CN118254981B - Unmanned aerial vehicle with electromagnetic protection structure for power transmission line operation and inspection and control method thereof - Google Patents
Unmanned aerial vehicle with electromagnetic protection structure for power transmission line operation and inspection and control method thereof Download PDFInfo
- Publication number
- CN118254981B CN118254981B CN202410698597.5A CN202410698597A CN118254981B CN 118254981 B CN118254981 B CN 118254981B CN 202410698597 A CN202410698597 A CN 202410698597A CN 118254981 B CN118254981 B CN 118254981B
- Authority
- CN
- China
- Prior art keywords
- electric field
- uav
- field strength
- inspection
- drone
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000007689 inspection Methods 0.000 title claims abstract description 96
- 230000005540 biological transmission Effects 0.000 title claims abstract description 67
- 238000000034 method Methods 0.000 title claims abstract description 16
- 230000005684 electric field Effects 0.000 claims abstract description 91
- 239000002184 metal Substances 0.000 claims description 17
- 230000005855 radiation Effects 0.000 claims description 12
- 238000009434 installation Methods 0.000 claims description 11
- 238000013507 mapping Methods 0.000 claims description 6
- 238000004088 simulation Methods 0.000 claims description 5
- 238000003780 insertion Methods 0.000 claims description 3
- 230000037431 insertion Effects 0.000 claims description 3
- 238000012423 maintenance Methods 0.000 abstract description 8
- 238000010586 diagram Methods 0.000 description 6
- 230000000694 effects Effects 0.000 description 6
- 230000017525 heat dissipation Effects 0.000 description 5
- 238000010521 absorption reaction Methods 0.000 description 3
- 230000035939 shock Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000004422 calculation algorithm Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000002452 interceptive effect Effects 0.000 description 2
- 230000008054 signal transmission Effects 0.000 description 2
- 101001121408 Homo sapiens L-amino-acid oxidase Proteins 0.000 description 1
- 101000827703 Homo sapiens Polyphosphoinositide phosphatase Proteins 0.000 description 1
- 102100026388 L-amino-acid oxidase Human genes 0.000 description 1
- 102100023591 Polyphosphoinositide phosphatase Human genes 0.000 description 1
- 101100012902 Saccharomyces cerevisiae (strain ATCC 204508 / S288c) FIG2 gene Proteins 0.000 description 1
- 101100233916 Saccharomyces cerevisiae (strain ATCC 204508 / S288c) KAR5 gene Proteins 0.000 description 1
- 230000002902 bimodal effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 239000004020 conductor Substances 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000005672 electromagnetic field Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000004146 energy storage Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U20/00—Constructional aspects of UAVs
- B64U20/80—Arrangement of on-board electronics, e.g. avionics systems or wiring
- B64U20/87—Mounting of imaging devices, e.g. mounting of gimbals
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
- B64U10/13—Flying platforms
- B64U10/14—Flying platforms with four distinct rotor axes, e.g. quadcopters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U20/00—Constructional aspects of UAVs
- B64U20/80—Arrangement of on-board electronics, e.g. avionics systems or wiring
-
- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
- H05K9/00—Screening of apparatus or components against electric or magnetic fields
- H05K9/0007—Casings
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
- B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2201/00—UAVs characterised by their flight controls
- B64U2201/10—UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
Landscapes
- Engineering & Computer Science (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Mechanical Engineering (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- Shielding Devices Or Components To Electric Or Magnetic Fields (AREA)
Abstract
本发明公开了一种输电线路运检用具备电磁防护结构的无人机及其控制方法，涉及架空输电线路运维巡检设备技术领域，包括：无人机本体、底板、屏蔽盒、屏蔽罩、用于保护无人机的主板的稳定支撑结构以及控制模块。屏蔽盒设置有用于安装主板的凹槽，稳定支撑结构设置于凹槽内，主板设置于稳定支撑结构；屏蔽罩罩设于屏蔽盒后与底板相连接，屏蔽罩与屏蔽盒配合对主板进行全方位的电磁防护；控制模块设置于无人机本体，当无人机当前位置的电场强度不超过设定阈值时，控制模块操作无人机进行巡检。本发明不仅能够加强无人机自身结构的防电磁干扰能力，同时能够对无人机巡检环境进行动态监测，从而保障无人机设备在输电线路巡检时的正常运行。
The present invention discloses a UAV with an electromagnetic protection structure for power transmission line operation and inspection and a control method thereof, which relates to the technical field of overhead power transmission line operation and maintenance inspection equipment, including: a UAV body, a bottom plate, a shielding box, a shielding cover, a stable support structure for protecting the mainboard of the UAV, and a control module. The shielding box is provided with a groove for installing the mainboard, the stable support structure is arranged in the groove, and the mainboard is arranged in the stable support structure; the shielding cover is arranged behind the shielding box and connected to the bottom plate, and the shielding cover cooperates with the shielding box to provide all-round electromagnetic protection for the mainboard; the control module is arranged on the UAV body, and when the electric field strength at the current position of the UAV does not exceed the set threshold, the control module operates the UAV for inspection. The present invention can not only enhance the anti-electromagnetic interference capability of the UAV's own structure, but also dynamically monitor the UAV inspection environment, thereby ensuring the normal operation of the UAV equipment during power transmission line inspection.
Description
技术领域Technical Field
本发明涉及架空输电线路运维巡检设备技术领域，具体为输电线路运检用具备电磁防护结构的无人机及其控制方法。The present invention relates to the technical field of overhead power transmission line operation and maintenance inspection equipment, and specifically to a drone with an electromagnetic protection structure for transmission line operation and inspection and a control method thereof.
背景技术Background technique
电力输送需要电力设施和电缆的相互配合实现，为了保证电力输送正常的运行需要定期进行线路和电力设施的巡检。随着科技的发展，人力巡检逐渐的被无人机替代，从而使得巡检更加得高效和方便。但是电力输送时，在高压电路附近会形成电磁场，会对无人机的信号的传输和遥控造成干扰，而且，在输电线路附近还可能存在其他辐射源，每个辐射源都会向环境中辐射电磁信号，干扰无人机的正常运行。Power transmission requires the cooperation of power facilities and cables. In order to ensure the normal operation of power transmission, regular inspections of lines and power facilities are required. With the development of science and technology, human inspections are gradually replaced by drones, making inspections more efficient and convenient. However, when power is transmitted, an electromagnetic field will be formed near the high-voltage circuit, which will interfere with the signal transmission and remote control of the drone. In addition, there may be other radiation sources near the transmission lines. Each radiation source will radiate electromagnetic signals into the environment, interfering with the normal operation of the drone.
现有技术文件1（CN209192246U）公开了一种无人机电子防干扰吊舱结构，包括吊舱框架、固定安装板和摄像装置，固定安装板设置在吊舱框架的上端，吊舱框架的上端横杆上位于固定安装板的两侧各安装有一块电磁屏蔽罩。该专利通过设置电磁屏蔽罩，将大部分无用的电磁波屏蔽掉，能够防止无用电子信号对无人机机器设备的干扰。现有技术文件1的不足之处在于，由于该电磁屏蔽罩仅仅设置在吊舱框架上，不能对无人机内部的控制电路进行防电磁干扰，不能达到很好地保证无人机正常运行的效果。Prior art document 1 (CN209192246U) discloses an electronic anti-interference pod structure for a drone, including a pod frame, a fixed mounting plate and a camera device, wherein the fixed mounting plate is arranged at the upper end of the pod frame, and an electromagnetic shielding cover is installed on each side of the fixed mounting plate on the upper cross bar of the pod frame. This patent shields most useless electromagnetic waves by setting an electromagnetic shielding cover, thereby preventing useless electronic signals from interfering with drone machinery and equipment. The shortcoming of prior art document 1 is that, since the electromagnetic shielding cover is only arranged on the pod frame, it cannot prevent electromagnetic interference to the control circuit inside the drone, and cannot achieve the effect of ensuring the normal operation of the drone.
