CN108459613A - A kind of patrol unmanned machine system of high-tension line - Google Patents
A kind of patrol unmanned machine system of high-tension line Download PDFInfo
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- CN108459613A CN108459613A CN201710093883.9A CN201710093883A CN108459613A CN 108459613 A CN108459613 A CN 108459613A CN 201710093883 A CN201710093883 A CN 201710093883A CN 108459613 A CN108459613 A CN 108459613A
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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
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Abstract
The present invention relates to a kind of patrol unmanned machine systems of high-tension line, station machine is controlled including flight, accelerometer, direction sensor, barometer, GPS module, digital transmission module, ultrasonic distance measuring module, high-definition camera module, image processing module, image sending module and detector, it is connected with accelerometer on flight control station machine, direction sensor and barometer, GPS module, digital transmission module and ultrasonic distance measuring module setting are inside flight control station machine, high-definition camera module UAV system front position, image processing module, image sending module and detector are arranged inside UAV system.The UAV system is suitble to be maked an inspection tour for high-tension line, and detection platform has small, and light-weight, easy to operate, the characteristics of maneuverability, especially functions such as its automatic cruising possessed, intelligent barrier avoiding greatly improve high efficiency and the safety of detection.
Description
Technical field
The present invention relates to a kind of patrol unmanned machine systems of high-tension line, belong to UAV system technical field.
Background technology
Referred to as " unmanned plane ", english abbreviation is " UAV " to UAV, using radio robot and is provided for oneself
The not manned aircraft that program controling module manipulates.It can be divided into from technical standpoint definition：Unmanned helicopter, unmanned fixed-wing aircraft,
Unmanned multi-rotor aerocraft, unmanned airship, unmanned parasol etc..Police, city management, geology, meteorology, electric power, is speedily carried out rescue work at agricultural
The industries such as the disaster relief, video capture, UAV system it is widely used.With the development of UAV system, UAV system application
It is more and more extensive, more requirements also proposed to UAV system, need to utilize UAV system using more multimode, wherein
UAV system avoiding obstacles in flight course, one of them.During tour, tour work(can be better achieved
Can, to realize intelligent management.
Invention content
The purpose of the present invention is to provide a kind of patrol unmanned machine systems of high-tension line, preferably to be patrolled in high-tension line
Depending in the process, UAV system preferably avoiding obstacles realize that UAV system controls and uses.
To achieve the goals above, technical scheme is as follows.
A kind of patrol unmanned machine system of high-tension line, including flight control station machine, accelerometer, direction sensor, gas
Press meter, GPS module, digital transmission module, ultrasonic distance measuring module, high-definition camera module, image processing module, image sending module
And detector, be connected with accelerometer, direction sensor and barometer on flight control station machine, GPS module, digital transmission module and
Ultrasonic distance measuring module setting is inside flight control station machine, high-definition camera module UAV system front position, image
Processing module, image sending module and detector are arranged inside UAV system.
Further, the UAV system further includes mobile terminal, to remote control unmanned plane.
In the UAV system, operator sets airbound target, flight path, the height of UAV system using mobile terminal
After the information such as degree, and the flight in UAV system is sent to by digital transmission module and controls station machine, and under station machine control
It carries out carrying out automatic cruising for high-tension line, operator can also utilize mobile terminal to directly control flying for UAV system
Row, and be detected for special detection point using detector；Meanwhile ultrasonic distance measuring module can detect surrounding ring at any time
Border, and safe distance is calculated, when less than safe distance, then flight control station machine is sent a signal to, while taking the photograph using high definition
Camera module photograph ambient enviroment picture, is handled, and be sent to shifting using image sending module using image processing module
Dynamic terminal while avoiding peripheral obstacle automatically, and facilitates while shooting surrounding ring, ensures detector and UAV system
Safety.Meanwhile image sending module is passed high-definition camera mould real-time pictures in the block back mobile terminal and is handled, the moment
Monitor the operating status and detection result of UAV system.
Automatic obstacle-avoiding may be implemented in the system, which includes detection system for obstacle, obstacle distance information
Processing and avoidance obstacle strategy, wherein ultrasonic distance measuring module is for detecting barrier at a distance from unmanned plane, on a left side for system
A ultrasonic distance measuring module is respectively arranged in side, left front, right front and right side, and three are periodically detected in unmanned plane during flying
The distance in direction, and by obtained data incoming data Fuzzy Processing controller, nothing is obtained by fuzzy reasoning logic control
Man-machine heading, to effective avoiding obstacles, wherein fuzzy reasoning logic control process is that system is first by obstacle
The range ambiguity of object turns to fourth gear, and [0,30cm] is NEAR, and [30cm, 100cm] is FAR, and [100cm, 500cm] is NFAR,
[500cm, ∞] is VFAR, then regular by inference, such as after blurring, the input quantity of left front right be [NEAR, NEAR,
NEAR, NEAR], then it is inferring the result is that BACKWARD, control unmanned plane fly backward；Data Fuzzy Processing controller it is defeated
Going out has FORWARD, LEFTWARD, RIGHTWARD and BACKWARD, corresponds to unmanned plane respectively and flies forward, to the left, to the right and backward
Row instruction, determines with specific reference to different input quantities.Fuzzy control establishes mathematics by the thinking of the simulation mankind to evade
The difficulty of model is utilized simplified control strategy and completes more complex task.
