特别是一种基于电场强度变化率的高压同塔双回输电线路无人机巡检避障方法。
背景技术
随着我国电网的飞速发展，高压输电线路电压等级越来越高，输电长度越来越长且所经过的地形地貌也变得越来越复杂。无人飞行器具有不受地形环境限制的优势、费效比高的优势，同时无需顾虑飞机意外坠毁导致的机上人员伤亡问题。因此为了提高电网巡检的效率，同时为解决近年来灾害频发对电网安全的现实威胁，利用无人机进行高压电力线路巡检已经成为一种迫切的需求，并且逐步会取代人工巡检，大大提高巡检效率。
无人机巡检，很重要的一方面就是安全问题，为了便于输电线路故障分析诊断，无人机巡检时要求拍摄高清晰度的线路和杆塔的照片，为此，巡检时要求无人机要尽可能的靠近输电线路或杆塔，但是和输电线路或杆塔越近，必然存在另一方面的安全隐患：由于无人机巡检时飞行速度一般能达到18～54Km/h，故一旦和线路或铁杆近距离接近，就很可能撞击上线路或铁塔，从而引起大面积停电等电力事故。
针对上述矛盾，为了尽可能的缩短无人机和输电线路或杆塔等的距离，同时保障足够的安全性，无人机就必须有一套高灵敏度的避障系统，当无人机和巡线目标之间距离超过安全距离时，及时发出信号，同时送给无人机中控系统，而且要求该安全距离要尽可能小，以便拍摄的照片能更加清晰，方便工作人员的故障诊断。
目前障碍规避系统通常有红外避碰、超声波避碰、激光避碰、雷达避碰、三维地图GPRS避障和基于输电线路电磁场原理的避障几种。红外避碰的作用距离最短，在室外强光下基本不能使用；超声波避碰的有效距离很难超过10米，且因为是挂在直升飞机上，旋翼对空气的干扰使得应用更为困难；激光避碰距离可以达到200米以上，但由于是点反射，导线的直径很小，即便采用高速扫描，也很难保证能够得到反射信号，因此实际探测距离大打折扣；此外在暗物体上的反射要小很多，甚至没有反射，比如在植被上的反射就很小，也影响探测距离；阳光也对激光产生严重干扰，在某些情况下根本就得不到反射光。雷达避碰系统在国内外均有研究，主要是用于汽车的主 动避碰，但是存在反射雷达波如何过滤，如何识别避障目标的问题，且雷达避障设备存在体积较大，重量较重等问题，对于无人机来说，由于空间和载荷都十分有限，故在无人机避障中应用存在很大的缺陷。基于三维地图的GPRS避障则主要由于三维地图很难精确的合成，同时地面建筑等存在易变且变化随机和无规律性等特点，不可能为此实时更新三维地图，同时三维地图要求的存储空间太大，读取很慢等方面的原因，故三维地图GPRS避障策略也不适合无人机巡检避障。
国内外目前高压输电线路周围电场强度的研究现状如下所述：
目前，国内外对输电线路电磁场的研究主要侧重于输电线路下方距离地面6米高度的电磁场强度以及障碍物周围的电磁场，主要研究进行高压作业的工作人员以及居住在输电线路下方居民健康的影响。但是基于高压输电线路电场强度理论进行无人机巡线避障目前这方面的研究还较少。通过文献检索，目前应用高压输电线路电场强度理论进行无人机巡线避障策略的研究在专利申请号为201210222359.4和201210222437.0的专利中有所提及和推导。这两项专利分别是把基于高压输电线路电场强度理论进行避障和进行高压输电线路电场强度变化率进行避障分别加以了说明和阐述，具体为：利用获取输电线路周围一定距离范围内的电磁场数值分布，进而将电场测量设备检测到的电场强度，再通过DSP数据处理模块把电场强度经过一系列的处理生成电场强度变化率数值，再与仿真结果对比，将此信号传递给飞控系统。在专利中利用电场强度变化率作为无人机避障的唯一参量，而且还通过仿真和理论仿真分析对比得出不同电压等级输电线路进行避障的参量限值，分别为：220KV输电线路电场强度变化率限值为29；500KV输电线路电场强度变化率限值为56；750KV输电线路电场强度变化率限值为77；1000KV输电线路电场强度变化率限值为81。当检测到电场强度变化率小于该限值时，通过飞控系统发出避障指令，强制无人机平台改变飞行方向，以避免无人机与输电线路发生碰撞，避免事故发生。
现有技术提出的这种避障策略把各个电压等级的输电线路都进行了仿真计算，再根据测量结果与仿真计算结果进行比较。这种计算方法就导致了各种电压等级都要分别进行仿真计算造成了工作量的增大和仿真计算的繁琐，不利于工程实际中的应用。
发明内容