现有技术文件2（CN212116087U）公开了一种电磁屏蔽罩，适用于无人机的天线测试屏蔽箱、电磁兼容屏蔽箱等，其包括：上壳和下壳，其中下壳为截面呈“凵”形状的壳体，上壳为截面呈倒“凵”形状的壳体，上壳和下壳采用扣接、卡接或者螺接的方式可拆卸连接，上壳和下壳围设形成用于适配收容电路板的屏蔽腔，电路板安装于屏蔽腔内。现有技术文件2的不足之处在于，电路板上如芯片等电子元件或模块产生的电磁波被上壳和下壳隔断，而无法直接向外辐射，同样地，屏蔽腔外部的电磁波也被上壳、下壳隔断，而无法直接进入屏蔽腔内，除此之外，电路板直接安装在屏蔽罩内，其散热性能较差，且没有设置稳定保护结构，使得在无人机飞行中，电路板容易产生震动，造成电子元件的损坏，影响其使用寿命。Prior art document 2 (CN212116087U) discloses an electromagnetic shielding cover, which is suitable for antenna test shielding boxes, electromagnetic compatibility shielding boxes, etc. of drones, and includes: an upper shell and a lower shell, wherein the lower shell is a shell with a "凵"-shaped cross section, and the upper shell is a shell with an inverted "凵"-shaped cross section. The upper shell and the lower shell are detachably connected by buckling, clamping or screwing, and the upper shell and the lower shell are surrounded to form a shielding cavity for accommodating a circuit board, and the circuit board is installed in the shielding cavity. The disadvantage of prior art document 2 is that the electromagnetic waves generated by electronic components or modules such as chips on the circuit board are blocked by the upper shell and the lower shell, and cannot be directly radiated outward. Similarly, the electromagnetic waves outside the shielding cavity are also blocked by the upper shell and the lower shell, and cannot directly enter the shielding cavity. In addition, the circuit board is directly installed in the shielding cover, and its heat dissipation performance is poor, and no stable protection structure is set, so that the circuit board is prone to vibration during the flight of the drone, causing damage to the electronic components and affecting its service life.
此外，现有技术1和2都不能实时监测对巡检安全进行动态规划，当无人机当前处于电磁干扰较强部位，不能达到防电磁干扰效果时，仍继续巡检操作，从而使得无人机无法正常巡检。In addition, both existing technologies 1 and 2 cannot monitor in real time and dynamically plan inspection safety. When the drone is currently in a location with strong electromagnetic interference and cannot achieve the anti-electromagnetic interference effect, the inspection operation continues, making it impossible for the drone to conduct normal inspections.
发明内容Summary of the invention
为解决现有技术中无人机在抗电磁干扰能力方面还存在不足，本发明提供输电线路运检用具备电磁防护结构的无人机及其控制方法，不仅能够加强无人机自身结构的防电磁干扰能力，同时能够对无人机巡检环境进行动态监测，确保无人机在安全状态下进行巡检操作，从而更好地保障无人机设备在输电线路巡检时的正常运行。In order to solve the shortcomings of the prior art UAVs in terms of anti-electromagnetic interference capability, the present invention provides a UAV with an electromagnetic protection structure for transmission line inspection and a control method thereof, which can not only enhance the anti-electromagnetic interference capability of the UAV's own structure, but also dynamically monitor the UAV inspection environment to ensure that the UAV performs inspection operations in a safe state, thereby better ensuring the normal operation of the UAV equipment during transmission line inspection.
本发明采用如下的技术方案：The present invention adopts the following technical solution:
第一方面，本发明提供了一种输电线路运检用具备电磁防护结构的无人机，包括：无人机本体、底板、屏蔽盒和屏蔽罩，所述无人机还包括：用于保护无人机的主板的稳定支撑结构；所述屏蔽盒设置于底板，屏蔽盒设置有用于安装主板的凹槽，稳定支撑结构设置于凹槽内，主板设置于稳定支撑结构；所述屏蔽罩罩设于屏蔽盒后与底板相连接，屏蔽罩与屏蔽盒配合对主板进行全方位的电磁防护；所述无人机本体设置有空腔；屏蔽盒和屏蔽罩插入空腔内，底板设置有屏蔽盒的一侧封堵空腔并与无人机本体相连接；所述无人机还包括：控制模块，控制模块设置于无人机本体，控制模块包括用于采集无人机飞行区域内的电场强度的传感器，当无人机当前位置的电场强度不超过设定阈值时，控制模块操作无人机进行巡检。In the first aspect, the present invention provides an unmanned aerial vehicle with an electromagnetic protection structure for transmission line operation and inspection, comprising: an unmanned aerial vehicle body, a base plate, a shielding box and a shielding cover, the unmanned aerial vehicle also comprising: a stable support structure for protecting the mainboard of the unmanned aerial vehicle; the shielding box is arranged on the base plate, the shielding box is provided with a groove for installing the mainboard, the stable support structure is arranged in the groove, and the mainboard is arranged on the stable support structure; the shielding cover is arranged behind the shielding box and connected to the base plate, and the shielding cover cooperates with the shielding box to provide all-round electromagnetic protection for the mainboard; the unmanned aerial vehicle body is provided with a cavity; the shielding box and the shielding cover are inserted into the cavity, and a side of the base plate provided with the shielding box blocks the cavity and is connected to the unmanned aerial vehicle body; the unmanned aerial vehicle also comprises: a control module, the control module is arranged on the unmanned aerial vehicle body, the control module comprises a sensor for collecting the electric field strength within the flight area of the unmanned aerial vehicle, and when the electric field strength at the current position of the unmanned aerial vehicle does not exceed the set threshold value, the control module operates the unmanned aerial vehicle for inspection.
优选地，所述稳定支撑结构包括：弹性定位柱，设置于凹槽底部，弹性定位柱与设置于主板上的通孔配合，对主板进行限位保护；所述弹性定位柱设置有四个，四个弹性定位柱围设成矩形，分别与主板的四个顶角相对应。Preferably, the stable support structure includes: an elastic positioning column, which is arranged at the bottom of the groove, and the elastic positioning column cooperates with the through hole arranged on the main board to limit and protect the main board; there are four elastic positioning columns, and the four elastic positioning columns are arranged in a rectangle, corresponding to the four top corners of the main board respectively.
优选地，所述稳定支撑结构还包括挂杆和弹性支撑柱；所述挂杆和弹性支撑柱均设置于凹槽底部；挂杆顶部设有限位块，限位块底部和弹性支撑柱顶部分别与主板的上、下面接触，对主板的上、下方进行限位。Preferably, the stable support structure also includes a hanging rod and an elastic support column; the hanging rod and the elastic support column are both arranged at the bottom of the groove; a limit block is provided at the top of the hanging rod, and the bottom of the limit block and the top of the elastic support column are respectively in contact with the upper and lower sides of the main board to limit the upper and lower sides of the main board.
优选地，所述弹性支撑柱和挂杆均设置有多个，多个弹性支撑柱呈矩形阵列分布，多个挂杆围设于多个弹性支撑柱的四周。Preferably, the elastic support columns and the hanging rods are provided in plurality, the plurality of elastic support columns are distributed in a rectangular array, and the plurality of hanging rods are arranged around the plurality of elastic support columns.
优选地，所述摄像机构和所述屏蔽结构均设置于底板远离无人机本体的一侧；屏蔽结构设置有两组，两组屏蔽结构对称设置于所述摄像机构的两侧，对摄像机构进行电磁防护；其中，所述屏蔽结构包括金属网和安装组件，安装组件与底板相连接，金属网设置于安装组件，用于吸收并反射电磁波。Preferably, the camera mechanism and the shielding structure are both arranged on a side of the bottom plate away from the drone body; two groups of shielding structures are provided, and the two groups of shielding structures are symmetrically arranged on both sides of the camera mechanism to provide electromagnetic protection for the camera mechanism; wherein the shielding structure includes a metal mesh and a mounting assembly, the mounting assembly is connected to the bottom plate, and the metal mesh is arranged on the mounting assembly to absorb and reflect electromagnetic waves.