In the UAV system, it is provided with flight control system, and increase automatic cruising and intelligent barrier avoiding function, passed through
Mobile terminal sets the line of flight, and UAV system is according to fixed point GPS data according to airline operation；It is provided with intelligent barrier avoiding simultaneously
Function relies on fuzzy control method, under the premise of ensureing system safety, more close to detection target, obtains the high definition of target
Image, and the complexity of operation is greatly reduced, while it being provided with mobile terminal control, utilize the portable nature of mobile terminal
The environmental suitability that detection platform is improved with friendliness characteristic expands the use scope of detection platform.
Invention has the beneficial effects that：The UAV system is suitble to be maked an inspection tour for high-tension line, detection platform tool
Have it is small, it is light-weight, it is easy to operate, the characteristics of maneuverability, especially work(such as its automatic cruising possessed, intelligent barrier avoiding
Can, greatly improve high efficiency and the safety of detection.
Description of the drawings
Fig. 1 is the UAV system internal module Organization Chart used in the embodiment of the present invention.
Specific implementation mode
The specific implementation mode of the present invention is described with reference to the accompanying drawings and examples, to be better understood from this hair
It is bright.
Embodiment
The patrol unmanned machine system of high-tension line in the present embodiment, including flight control station machine, accelerometer, direction biography
Sensor, barometer, GPS module, digital transmission module, ultrasonic distance measuring module, high-definition camera module, image processing module, image
Sending module and detector, flight control and are connected with accelerometer, direction sensor and barometer, GPS module, number on station machine
Transmission module and ultrasonic distance measuring module setting are inside flight control station machine, position in front of high-definition camera module UAV system
It sets, image processing module, image sending module and detector are arranged inside UAV system.The UAV system further includes
Mobile terminal, to remote control unmanned plane.
In the UAV system, operator sets airbound target, flight path, the height of UAV system using mobile terminal
After the information such as degree, and the flight in UAV system is sent to by digital transmission module and controls station machine, and under station machine control
It carries out carrying out automatic cruising for high-tension line, operator can also utilize mobile terminal to directly control flying for UAV system
Row, and be detected for special detection point using detector；Meanwhile ultrasonic distance measuring module can detect surrounding ring at any time
Border, and safe distance is calculated, when less than safe distance, then flight control station machine is sent a signal to, while taking the photograph using high definition
Camera module photograph ambient enviroment picture, is handled, and be sent to shifting using image sending module using image processing module
Dynamic terminal while avoiding peripheral obstacle automatically, and facilitates while shooting surrounding ring, ensures detector and UAV system
Safety.Meanwhile image sending module is passed high-definition camera mould real-time pictures in the block back mobile terminal and is handled, the moment
Monitor the operating status and detection result of UAV system.
Automatic obstacle-avoiding may be implemented in the system, which includes detection system for obstacle, obstacle distance information
Processing and avoidance obstacle strategy, wherein ultrasonic distance measuring module is for detecting barrier at a distance from unmanned plane, on a left side for system
A ultrasonic distance measuring module is respectively arranged in side, left front, right front and right side, and three are periodically detected in unmanned plane during flying
The distance in direction, and by obtained data incoming data Fuzzy Processing controller, nothing is obtained by fuzzy reasoning logic control
Man-machine heading, to effective avoiding obstacles, wherein fuzzy reasoning logic control process is that system is first by obstacle
The range ambiguity of object turns to fourth gear, and [0,30cm] is NEAR, and [30cm, 100cm] is FAR, and [100cm, 500cm] is NFAR,
[500cm, ∞] is VFAR, then regular by inference, such as after blurring, the input quantity of left front right be [NEAR, NEAR,
NEAR, NEAR], then it is inferring the result is that BACKWARD, control unmanned plane fly backward；Data Fuzzy Processing controller it is defeated
Going out has FORWARD, LEFTWARD, RIGHTWARD and BACKWARD, corresponds to unmanned plane respectively and flies forward, to the left, to the right and backward
Row instruction, determines with specific reference to different input quantities.Fuzzy control establishes mathematics by the thinking of the simulation mankind to evade
The difficulty of model is utilized simplified control strategy and completes more complex task.