本发明的目的在于克服现有技术的不足之处，而提供一种只需根据导线排列方式进行分类避障的，而不用区分输电线路电压等级的基于电场强度变化率的高压同塔单 回输电线路无人机巡检避障方法。
基于电场强度变化率的高压同塔单回输电线路无人机巡检避障方法，提供一种基于电场强度变化率的高压输电线路无人机巡检避障系统，它包括巡检无人机，在无人机上设有电场避障装置，该装置包括DSP数据处理模块，依次连接的电场测量传感器、信号处理单元和A/D转化单元，A/D转化单元与DSP数据处理模块输入端连接，DSP数据处理模块输出端与机载飞控系统连接。
所述机载飞控系统包括飞控系统机载控制计算机，它分别与数字罗盘、三轴陀螺仪、三轴加速度计、卫星定位模块、气压高度计、转速测量传感器、PCM遥控接收机、舵机控制器、数传电台，舵机控制器与伺服舵机连接，数传电台则与地面站通信。
所述电场避障装置整体要处在巡检无人机机体正下方中央位置，其步骤为：
步骤一：无人机巡检带电导线前,工作人员事先根据输电线路的排列情况,人为选定该排列方式下的无人机避障策略,所述的无人机避障策略具体方式包括：(1)在同塔双回同相序方式下的高压和特高压输电线路，当检测到无人机本体处的电场强度变化率大于等于20V/m2时就应该发出避障指令；反之则说明无人机处于安全区域，无需发出避障指令；(2)在同塔双回逆相序方式下的高压和特高压输电线路，当检测到无人机本体处的电场强度变化率大于等于27.3V/m2时就应该发出避障指令；反之则说明无人机处于安全区域，无需发出避障指令；
步骤二：巡检无人机巡检带电导线时，机身与输电线路方向基本平行；
步骤三：电场测量传感器将所测电场强度数值输入信号处理单元，提取工频范围内的电场强度值后送入DSP数据处理模块中；DSP数据处理模块中的判断算法如下：
取工频电场测量模块测得的电场强度变化率数值
Figure PCTCN2016081050-appb-000001
进行如下判断：
其中：E为电场强度有效值(单位V/m)，x为无人机距离边项导线的距离(单位：米)，
Figure PCTCN2016081050-appb-000002
为电场强度有效值对x的一阶导数即电场强度的变化率(单位V/m2)。
1)同序排列方式下：
Figure PCTCN2016081050-appb-000003
则输出“安全”指令；
Figure PCTCN2016081050-appb-000004
则输出“避障”指令；
2)逆序排列方式下：
Figure PCTCN2016081050-appb-000005
则输出“安全”指令；
Figure PCTCN2016081050-appb-000006
则输出“避障”指令；
步骤四：避障指令由DSP数据处理模块输出给机载飞控系统，进而由无人机舵机控制器控制伺服舵机进行下一步动作，指令为“安全”时，继续当前飞行任务；指令为“避障”时，先将无人机悬停，通过实时传回的视频判断发出“原路返航”或“临时调整路线”的指令。
本发明克服了现有技术中认为输电线路周围电场强度变化率主要由输电线路电压等级决定的这一错误观点，提出了全新的输电线路周围电场强度变化率则主要由导线排列方式和塔架结构决定的理论并由此得出避障方法，从而提高避障的准确性，可大大简化避障方法。
目前已有适用于高压的电磁场强测试仪器，且具有实时性高，精度和分辨率高的有点，如美国HOLADAY HI-3604工频电磁场强度测试仪就可以对变电站、高压输电线路、变压器、配电室、电缆、手机信号塔、电视信号塔、广播信号塔等电磁辐射源进行测试，量程：电场：1V/m—200kV/m；满足相关要求。
下面从两大方面去阐述基于电场强度变化率的避障方案。
首先分析在同塔双回同相序下不同电压等级的高压输电线路的电场强度变化率变化规律是一致的，从而说明只需按照导线架设方式进行分类避障即可；其次，通过对同塔双回高压线路分析其基于电场强度变化率的无人机避障方案。同塔双回分为同塔双回同相序和同塔双回逆相序两种架设方式分类研究其基于电场强度变化率的避障策略。
1、不同电压等级高压输电线路电场强度变化率变化趋势分析
通过对同塔双回同相序的超高压500kV和特高压1000kV输电线路进行其周围电场 强度变化率的仿真分析，研究影响电场强度变化率的主要因素。
(1)500kV同塔双回线路排列高压输电线路电场强度变化率分析