优选地，所述连接杆的两端均设有用于插装支撑杆的插孔，连接杆的侧壁与底板固定连接；两个所述支撑杆均是一端插入一个插孔内，两个支撑杆上均设置有卡装槽，金属网的相对两侧分别卡入两个卡装槽内，使金属网固定于两个支撑杆之间。Preferably, both ends of the connecting rod are provided with sockets for inserting the support rod, and the side wall of the connecting rod is fixedly connected to the bottom plate; one end of each of the two support rods is inserted into a socket, and both support rods are provided with a card slot, and the opposite sides of the metal mesh are respectively inserted into the two card slots, so that the metal mesh is fixed between the two support rods.
优选地，所述摄像机构包括：固定板，设置于底板远离无人机本体的一侧；转台，可沿水平面转动地设置于固定板；两个支架，并列设置于转台；摄像头，可沿竖直面转动地设置于两个支架之间。Preferably, the camera mechanism includes: a fixed plate, arranged on a side of the bottom plate away from the drone body; a turntable, rotatably arranged on the fixed plate along a horizontal plane; two brackets, arranged in parallel on the turntable; and a camera, rotatably arranged between the two brackets along a vertical plane.
优选地，所述底板包括凸台；凸台用于封堵空腔；凸台远离底板的一侧设置有固定柱和安装腔；其中，安装腔用于安装屏蔽盒固定柱位于安装腔的周围，用于固定屏蔽罩；所述固定柱包括环形挡圈；所述环形挡圈设置于固定柱远离凸台的一端；环形挡圈穿过位于所述屏蔽罩上的安装孔后，将屏蔽罩局部限制在环形挡圈和凸台之间。Preferably, the base plate includes a boss; the boss is used to seal the cavity; a fixing column and an installation cavity are provided on the side of the boss away from the base plate; wherein the installation cavity is used to install the shielding box; the fixing column is located around the installation cavity and is used to fix the shielding cover; the fixing column includes an annular retaining ring; the annular retaining ring is provided at one end of the fixing column away from the boss; after the annular retaining ring passes through the installation hole located on the shielding cover, the shielding cover is partially restricted between the annular retaining ring and the boss.
第二方面，本发明提供了一种无人机的控制方法，基于前述的输电线路运检用具备电磁防护结构的无人机，包括以下步骤：In a second aspect, the present invention provides a method for controlling a drone, based on the aforementioned drone with an electromagnetic protection structure for power transmission line operation and inspection, comprising the following steps:
步骤1，以输电线路为中心设定输电线路运检区域，以地面控制中心为起点，构建运检区域与地面控制中心之间的途经走廊区域；输电线路运检区域和途经走廊区域构成无人机飞行区域；Step 1: Set the transmission line inspection area with the transmission line as the center, and construct the corridor area between the inspection area and the ground control center with the ground control center as the starting point; the transmission line inspection area and the corridor area constitute the UAV flight area;
步骤2，将无人机飞行区域划分为网格，计算由输电线路在无人机飞行区域各个网格之内的电场强度；Step 2, divide the UAV flight area into grids, and calculate the electric field strength of the transmission line within each grid in the UAV flight area;
步骤3，在无人机飞行区域内，初始化无人机输电线路巡检路径，Step 3: Initialize the UAV power line inspection path within the UAV flight area.
步骤4，无人机起飞后，沿步骤3设定的路径飞行，并按照设定频率采集当前位置的电场强度，并将当前位置的电场强度与最接近的步骤2获得的网格之内电场强度进行比较，若超出阈值，无人机悬停，执行步骤5；否则继续沿当前无人机输电线路巡检路径继续飞行，执行巡检任务；Step 4: After the drone takes off, it flies along the path set in step 3, collects the electric field strength at the current location at the set frequency, and compares the electric field strength at the current location with the electric field strength within the closest grid obtained in step 2. If it exceeds the threshold, the drone hovers and executes step 5; otherwise, it continues to fly along the current drone power line inspection path and executes the inspection task;
步骤5，无人机悬停，计算补全途经所有网格的电场强度，叠加步骤2各个网格之内的电场强度，仿真计算当前无人机飞行区域各个网格之内的电场强度；若当前无人机飞行区域存在可继续执行巡检任务的路径，继续执行巡检任务，否则以电场强度不超过阈值为约束规划返回地面控制中心的路径。Step 5: The drone hovers and calculates the electric field strength of all grids along the way. The electric field strength in each grid in step 2 is superimposed, and the electric field strength in each grid in the current drone flight area is simulated and calculated. If there is a path in the current drone flight area that can continue to perform the inspection task, the inspection task will continue to be performed. Otherwise, the path back to the ground control center is planned with the electric field strength not exceeding the threshold as the constraint.
优选地，步骤2中，以Delaunay三角剖分的方式将无人机飞行区域进行构造为Delaunay三角网；以三角形重心位置的电场强度表示该网格的电场强度；或将无人机飞行区域划分为正方形网格，以正方形中心位置的电场强度表示该网格的电场强度。Preferably, in step 2, the UAV flight area is constructed as a Delaunay triangulation network by Delaunay triangulation; the electric field strength of the grid is represented by the electric field strength at the center of the triangle; or the UAV flight area is divided into square grids, and the electric field strength of the grid is represented by the electric field strength at the center of the square.
优选地，步骤2中，将输电线路替换为沿轴线均匀分布、线密度恒定的电荷的无限长圆柱体，通过仿真获得当前位置关于到中心线距离的电场强度的映射关系。Preferably, in step 2, the transmission line is replaced by an infinitely long cylinder with charges uniformly distributed along the axis and with a constant line density, and a mapping relationship between the electric field strength at the current position and the distance to the center line is obtained through simulation.
优选地，步骤3中，在电场强度处于安全区间之内的范围内，以最短路径初始化无人机输电线路巡检路径。Preferably, in step 3, within the range where the electric field strength is within a safe interval, the UAV power transmission line inspection path is initialized with the shortest path.
优选地，步骤3中，在途经走廊区域内以地面控制中心至输电线路运检区域最短路径作为第一无人机输电线路巡检路径，在输电线路运检区域内，以与输电线路保持设定距离为第二无人机输电线路巡检路径。Preferably, in step 3, the shortest path from the ground control center to the transmission line inspection area in the corridor area is used as the first UAV transmission line inspection path, and within the transmission line inspection area, the second UAV transmission line inspection path is to maintain a set distance from the transmission line.
优选地，步骤4中，将当前位置的电场强度与最接近的步骤2获得的网格之内电场强度进行比较超出阈值20%，表明当前位置附近存在除输电线路之外的其他辐射源，对无人机飞行安全造成威胁，向地面控制中心发出告警信号。Preferably, in step 4, the electric field strength at the current position is compared with the electric field strength within the closest grid obtained in step 2. If it exceeds the threshold by 20%, it indicates that there are other radiation sources besides the power transmission lines near the current position, which poses a threat to the flight safety of the drone, and an alarm signal is sent to the ground control center.
优选地，步骤5包括：Preferably, step 5 comprises:
步骤5.1，插入均值的方式获得无人机途经所有网格的电场强度；Step 5.1, insert the mean value to obtain the electric field strength of all grids that the UAV passes through;
步骤5.2，将无人机途经所有网格的电场强度与步骤2获得的各个网格之内的电场强度作差，形成其他辐射源在途经所有网格的电场分量；Step 5.2, subtract the electric field strength of all grids that the drone passes through from the electric field strength within each grid obtained in step 2 to form the electric field components of other radiation sources passing through all grids;
步骤5.3，按照其他辐射源在途经所有网格的电场分量更新当前无人机飞行区域各个网格之内的电场强度；Step 5.3, update the electric field strength within each grid in the current UAV flight area according to the electric field components of other radiation sources passing through all grids;
步骤5.4，判断当前无人机飞行区域各个网格之内的电场强度是否存在可继续执行巡检任务的路径，若存在，继续执行巡检任务，否则以电场强度不超过阈值为约束规划返回地面控制中心的路径。Step 5.4, determine whether there is a path that can continue to perform the inspection task within the electric field strength of each grid in the current UAV flight area. If so, continue to perform the inspection task. Otherwise, plan the path back to the ground control center with the electric field strength not exceeding the threshold as the constraint.