Above-mentioned UAV system can carry different detectors to adapt to not as a low latitude high-tension line inspection system
Same detection demand, to the buildings such as bridge, oil field, the high-tension lines such as grain depot or even highway carry out line walking detection.It utilizes
This detection platform, detection platform carries high-definition camera, infrared detection equipment, and utilizes the air route calibrating function of mobile terminal,
The ship trajectory of UAV system detection platform is demarcated directly in satellite map, i.e., it is easy and efficient, make full use of unmanned plane
The elastic task compatibility of system detectio platform only can be completed artificial 1 day to patrol using the detection platform with twenty or thirty minute
Inspection amount, routing inspection efficiency are promoted very notable.Compared with manual inspection, not only speed is fast for UAV system inspection, and can fit
Complex landform and special climate are answered, and is arbitrarily shifted one's position or spot hover, to provide the data information of different angle.Intelligence is kept away
Barrier UAV system has many advantages, such as that of low cost, convenience in transport, easy to operate and the simple point of maintenance, these advantages make nothing
Man-machine system is well suited for the monitoring to high-tension line and maintenance.UAV system comes into operation, and can not only save time-consuming consumption
The personal monitoring of power, and line walking speed is fast, information feedback is timely, ensure that pinpoint the problems early and repair early, in this way can be with
Loss is reduced to minimum.
The above is the preferred embodiment of the present invention, it is noted that for those skilled in the art
For, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also considered as
Protection scope of the present invention.
Claims (4)
1. a kind of patrol unmanned machine system of high-tension line, it is characterised in that：Including flight control station machine, accelerometer, direction
Sensor, barometer, GPS module, digital transmission module, ultrasonic distance measuring module, high-definition camera module, image processing module, figure
As sending module and detector, it is connected with accelerometer, direction sensor and barometer on the flight control station machine, it is described
GPS module, digital transmission module and ultrasonic distance measuring module setting flight control station machine inside, the high-definition camera module without
Man-machine system front position, described image processing module, image sending module and detector are arranged inside UAV system.
2. the patrol unmanned machine system of high-tension line according to claim 1, it is characterised in that：The UAV system is also wrapped
Mobile terminal is included, to remote control unmanned plane.
3. the patrol unmanned machine system of high-tension line according to claim 1 or 2, it is characterised in that：The UAV system
When work, after operator is using information such as airbound target, flight path, the height of mobile terminal setting UAV system, and lead to
The flight control station machine that digital transmission module is sent in UAV system is crossed, and is carried out for high-tension line under station machine control
Automatic cruising is carried out, operator can also utilize mobile terminal to directly control the flight of UAV system, and utilize detector needle
Special detection point is detected；Meanwhile ultrasonic distance measuring module can detect ambient enviroment at any time, and safe distance is calculated,
When less than safe distance, then flight control station machine is sent a signal to, while utilizing ring around high-definition camera module photograph
Border picture, is handled using image processing module, and is sent to mobile terminal using image sending module, is avoiding week automatically
While enclosing barrier, and facilitate while shooting surrounding ring, ensures the safety of detector and UAV system；Meanwhile image is sent out
It send module to pass high-definition camera mould real-time pictures in the block back mobile terminal to handle, the moment monitors the fortune of UAV system
Row state and detection result.
4. the patrol unmanned machine system of high-tension line according to claim 1, it is characterised in that：The system may be implemented automatically
Avoidance, the obstacle avoidance system include detection system for obstacle, the processing of obstacle distance information and avoidance obstacle strategy, wherein super
Sound ranging module is respectively set for detecting barrier at a distance from unmanned plane on the left side of system, left front, right front and right side
A ultrasonic distance measuring module is set, the distance in three directions, and the data that will be obtained periodically are detected in unmanned plane during flying
In incoming data Fuzzy Processing controller, the heading of unmanned plane is obtained by fuzzy reasoning logic control, to effectively keep away
Open barrier, wherein fuzzy reasoning logic control process is that the range ambiguity of barrier is turned to fourth gear by system first, [0,
30cm] it is NEAR, [30cm, 100cm] is FAR, and [100cm, 500cm] is NFAR, and [500cm, ∞] is VFAR, and then basis pushes away
Reason rule, for example after blurring, the input quantity of left front right is [NEAR, NEAR, NEAR, NEAR], the then result inferred
It is BACKWARD, control unmanned plane flies backward；The output of data Fuzzy Processing controller has FORWARD, LEFTWARD,
RIGHTWARD and BACKWARD corresponds to unmanned plane flight directive forward, to the left, to the right and backward, with specific reference to different respectively
Input quantity determines.
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| CN201710093883.9A CN108459613A (en) | 2017-02-21 | 2017-02-21 | A kind of patrol unmanned machine system of high-tension line |
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| CN201710093883.9A CN108459613A (en) | 2017-02-21 | 2017-02-21 | A kind of patrol unmanned machine system of high-tension line |
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Cited By (4)
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| CN109782803A (en) * | 2019-01-30 | 2019-05-21 | 云南电网有限责任公司电力科学研究院 | A system and method for unmanned aerial vehicle transmission line inspection |
| CN110887462A (en) * | 2019-11-28 | 2020-03-17 | 深圳供电局有限公司 | UAV inspection method and system, transmission line inspection method and system |
| CN111813142A (en) * | 2019-07-18 | 2020-10-23 | 中国石油化工股份有限公司 | A UAV autonomous obstacle avoidance control method for crude oil pipeline inspection |
| CN112585554A (en) * | 2020-03-27 | 2021-03-30 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle inspection method and device and unmanned aerial vehicle |
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Application publication date: 20180828 |