500kV同塔双回线路排列高压输电线路模型：A相、C相和B相离地高度分别为33米、44.8米和56.6米；A1与A2两相之间横向跨度均为21米；B1与B2两相之间横向跨度均为19米；C1与C2两相之间横向跨度均为20米；两地线离地高度均为63.6米，横向跨度为23米。如图1所示。
通过理论分析仿真得出该输电线路的电场强度变化率(单位V/m2)随距离d(指无人机机身与边项导线的距离，单位：米)的变化趋势折线图如图2所示。
(2)1000kV同塔双回线路排列高压输电线路电场强度变化率分析
1000kV同塔双回线路排列高压输电线路模型：A相、C相和B相离地高度分别为43.6米、86.2米和64.9米；A1与A2两相之间横向跨度均为42米；B1与B2两相之间横向跨度均为40米；C1与C2两相之间横向跨度均为38米；两地线离地高度均为102.7米，横向跨度为44米。如图3所示。
通过理论分析仿真得出该输电线路的电场强度变化率(单位V/m2)随距离d(指无人机机身与边项导线的距离，单位：米)的变化趋势折线图如图4所示。
考虑目前大型无人机的旋翼长度一般在4米(半径)，所以确定大型无人机与边项导线的最近距离为24米，即当无人机机身与边项导线的距离小于24米时就应该发出避障指令；反之无需发出避障指令。
从图2和图4电场强度变化率图形对比可以看出，在同塔双回同相序塔架方式下，500kV超高压输电线路和1000kV特高压输电线路其电场强度变化率随距离d(无人机机身与边项导线的距离)的变化规律和趋势是一致的。此外，对于500kV超高压输电线路，当无人机机身距离边项导线24米时，其电场强度变化率为19.3V/m2；对于1000kV特高压输电线路，当无人机机身距离边项导线24米时，其电场强度变化率为20.1V/m2；即500kV超高压输电线路和1000kV特高压输电线路的避障参量(电场强度变化率)的限值基本是一样的，即都是20V/m2左右。故对于同塔双回同相序的500kV超高压输电线路和1000kV特高压输电线路都可以按照电场强度变化率限值为20V/m2进行避障。当电场强度变化率大于20V/m2时，说明无人机机身与边项导线的距离小于极限避障距离即24米，此时应该发出避障指令；反之当电场强度变化率小于20V/m2时则说明无人机处在安全距离内，无需发出避障指令。
综合上述分析，研究基于电场强度变化率的同塔双回输电线路无人机巡检避障策略时，对于同一塔架方式下的不同电压等级输电线路，其避障策略是一样的，故可以不考虑电压等级，而根据塔架方式研究确定每一塔架方式下的无人机避障策略。
目前同塔双回输电线路塔架方式主要有两种即同塔双回同相序和同塔双回逆相序，下面以500kV超高压输电线路为例研究其每一种塔架方式下基于电场强度变化率的避障方案，由于避障策略与电压等级无关，其他电压等级的同类型塔架方式和本专利500kV超高压输电线路的避障策略是一样的。
2、同塔双回高压及特高压输电线路避障策略研究
(1)同塔双回同相序高压输电线路避障策略研究
500kV同塔双回线路排列高压输电线路模型：A相、C相和B相离地高度分别为33米、44.8米和56.6米；A1与A2两相之间横向跨度均为21米；B1与B2两相之间横向跨度均为19米；C1与C2两相之间横向跨度均为20米；两地线离地高度均为63.6米，横向跨度为23米。如图1所示。
通过理论分析仿真得出该输电线路的电场强度变化率(单位V/m2)随距离d(指无人机机身与边项导线的距离，单位：米)的变化趋势折线图如图2所示。
从图6可以看出，随着无人机与边项导线的距离加大，其电场强度变化率是在逐渐减小的。按照无人机与边项导线的安全距离24米，对照图6可以看出，其对应安全距离24米的电场强度变化率为20V/m2左右。故在同塔双回同相序方式下的高压和特高压输电线路，当检测到无人机本体处的电场强度变化率大于等于20V/m2时就应该发出避障指令；反之则说明无人机处于安全区域，无需发出避障指令。
(2)同塔双回逆相序高压输电线路避障策略研究
500kV同塔双回线路排列高压输电线路模型：左侧A相、C相和B相离地高度分别为33米、44.8米和56.6米；右侧B相、C相和A相离地高度分别为33米、44.8米和56.6米；A1与B2两相之间横向跨度均为21米；B1与A2两相之间横向跨度均为19米；C1与C2两相之间横向跨度均为20米；两地线离地高度均为63.6米，横向跨度为23米。如图5所示。