本发明的有益效果在于，与现有技术相比，本发明一方面通过设置屏蔽罩和屏蔽盒，将主板安装在屏蔽盒内，再将屏蔽罩盖合在屏蔽盒上，能够对主板进行全方位的电磁防护，从而提高无人机自身结构的防电磁干扰能力；另一方面，本发明还设置有控制模块，通过控制模块控制当无人机当前位置电场强度不超过设定阈值时，才会进行巡检操作，确保无人机巡检时的安全性，从而更好地保证无人机能够正常运行。The beneficial effect of the present invention lies in that, compared with the prior art, the present invention, on the one hand, can provide all-round electromagnetic protection for the mainboard by providing a shielding cover and a shielding box, installing the mainboard in the shielding box, and then covering the shielding cover on the shielding box, thereby improving the anti-electromagnetic interference capability of the drone's own structure; on the other hand, the present invention is also provided with a control module, which controls the inspection operation only when the electric field strength at the current position of the drone does not exceed the set threshold through the control module, thereby ensuring the safety of the drone during inspection, thereby better ensuring that the drone can operate normally.
此外，若无人机上的电磁防护结构太重，虽然能够在一定程度上增加无人机电磁防护效果，但是会影响无人机续航能力。本发明综合考虑这两个因素，在无人机结构和算法之间进行折中，从而达到最佳的防护效果。In addition, if the electromagnetic protection structure on the drone is too heavy, although it can increase the electromagnetic protection effect of the drone to a certain extent, it will affect the endurance of the drone. The present invention comprehensively considers these two factors and makes a compromise between the drone structure and the algorithm to achieve the best protection effect.
同时，本发明还设置稳定支撑结构，能够对电路板进行稳定安装的同时起到较好的减震作用，从而更好的对电路板上的电子元件保护，延长设备的使用寿命。此外，本发明还设置有At the same time, the present invention also provides a stable support structure, which can stably install the circuit board and play a good shock absorption role, thereby better protecting the electronic components on the circuit board and extending the service life of the equipment.
在本发明的进一步优选方案中，本发明通过在摄像机构的两侧设置的屏蔽结构，能够对摄像机构进行电磁防护，避免电磁干扰摄像机构的正常巡检摄像，从而大大的提高无人机的电磁防护能力，进一步有利于无人机的正常的电力运维巡检。In a further preferred embodiment of the present invention, the present invention can provide electromagnetic protection for the camera mechanism by providing a shielding structure on both sides of the camera mechanism, thereby avoiding electromagnetic interference with the normal inspection and video recording of the camera mechanism, thereby greatly improving the electromagnetic protection capability of the drone, and further facilitating the normal power operation and maintenance inspection of the drone.
附图说明BRIEF DESCRIPTION OF THE DRAWINGS
图1是本发明一种输电线路运检用无人机电磁防护结构的立体图；FIG1 is a perspective view of an electromagnetic protection structure of a UAV for power transmission line inspection according to the present invention;
图2是本发明的一种输电线路运检用无人机电磁防护结构的拆分图；FIG2 is a disassembled diagram of an electromagnetic protection structure of a UAV for power transmission line inspection according to the present invention;
图3是本发明的一种输电线路运检用无人机电磁防护结构的底板示意图；FIG3 is a schematic diagram of the bottom plate of an electromagnetic protection structure of a UAV for power transmission line operation and inspection according to the present invention;
图4是本发明的一种输电线路运检用无人机电磁防护结构的屏蔽盒示意图；FIG4 is a schematic diagram of a shielding box of an electromagnetic protection structure of a UAV for power transmission line operation and inspection according to the present invention;
图5是本发明的一种输电线路运检用无人机电磁防护结构的屏蔽罩示意图；FIG5 is a schematic diagram of a shielding cover of an electromagnetic protection structure of a UAV for power transmission line operation and inspection according to the present invention;
图6是本发明的一种输电线路运检用无人机电磁防护结构的屏蔽结构示意图；FIG6 is a schematic diagram of a shielding structure of an electromagnetic protection structure of a UAV for power transmission line operation and inspection according to the present invention;
图7是本发明的一种输电线路运检用无人机电磁防护结构的摄像机构示意图；7 is a schematic diagram of a camera structure of an electromagnetic protection structure of a UAV for power transmission line inspection according to the present invention;
图8是本发明通过仿真获得的无人机当前位置到中心线距离的电场强度的映射关系曲线；FIG8 is a mapping relationship curve of the electric field strength from the current position of the drone to the center line distance obtained by simulation in the present invention;
图9是本发明通过仿真获得的其他辐射源途经网格时的无人机当前位置到中心线距离的电场强度的映射关系曲线。FIG9 is a mapping relationship curve of the electric field strength from the current position of the drone to the center line distance when other radiation sources pass through the grid obtained by simulation in the present invention.
图中：In the figure:
1、无人机本体；1. The drone itself;
2、屏蔽罩；21、散热孔；22、安装板；23、安装孔；2. Shielding cover; 21. Heat dissipation hole; 22. Mounting plate; 23. Mounting hole;
3、底板；31、凸台；32、扣板；33、安装腔；34、固定柱；3. Bottom plate; 31. Boss; 32. Clamp plate; 33. Mounting cavity; 34. Fixing column;
4、摄像机构；41、固定板；42、转台；43、支架；44、摄像头；4. Camera mechanism; 41. Fixing plate; 42. Turntable; 43. Bracket; 44. Camera;
5、屏蔽结构；51、支撑杆；52、插孔；53、连接杆；54、金属网；55、卡装槽；5. Shielding structure; 51. Support rod; 52. Jack; 53. Connecting rod; 54. Metal mesh; 55. Card slot;
6、主板；6. Motherboard;
7、屏蔽盒；71、挂杆；72、限位柱；73、弹性定位柱；74、弹性支撑柱；75、卡筋。7. Shielding box; 71. Hanging rod; 72. Limiting column; 73. Elastic positioning column; 74. Elastic supporting column; 75. Clamping rib.
具体实施方式Detailed ways
为使本发明的目的、技术方案和优点更加清楚，下面将结合本发明实施例中的附图，对本发明的技术方案进行清楚、完整地描述。本申请所描述的实施例仅仅是本发明一部分的实施例，而不是全部实施例。基于本发明精神，本领域普通技术人员在没有作出创造性劳动前提下所获得的有所其它实施例，都属于本发明的保护范围。In order to make the purpose, technical scheme and advantages of the present invention clearer, the technical scheme of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. The embodiments described in this application are only part of the embodiments of the present invention, not all of them. Based on the spirit of the present invention, other embodiments obtained by ordinary technicians in this field without creative work are all within the scope of protection of the present invention.
参照图1和图2所示，本公开实施例提供了一种输电线路运检用具备电磁防护结构的无人机，包括：无人机本体1、底板3、屏蔽盒7、屏蔽罩2、用于保护无人机的主板6的稳定支撑结构，以及控制模块。1 and 2 , an embodiment of the present disclosure provides a UAV with an electromagnetic protection structure for operation and inspection of power transmission lines, including: a UAV body 1, a base plate 3, a shielding box 7, a shielding cover 2, a stable support structure for protecting a mainboard 6 of the UAV, and a control module.
无人机本体1的底部开设有空腔，空腔呈矩形。屏蔽盒7设置于底板3顶部，屏蔽盒7的顶部设置有用于安装无人机的主板6的凹槽，稳定支撑结构设置于凹槽内，主板6设置于稳定支撑结构。屏蔽罩2从屏蔽盒7的上方罩设于屏蔽盒7后与底板3相连接。屏蔽罩2与屏蔽盒7配合对主板6进行全方位的电磁防护，防止电磁波对主板6电路的信号传输造成影响，从而提高无人机内部控制电路的抗电磁干扰的能力。屏蔽盒7和屏蔽罩2的形状与空腔相适配，屏蔽盒7和屏蔽罩2插入空腔内，底板3设置有屏蔽盒7的一侧封堵空腔并与无人机本体1可拆卸连接。A cavity is provided at the bottom of the drone body 1, and the cavity is rectangular. A shielding box 7 is arranged at the top of the bottom plate 3, and a groove for installing the mainboard 6 of the drone is arranged at the top of the shielding box 7, a stable support structure is arranged in the groove, and the mainboard 6 is arranged in the stable support structure. The shielding cover 2 is arranged on the shielding box 7 from above the shielding box 7 and then connected to the bottom plate 3. The shielding cover 2 cooperates with the shielding box 7 to provide all-round electromagnetic protection for the mainboard 6, preventing electromagnetic waves from affecting the signal transmission of the mainboard 6 circuit, thereby improving the anti-electromagnetic interference ability of the internal control circuit of the drone. The shapes of the shielding box 7 and the shielding cover 2 are adapted to the cavity, and the shielding box 7 and the shielding cover 2 are inserted into the cavity. The bottom plate 3 is provided with a side of the shielding box 7 to block the cavity and is detachably connected to the drone body 1.
屏蔽盒7为金属盒体，屏蔽盒7为包括底面和侧面的盒状结构。The shielding box 7 is a metal box body, and the shielding box 7 is a box-shaped structure including a bottom surface and side surfaces.
可以理解的，图2示出的长方体屏蔽盒7仅是一种示例但非限制性的实施方式，为了适配主板和底板3的几何结构，本领域技术人员可以对屏蔽盒7进行适应性调整，从下方和侧方包围主板6，用于对主板6至少下方进行电磁屏蔽的结构均落入本发明的范围之内。It can be understood that the rectangular shielding box 7 shown in Figure 2 is only an example but not a restrictive embodiment. In order to adapt to the geometric structure of the main board and the base plate 3, those skilled in the art can adaptively adjust the shielding box 7 to surround the main board 6 from the bottom and sides. Any structure for electromagnetic shielding of at least the bottom of the main board 6 falls within the scope of the present invention.
控制模块设置于无人机本体1，控制模块包括用于采集无人机飞行区域内的电场强度的传感器，当无人机当前位置的电场强度不超过设定阈值时，控制模块操作无人机进行巡检，从而确保无人机巡检时的安全性，从而更好地保证无人机能够正常运行。The control module is arranged on the drone body 1, and the control module includes a sensor for collecting the electric field strength within the drone flight area. When the electric field strength at the current position of the drone does not exceed the set threshold, the control module operates the drone for inspection, thereby ensuring the safety of the drone during inspection, thereby better ensuring the normal operation of the drone.
在本发明进一步优选但非限制的实施方式中，具备电磁防护结构的无人机还包括摄像机构4和屏蔽结构5。摄像机构4和屏蔽结构5均设置于底板3远离无人机本体1的一侧。屏蔽结构5设置于摄像机构4的周围，对摄像机构4进行电磁防护，进一步提高无人机的电磁防护能力，有利于无人机的正常的电力运维巡检。In a further preferred but non-limiting embodiment of the present invention, the drone with the electromagnetic protection structure further includes a camera mechanism 4 and a shielding structure 5. The camera mechanism 4 and the shielding structure 5 are both arranged on the side of the bottom plate 3 away from the drone body 1. The shielding structure 5 is arranged around the camera mechanism 4 to provide electromagnetic protection for the camera mechanism 4, further improving the electromagnetic protection capability of the drone, and facilitating the normal power operation and maintenance inspection of the drone.
参照图3所示，在本发明进一步优选但非限制的实施方式中，底板3包括凸台31。凸台31设置于底板3靠近无人机本体1的顶面中心处。凸台31用于封堵空腔；凸台31远离底板3的一侧设置有固定柱34和安装腔33；安装腔33用于安装屏蔽盒7；固定柱34位于安装腔33的周围，用于固定屏蔽罩2。As shown in FIG. 3 , in a further preferred but non-limiting embodiment of the present invention, the bottom plate 3 includes a boss 31. The boss 31 is disposed at the center of the top surface of the bottom plate 3 close to the drone body 1. The boss 31 is used to block the cavity; a fixing column 34 and an installation cavity 33 are disposed on the side of the boss 31 away from the bottom plate 3; the installation cavity 33 is used to install the shielding box 7; the fixing column 34 is located around the installation cavity 33 and is used to fix the shielding cover 2.
进一步地，固定柱34包括环形挡圈。环形挡圈设置于固定柱34远离凸台31的一端；屏蔽罩2的相对两侧外壁设置有安装板22，安装板22设置有安装孔23，环形挡圈穿过安装孔23后，将屏蔽罩2局部限制在环形挡圈和凸台31之间。Furthermore, the fixing column 34 includes an annular retaining ring. The annular retaining ring is arranged at one end of the fixing column 34 away from the boss 31; the outer walls of the two opposite sides of the shielding cover 2 are provided with mounting plates 22, and the mounting plates 22 are provided with mounting holes 23. After the annular retaining ring passes through the mounting holes 23, the shielding cover 2 is partially restricted between the annular retaining ring and the boss 31.
更进一步地，固定柱34设置有四个，四个固定柱34呈矩形分布，其中两个固定柱34位于安装腔33的左侧，另外两个固定柱34位于安装腔33的右侧；安装孔23的位置与固定柱34相适配。Furthermore, four fixing columns 34 are provided, and the four fixing columns 34 are distributed in a rectangular shape, wherein two fixing columns 34 are located on the left side of the installation cavity 33 , and the other two fixing columns 34 are located on the right side of the installation cavity 33 ; the position of the installation hole 23 is adapted to the fixing column 34 .
在本发明进一步优选但非限制的实施方式中，底板3位于安装腔33相对两侧内壁均设置有卡槽；屏蔽盒7相对两侧外壁均设置有与卡槽相适配的卡筋75。通过卡槽和卡筋75的配合，将屏蔽盒7固定在安装腔33内。In a further preferred but non-limiting embodiment of the present invention, the inner walls of the bottom plate 3 on both sides of the mounting cavity 33 are provided with card slots; the outer walls of the shielding box 7 on both sides of the mounting cavity 33 are provided with card ribs 75 adapted to the card slots. The shielding box 7 is fixed in the mounting cavity 33 by the cooperation of the card slots and the card ribs 75.
在本发明进一步优选但非限制的实施方式中，底板3还包括扣板32。扣板32设置于底板3的相对两侧外壁，用于与位于无人机本体1上的扣眼卡接配合；通过将扣板32与扣眼卡紧，将底板3固定于无人机本体1的底部。In a further preferred but non-limiting embodiment of the present invention, the bottom plate 3 further includes gussets 32. The gussets 32 are disposed on the outer walls of the bottom plate 3 on opposite sides, and are used to engage with the gussets on the drone body 1; the bottom plate 3 is fixed to the bottom of the drone body 1 by clamping the gussets 32 with the gussets.
参照图4所示，在本发明进一步优选但非限制的实施方式中，稳定支撑结构包括弹性定位柱73，弹性定位柱73通过限位柱72 垂直固定安装于凹槽底部，弹性定位柱73与限位柱72同轴设置，且弹性定位柱73的轴径小于限位柱72。弹性定位柱73与限位柱72一体成型，弹性定位柱73和限位柱72均为橡胶材质，能够对主板6起到减震保护作用。弹性定位柱73与设置于主板6上的通孔配合，对主板6进行限位。As shown in FIG. 4 , in a further preferred but non-limiting embodiment of the present invention, the stable support structure includes an elastic positioning column 73, which is vertically fixedly installed at the bottom of the groove through a limiting column 72, and the elastic positioning column 73 is coaxially arranged with the limiting column 72, and the shaft diameter of the elastic positioning column 73 is smaller than the limiting column 72. The elastic positioning column 73 and the limiting column 72 are integrally formed, and the elastic positioning column 73 and the limiting column 72 are both made of rubber, which can play a shock-absorbing and protective role on the main board 6. The elastic positioning column 73 cooperates with the through hole set on the main board 6 to limit the main board 6.