通过理论分析仿真得出该输电线路的电场强度变化率(单位V/m2)随距离d(指无人机机身与边项导线的距离，单位：米)的变化趋势折线图如图6所示。
从图6可以看出，随着无人机与边项导线的距离加大，其电场强度变化率是在逐 渐减小的。按照无人机与边项导线的安全距离24米，对照图6可以看出，其对应安全距离24米的电场强度变化率为27.3V/m2左右。故在同塔双回逆相序方式下的高压和特高压输电线路，当检测到无人机本体处的电场强度变化率大于等于27.3V/m2时就应该发出避障指令；反之则说明无人机处于安全区域，无需发出避障指令。
综上所述的，本实用新型相比现有技术如下优点：
1.本发明提出了根据电场强度变化率作为避障参量，并且对各种不同的架空线路导线排列方式进行计算。同塔单回按照主要的排列方式分为正三角形排列方式、倒三角形排列方式、水平排列方式三种分类研究其避障策略，从而简化无人机巡检避障策略。
2.由于电场强度主要由输电线路的电压等级决定，受线路的潮流分布和变化影响不大，且空间中的其余障碍物一般都是非带电体，所以空间的电场主要是由输电线路引起，故采用电场强度变化率作为无人机巡检的避障参量受空间中其余障碍物和电网潮流的变化影响较少，准确性提高。
3.基于电场强度变化率的无人机避障系统是根据输电线路周围电场环境特殊性设计，且所用元器件体积小、简单轻便，既能够克服超声波测距、红外测距和激光测距设备检测正确率低的问题，又能够克服微波雷达测距设备体积、重量过大，不便于无人机搭载的弊端。
4.该发明通过对输电线路周围的电场强度变化率进行分析，总结出同塔双回输电线路不同相序情况下的避障策略，同时给出无人机与输电线路边相导线的安全距离。
附图说明
图1是500kV超高压输电线路同塔双回同相序空间方位图(单位：米)。
图2是500kV超高压输电线路同塔双回同相序电场强度变化率变化趋势。
图3是1000kV特高压输电线路同塔双回同相序空间方位图(单位：米)。
图4是1000kV超高压输电线路同塔双回同相序电场强度变化率变化趋势。
图5是500kV超高压输电线路同塔双回逆相序空间方位图(单位：米)。
图6是500kV超高压输电线路同塔双回逆相序电场强度变化率变化趋势。
具体实施方式
下面结合实施例对本实用新型进行更详细的描述。
实施例1：
基于电场强度变化率的高压同塔单回输电线路无人机巡检避障方法，提供一种基于电场强度变化率的高压输电线路无人机巡检避障系统，它包括巡检无人机，在无人机上设有电场避障装置，该装置包括DSP数据处理模块，依次连接的电场测量传感器、信号处理单元和A/D转化单元，A/D转化单元与DSP数据处理模块输入端连接，DSP数据处理模块输出端与机载飞控系统连接。
所述机载飞控系统包括飞控系统机载控制计算机，它分别与数字罗盘、三轴陀螺仪、三轴加速度计、卫星定位模块、气压高度计、转速测量传感器、PCM遥控接收机、舵机控制器、数传电台，舵机控制器与伺服舵机连接，数传电台则与地面站通信。
所述电场避障装置整体要处在巡检无人机机体正下方中央位置，其步骤为：
步骤一：无人机巡检带电导线前,工作人员事先根据输电线路的排列情况,人为选定该排列方式下的无人机避障策略,所述的无人机避障策略具体方式包括：(1)；在同塔双回同相序方式下的高压和特高压输电线路，当检测到无人机本体处的电场强度变化率大于等于20V/m2时就应该发出避障指令；反之则说明无人机处于安全区域，无需发出避障指令；(2)在同塔双回逆相序方式下的高压和特高压输电线路，当检测到无人机本体处的电场强度变化率大于等于27.3V/m2时就应该发出避障指令；反之则说明无人机处于安全区域，无需发出避障指令；
步骤二：巡检无人机巡检带电导线时，机身与输电线路方向基本平行；
步骤三：电场测量传感器将所测电场强度数值输入信号处理单元，提取工频范围内的电场强度值后送入DSP数据处理模块中；DSP数据处理模块中的判断算法如下：
取工频电场测量模块测得的电场强度变化率数值
Figure PCTCN2016081050-appb-000007
进行如下判断：
其中：E为电场强度有效值(单位V/m)，x为无人机距离边项导线的距离(单位：米)，
Figure PCTCN2016081050-appb-000008