进一步地，弹性定位柱73和限位柱72均设置有四个，四个弹性定位柱73围设成矩形，分别与主板6的四个顶角相对应。Furthermore, four elastic positioning columns 73 and four limiting columns 72 are provided, and the four elastic positioning columns 73 are arranged to form a rectangle, respectively corresponding to the four vertex corners of the main board 6 .
在本发明进一步优选但非限制的实施方式中，稳定支撑结构还包括挂杆71和弹性支撑柱74。挂杆71和弹性支撑柱74均垂直固定安装于凹槽底部；挂杆71顶部设有限位块，限位块底部和弹性支撑柱74顶部分别与主板6的上、下面接触，对主板6的上、下方进行限位。In a further preferred but non-limiting embodiment of the present invention, the stable support structure further includes a hanging rod 71 and an elastic support column 74. The hanging rod 71 and the elastic support column 74 are both vertically fixedly installed at the bottom of the groove; a limit block is provided at the top of the hanging rod 71, and the bottom of the limit block and the top of the elastic support column 74 are respectively in contact with the upper and lower sides of the main board 6 to limit the upper and lower sides of the main board 6.
进一步地，弹性支撑柱74具有弹性，优选为橡胶材质，能够对主板6起到减震保护作用。Furthermore, the elastic support column 74 is elastic and is preferably made of rubber material, which can provide shock-absorbing protection for the mainboard 6 .
更进一步地，弹性支撑柱74和挂杆71均设置有多个，多个弹性支撑柱74呈矩形阵列分布，多个挂杆71围设于多个弹性支撑柱74的四周，能够更好地支撑主板6，同时起到更好地限位作用。通过设置弹性定位柱73、限位柱72、挂杆71和弹性支撑柱74配合使用，能够对主板进行稳定安装，同时起到较好的减震作用，从而更好的对电路板上的电子元件保护，延长设备的使用寿命。Furthermore, multiple elastic support columns 74 and hanging rods 71 are provided, and multiple elastic support columns 74 are distributed in a rectangular array, and multiple hanging rods 71 are arranged around multiple elastic support columns 74, which can better support the mainboard 6 and play a better limiting role. By setting the elastic positioning column 73, the limiting column 72, the hanging rod 71 and the elastic support column 74 for use in combination, the mainboard can be stably installed and play a good shock absorption role, thereby better protecting the electronic components on the circuit board and extending the service life of the device.
参照图5所示，屏蔽罩2为金属壳体，且屏蔽罩2的外表面开设有均匀排布的散热孔21，通过在屏蔽罩2外侧面开设的散热孔2，实现对电子元件产生的热量的排散，在对电子元件进行抗电磁干扰的同时能够保证正常的散热和设备的使用寿命。As shown in Figure 5, the shielding cover 2 is a metal shell, and the outer surface of the shielding cover 2 is provided with evenly arranged heat dissipation holes 21. The heat dissipation holes 2 opened on the outer side of the shielding cover 2 can be used to dissipate the heat generated by the electronic components, thereby ensuring normal heat dissipation and the service life of the equipment while resisting electromagnetic interference to the electronic components.
屏蔽罩2为包括顶面和侧面的罩状结构。同样可以理解的，图2示出的长方体屏蔽罩2仅是一种示例但非限制性的实施方式，为了适配主板、底板3以及屏蔽盒7的几何结构，本领域技术人员可以对屏蔽罩2进行适应性调整，从上方和侧方包围主板6，用于对主板6至少上方和侧方进行电磁屏蔽的结构均落入本发明的范围之内。The shielding cover 2 is a cover-shaped structure including a top surface and side surfaces. It is also understandable that the rectangular shielding cover 2 shown in FIG. 2 is only an exemplary but non-restrictive embodiment. In order to adapt to the geometric structure of the main board, the bottom plate 3 and the shielding box 7, those skilled in the art can adaptively adjust the shielding cover 2 to surround the main board 6 from the top and the side. Structures for electromagnetically shielding at least the top and the side of the main board 6 fall within the scope of the present invention.
参照图6所示，在本发明进一步优选但非限制的实施方式中，屏蔽结构5包括金属网54和安装组件。金属网54用于吸收并反射电磁波。安装组件用于安装金属网54，并与底板3相连接。As shown in Fig. 6, in a further preferred but non-limiting embodiment of the present invention, the shielding structure 5 includes a metal mesh 54 and a mounting assembly. The metal mesh 54 is used to absorb and reflect electromagnetic waves. The mounting assembly is used to mount the metal mesh 54 and is connected to the bottom plate 3.
进一步地，安装组件包括两个支撑杆51和一个连接杆53。连接杆53的两端均设有用于插装支撑杆51的插孔52，连接杆53的侧壁与底板3固定连接。两个支撑杆51均是一端垂直插入一个插孔52内。两个支撑杆51上均设有卡装槽55，金属网54的相对两侧分别卡入两个卡装槽55内。Furthermore, the mounting assembly includes two support rods 51 and a connecting rod 53. Both ends of the connecting rod 53 are provided with insertion holes 52 for inserting the support rods 51, and the side walls of the connecting rod 53 are fixedly connected to the bottom plate 3. One end of each of the two support rods 51 is vertically inserted into one insertion hole 52. Both support rods 51 are provided with a clamping groove 55, and the opposite sides of the metal mesh 54 are respectively clamped into the two clamping grooves 55.
卡装槽55的上端贯通支撑杆1上表面，卡装槽55的下端不贯通支撑杆1下表面，从而对金属网54起到限位作用，将金属网54固定于两个支撑杆51之间。The upper end of the card slot 55 passes through the upper surface of the support rod 1 , and the lower end of the card slot 55 does not pass through the lower surface of the support rod 1 , thereby limiting the metal mesh 54 and fixing the metal mesh 54 between the two support rods 51 .
参照图7所示，在本发明进一步优选但非限制的实施方式中，摄像机构4包括固定板41、转台42、两个支架43和摄像头44。固定板41固定安装在底板3远离无人机本体1的底面。转台42可沿水平面转动地安装在固定板41的底部；两个支架43均垂直固定安装在转台42的底部，且二者之间留有间隙；摄像头44可沿竖直面转动地安装于两个支架43之间。通过设置转台42，可对摄像头44进行水平方向的调节。通过设置摄像头44可在两个支架43之间沿竖直面转动，实现对摄像头44进行上下转动调节。As shown in FIG7 , in a further preferred but non-limiting embodiment of the present invention, the camera mechanism 4 includes a fixed plate 41, a turntable 42, two brackets 43 and a camera 44. The fixed plate 41 is fixedly mounted on the bottom surface of the bottom plate 3 away from the drone body 1. The turntable 42 can be rotatably mounted on the bottom of the fixed plate 41 along a horizontal plane; the two brackets 43 are both vertically fixedly mounted on the bottom of the turntable 42, and a gap is left between the two; the camera 44 can be rotatably mounted between the two brackets 43 along a vertical plane. By setting the turntable 42, the camera 44 can be adjusted in the horizontal direction. By setting the camera 44 to be rotatable along the vertical plane between the two brackets 43, the camera 44 can be adjusted up and down.
在本发明进一步优选但非限制的实施方式中，屏蔽结构5设置有两组，两组屏蔽结构5对称设置于摄像机构4的两侧，同时在两侧对摄像机构4进行电磁防护，减少电磁波对摄像机构4的影响，从而保证正常图像采集。In a further preferred but non-limiting embodiment of the present invention, two groups of shielding structures 5 are provided, and the two groups of shielding structures 5 are symmetrically arranged on both sides of the camera mechanism 4. At the same time, electromagnetic protection is performed on both sides of the camera mechanism 4 to reduce the impact of electromagnetic waves on the camera mechanism 4, thereby ensuring normal image acquisition.
本发明的实施例2提供了一种无人机的控制方法，基于实施例1中的输电线路运检用具备电磁防护结构的无人机，包括以下步骤：Embodiment 2 of the present invention provides a method for controlling a drone, based on the drone with an electromagnetic protection structure for power line inspection in Embodiment 1, comprising the following steps:
步骤1，以输电线路为中心设定输电线路运检区域，以地面控制中心为起点，构建运检区域与地面控制中心之间的途经走廊区域；输电线路运检区域和途经走廊区域构成无人机飞行区域。Step 1: Set the transmission line operation and maintenance area with the transmission line as the center, and construct the corridor area between the operation and maintenance area and the ground control center with the ground control center as the starting point; the transmission line operation and maintenance area and the corridor area constitute the UAV flight area.
步骤2，将无人机飞行区域划分为网格，计算由输电电路在无人机飞行区域各个网格之内的电场强度；通过将连续的电场分布分割为网格，降低了计算量，有效地降低了能耗和存储空间。Step 2, divide the UAV flight area into grids, and calculate the electric field strength of each grid in the UAV flight area caused by the transmission circuit; by dividing the continuous electric field distribution into grids, the amount of calculation is reduced, and the energy consumption and storage space are effectively reduced.
进一步地，步骤2中，以Delaunay三角剖分的方式将无人机飞行区域进行构造为Delaunay三角网；以三角形重心位置的电场强度表示该网格的电场强度；或将无人机飞行区域划分为正方形网格，以正方形中心位置的电场强度表示该网格的电场强度。Furthermore, in step 2, the UAV flight area is constructed as a Delaunay triangulation network by Delaunay triangulation; the electric field strength of the grid is represented by the electric field strength at the center of the triangle; or the UAV flight area is divided into square grids, and the electric field strength of the grid is represented by the electric field strength at the center of the square.
在本发明优选但非限制性的实施方式中，步骤2中，将输电线路替换为沿轴线均匀分布、线密度恒定的电荷的无限长圆柱体，通过仿真获得当前位置关于到中心线距离的电场强度的映射关系。In a preferred but non-limiting embodiment of the present invention, in step 2, the transmission line is replaced by an infinitely long cylinder with charges uniformly distributed along the axis and with a constant line density, and a mapping relationship between the electric field strength at the current position and the distance to the center line is obtained through simulation.
值得注意的是，对于三相输电线来说，当前位置关于到中心线距离的电场强度的映射关系呈现双峰图形，随电压等级变化而变化，如图8所示。It is worth noting that for a three-phase transmission line, the mapping relationship between the electric field strength at the current position and the distance to the center line presents a bimodal graph, which changes with the voltage level, as shown in FIG8 .
在进一步优选但非限制性的实施方式中，以三相输电线路中间相电缆的中心为原点，在垂直于电缆延伸方向的平面上建立坐标系，在坐标平面内，以每相电压、相位差、导线坐标和介电常数作为已知量，可仿真在该平面内任意一点的沿水平轴和垂向轴的电场强度，将沿水平轴和垂向轴的电场强度进行相量合成，即得到该点的电场强度模值和角度。在此基础上，向沿输电线路走向扩展，即得到全途经所有网格的电场强度。In a further preferred but non-limiting embodiment, the center of the phase cable in the three-phase transmission line is taken as the origin, and a coordinate system is established on a plane perpendicular to the extension direction of the cable. In the coordinate plane, the voltage of each phase, the phase difference, the conductor coordinates and the dielectric constant are taken as known quantities, and the electric field intensity along the horizontal axis and the vertical axis at any point in the plane can be simulated, and the electric field intensity along the horizontal axis and the vertical axis are synthesized by phase, that is, the modulus and angle of the electric field intensity at the point are obtained. On this basis, the electric field intensity along the transmission line is extended to obtain the electric field intensity of all grids along the entire route.
步骤3，在无人机飞行区域内，初始化无人机输电线路巡检路径，Step 3: Initialize the UAV power line inspection path within the UAV flight area.
进一步地，步骤3中，在电场强度处于安全区间之内的范围内，以最短路径初始化无人机输电线路巡检路径。Further, in step 3, within the range where the electric field strength is within the safe interval, the UAV power transmission line inspection path is initialized with the shortest path.
更进一步地，步骤3中，在途经走廊区域内以地面控制中心至输电线路运检区域最短路径作为第一无人机输电线路巡检路径，在输电线路运检区域内，以与输电线路保持设定距离为第二无人机输电线路巡检路径。Furthermore, in step 3, the shortest path from the ground control center to the transmission line inspection area in the corridor area is used as the first UAV transmission line inspection path, and in the transmission line inspection area, the second UAV transmission line inspection path is to maintain a set distance from the transmission line.
步骤4，无人机起飞后，沿步骤3设定的路径飞行，并按照设定频率采集当前位置的电场强度，并将当前位置的电场强度与最接近的步骤2获得的网格之内电场强度进行比较，若超出阈值，无人机悬停，执行步骤5；否则继续沿当前无人机输电线路巡检路径继续飞行，执行巡检任务；Step 4: After the drone takes off, it flies along the path set in step 3, collects the electric field strength at the current location at the set frequency, and compares the electric field strength at the current location with the electric field strength within the closest grid obtained in step 2. If it exceeds the threshold, the drone hovers and executes step 5; otherwise, it continues to fly along the current drone power line inspection path and executes the inspection task;
在本发明优选但非限制性的实施方式中，步骤4中，将当前位置的电场强度与最接近的步骤2获得的网格之内电场强度进行比较超出阈值20%，表明当前位置附近存在除输电线路之外的其他辐射源，对无人机飞行安全造成威胁，向地面控制中心发出告警信号。In a preferred but non-limiting embodiment of the present invention, in step 4, the electric field strength at the current position is compared with the electric field strength within the closest grid obtained in step 2, and if it exceeds the threshold by 20%, it indicates that there are other radiation sources besides the transmission lines near the current position, which poses a threat to the flight safety of the drone, and an alarm signal is sent to the ground control center.
步骤5，无人机悬停，计算补全途经所有网格的电场强度，叠加步骤2各个网格之内的电场强度，仿真计算当前无人机飞行区域各个网格之内的电场强度；若当前无人机飞行区域存在可继续执行巡检任务的路径，继续执行巡检任务，否则以电场强度不超过阈值为约束规划返回地面控制中心的路径。Step 5: The drone hovers and calculates the electric field strength of all grids along the way. The electric field strength in each grid in step 2 is superimposed, and the electric field strength in each grid in the current drone flight area is simulated and calculated. If there is a path in the current drone flight area that can continue to perform the inspection task, the inspection task will continue to be performed. Otherwise, the path back to the ground control center is planned with the electric field strength not exceeding the threshold as the constraint.
进一步地，步骤5包括：Further, step 5 includes:
步骤5.1，插入均值的方式获得无人机途经所有网格的电场强度；Step 5.1, insert the mean value to obtain the electric field strength of all grids that the UAV passes through;
步骤5.2，将无人机途经所有网格的电场强度与步骤2获得的各个网格之内的电场强度作差，形成其他辐射源在途经所有网格的电场分量；Step 5.2, subtract the electric field strength of all grids that the drone passes through from the electric field strength within each grid obtained in step 2 to form the electric field components of other radiation sources passing through all grids;
步骤5.3，按照其他辐射源在途经所有网格的电场分量更新当前无人机飞行区域各个网格之内的电场强度；如图9所示。Step 5.3, update the electric field strength within each grid in the current UAV flight area according to the electric field components of other radiation sources passing through all grids; as shown in Figure 9.
步骤5.4，判断当前无人机飞行区域各个网格之内的电场强度是否存在可继续执行巡检任务的路径，若存在，继续执行巡检任务，否则以电场强度不超过阈值为约束规划返回地面控制中心的路径。Step 5.4, determine whether there is a path that can continue to perform the inspection task within the electric field strength of each grid in the current UAV flight area. If so, continue to perform the inspection task. Otherwise, plan the path back to the ground control center with the electric field strength not exceeding the threshold as the constraint.