为电场强度有效值对x的一阶导数即电场强度的变化率(单位V/m2)。
1)同序排列方式下：
Figure PCTCN2016081050-appb-000009
则输出“安全”指令；
Figure PCTCN2016081050-appb-000010
则输出“避障”指令；
2)逆序排列方式下：
Figure PCTCN2016081050-appb-000011
则输出“安全”指令；
Figure PCTCN2016081050-appb-000012
则输出“避障”指令；
步骤四：避障指令由DSP数据处理模块输出给机载飞控系统，进而由无人机舵机控制器控制伺服舵机进行下一步动作，指令为“安全”时，继续当前飞行任务；指令为“避障”时，先将无人机悬停，通过实时传回的视频判断发出“原路返航”或“临时调整路线”的指令。
本实施例未述部分与现有技术相同。

Claims (1)

  1. 一种基于电场强度变化率的高压同塔双回输电线路无人机巡检避障方法，提供一种基于电场强度变化率的高压输电线路无人机巡检避障系统，它包括巡检无人机，在无人机上设有电场避障装置，该装置包括DSP数据处理模块，依次连接的电场测量传感器、信号处理单元和A/D转化单元，A/D转化单元与DSP数据处理模块输入端连接，DSP数据处理模块输出端与机载飞控系统连接，
    所述机载飞控系统包括飞控系统机载控制计算机，它分别与数字罗盘、三轴陀螺仪、三轴加速度计、卫星定位模块、气压高度计、转速测量传感器、PCM遥控接收机、舵机控制器、数传电台，舵机控制器与伺服舵机连接，数传电台则与地面站通信，
    所述电场避障装置整体要处在巡检无人机机体正下方中央位置，其步骤为：
    步骤一：无人机巡检带电导线前,工作人员事先根据输电线路的排列情况,人为选定该排列方式下的无人机避障策略,所述的无人机避障策略具体方式包括：(1)；在同塔双回同相序方式下的高压和特高压输电线路，当检测到无人机本体处的电场强度变化率大于等于20V/m2时就应该发出避障指令；反之则说明无人机处于安全区域，无需发出避障指令；(2)在同塔双回逆相序方式下的高压和特高压输电线路，当检测到无人机本体处的电场强度变化率大于等于27.3V/m2时就应该发出避障指令；反之则说明无人机处于安全区域，无需发出避障指令；
    步骤二：巡检无人机巡检带电导线时，机身与输电线路方向基本平行；
    步骤三：电场测量传感器将所测电场强度变化率数值输入信号处理单元，提取工频范围内的电场强度变化率值后送入DSP数据处理模块中；DSP数据处理模块中的判断算法如下：
    取工频电场测量模块测得的电场强度变化率数值
    Figure PCTCN2016081050-appb-100001
    进行如下判断：
    其中：E为电场强度有效值(单位V/m)，x为无人机距离边项导线的距离(单位：米)，
    Figure PCTCN2016081050-appb-100002
    为电场强度有效值对x的一阶导数即电场强度的变化率(单位V/m2)，
    1)同序排列方式下：
    Figure PCTCN2016081050-appb-100003
    则输出“安全”指令；
    Figure PCTCN2016081050-appb-100004
    则输出“避障”指令；
    2)逆序排列方式下：
    Figure PCTCN2016081050-appb-100005
    则输出“安全”指令；
    Figure PCTCN2016081050-appb-100006
    则输出“避障”指令；
    步骤四：避障指令由DSP数据处理模块输出给机载飞控系统，进而由无人机舵机控制器控制伺服舵机进行下一步动作，指令为“安全”时，继续当前飞行任务；指令为“避障”时，先将无人机悬停，通过实时传回的视频判断发出“原路返航”或“临时调整路线”的指令。
PCT/CN2016/081050 2015-05-15 2016-05-04 基于电场强度变化率的高压同塔双回输电线路无人机巡检避障方法 Ceased WO2016184308A1 (zh)

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