如图9所示，以虚线表示框表示巡检可执行的距离，若电场强度均在虚线框之上，则表示已经无法满足电磁环境要求，无法继续执行巡检任务，需要规划返回路径。如果曲线下探到虚线框之内，表示可以继续执行巡检任务，按照虚线框之内的部分，规划无人机巡检路径。As shown in Figure 9, the dashed box indicates the distance that the inspection can be performed. If the electric field strength is above the dashed box, it means that the electromagnetic environment requirements can no longer be met and the inspection task cannot be continued. The return path needs to be planned. If the curve drops into the dashed box, it means that the inspection task can continue. According to the part within the dashed box, the drone inspection path is planned.
本发明的有益效果在于，与现有技术相比，本发明一方面通过设置屏蔽罩和屏蔽盒，将主板安装在屏蔽盒内，再将屏蔽罩盖合在屏蔽盒上，能够对主板进行全方位的电磁防护，从而提高无人机自身结构的防电磁干扰能力；另一方面，本发明还设置有控制模块，通过控制模块控制当无人机当前位置电场强度不超过设定阈值时，才会进行巡检操作，确保无人机巡检时的安全性，从而更好地保证无人机能够正常运行。The beneficial effect of the present invention lies in that, compared with the prior art, the present invention, on the one hand, can provide all-round electromagnetic protection for the mainboard by providing a shielding cover and a shielding box, installing the mainboard in the shielding box, and then covering the shielding cover on the shielding box, thereby improving the anti-electromagnetic interference capability of the drone's own structure; on the other hand, the present invention is also provided with a control module, which controls the inspection operation only when the electric field strength at the current position of the drone does not exceed the set threshold through the control module, thereby ensuring the safety of the drone during inspection, thereby better ensuring that the drone can operate normally.
此外，若无人机上的电磁防护结构太重，虽然能够在一定程度上增加无人机电磁防护效果，但是会影响无人机续航能力。本发明综合考虑这两个因素，在无人机结构和算法之间进行折中，从而达到最佳的防护效果。In addition, if the electromagnetic protection structure on the drone is too heavy, although it can increase the electromagnetic protection effect of the drone to a certain extent, it will affect the endurance of the drone. The present invention comprehensively considers these two factors and makes a compromise between the drone structure and the algorithm to achieve the best protection effect.
同时，本发明还设置稳定支撑结构，能够对电路板进行稳定安装的同时起到较好的减震作用，从而更好的对电路板上的电子元件保护，延长设备的使用寿命。此外，本发明还设置有At the same time, the present invention also provides a stable support structure, which can stably install the circuit board and play a good shock absorption role, thereby better protecting the electronic components on the circuit board and extending the service life of the equipment.
在本发明的进一步优选方案中，本发明通过在摄像机构的两侧设置的屏蔽结构，能够对摄像机构进行电磁防护，避免电磁干扰摄像机构的正常巡检摄像，从而大大的提高无人机的电磁防护能力，进一步有利于无人机的正常的电力运维巡检。In a further preferred embodiment of the present invention, the present invention can provide electromagnetic protection for the camera mechanism by providing a shielding structure on both sides of the camera mechanism, thereby avoiding electromagnetic interference with the normal inspection and video recording of the camera mechanism, thereby greatly improving the electromagnetic protection capability of the drone, and further facilitating the normal power operation and maintenance inspection of the drone.
最后应当说明的是，以上实施例仅用以说明本发明的技术方案而非对其限制，尽管参照上述实施例对本发明进行了详细的说明，所属领域的普通技术人员应当理解：依然可以对本发明的具体实施方式进行修改或者等同替换，而未脱离本发明精神和范围的任何修改或者等同替换，其均应涵盖在本发明的权利要求保护范围之内。Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, ordinary technicians in the relevant field should understand that the specific implementation methods of the present invention can still be modified or replaced by equivalents, and any modifications or equivalent replacements that do not depart from the spirit and scope of the present invention should be covered within the scope of protection of the claims of the present invention.
Claims (14)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410698597.5A CN118254981B (en) | 2024-05-31 | 2024-05-31 | Unmanned aerial vehicle with electromagnetic protection structure for power transmission line operation and inspection and control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410698597.5A CN118254981B (en) | 2024-05-31 | 2024-05-31 | Unmanned aerial vehicle with electromagnetic protection structure for power transmission line operation and inspection and control method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN118254981A CN118254981A (en) | 2024-06-28 |
| CN118254981B true CN118254981B (en) | 2024-07-26 |
Family
ID=91602787
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202410698597.5A Active CN118254981B (en) | 2024-05-31 | 2024-05-31 | Unmanned aerial vehicle with electromagnetic protection structure for power transmission line operation and inspection and control method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN118254981B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN119637142B (en) * | 2025-02-20 | 2025-05-06 | 中电国科技术有限公司 | Unmanned aerial vehicle with electromagnetic protection device for power transmission line operation and detection |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN216636846U (en) * | 2022-01-08 | 2022-05-31 | 芜湖创联航空装备产业研究院有限公司 | Fixed wing unmanned aerial vehicle avionics equipment with anti-magnetic interference structure |
| CN116520010A (en) * | 2023-06-30 | 2023-08-01 | 中国电力科学研究院有限公司 | Multi-parameter integrated test electric system based on unmanned aerial vehicle and corresponding method thereof |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR3020282B1 (en) * | 2014-04-24 | 2016-05-13 | Parrot | UNIVERSAL MOUNTING PLATE FOR ROTARY SAIL DRONE |
| CN206118300U (en) * | 2016-10-25 | 2017-04-19 | 深圳市大疆创新科技有限公司 | Shield assembly and unmanned vehicles |
| JP7072156B1 (en) * | 2021-08-13 | 2022-05-20 | 株式会社ダックビル | Mobile system |
| CN220501044U (en) * | 2023-07-17 | 2024-02-20 | 深圳洲际通航投资控股有限公司 | Unmanned aerial vehicle with anti electromagnetic signal interference |
-
2024
- 2024-05-31 CN CN202410698597.5A patent/CN118254981B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN216636846U (en) * | 2022-01-08 | 2022-05-31 | 芜湖创联航空装备产业研究院有限公司 | Fixed wing unmanned aerial vehicle avionics equipment with anti-magnetic interference structure |
| CN116520010A (en) * | 2023-06-30 | 2023-08-01 | 中国电力科学研究院有限公司 | Multi-parameter integrated test electric system based on unmanned aerial vehicle and corresponding method thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| CN118254981A (en) | 2024-06-28 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN118254981B (en) | Unmanned aerial vehicle with electromagnetic protection structure for power transmission line operation and inspection and control method thereof | |
| CN110574227B (en) | Radio assemblies with modular radio modules and interconnections | |
| US6065530A (en) | Weatherproof design for remote transceiver | |
| CN204809405U (en) | Phased array antenna shield cover | |
| CN214190112U (en) | Shielding high tension line electromagnetic interference's unmanned aerial vehicle that patrols and examines | |
| CN219123948U (en) | A wireless charging receiving device and a power inspection robot | |
| CN213187074U (en) | High-performance filter with shielding function | |
| CN110876267A (en) | Control assembly and aircraft | |
| JP2004112962A (en) | Transformer and power receiving and distribution equipment equipped with the transformer | |
| CN212436193U (en) | Big data control platform heat abstractor | |
| CN213753475U (en) | Renewable energy power generation's access system transformer protection device | |
| CN212936536U (en) | Heat dissipation skeleton and laser radar equipment | |
| JPH0621677A (en) | Electronic device | |
| CN217100496U (en) | Airborne laser radar with protection function | |
| US6960719B2 (en) | Method and apparatus for mitigating electromagnetic waves | |
| CN216292033U (en) | Anti-interference and anti-shielding protective cover for large-scale switch | |
| CN218976421U (en) | A wireless charging and transmitting device for power inspection robots | |
| CN219611108U (en) | Electric box protection mechanism | |
| CN216565088U (en) | a filter | |
| CN211297437U (en) | Computer network equipment box with buffering safeguard function | |
| CN221900345U (en) | An electrical control cabinet with anti-static function | |
| CN215767441U (en) | 4G gateway for measuring temperature of transmission line clamp | |
| CN219833508U (en) | Block terminal protection device for construction | |
| CN215453100U (en) | Imaging device shell | |
| US12089373B2 (en) | Metamaterial heat spreader |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |