CN203397214U - Special unmanned helicopter obstacle-avoiding system suitable for tour inspection of electrical networks in mountain area - Google Patents
Special unmanned helicopter obstacle-avoiding system suitable for tour inspection of electrical networks in mountain area Download PDFInfo
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- CN203397214U CN203397214U CN201320407062.5U CN201320407062U CN203397214U CN 203397214 U CN203397214 U CN 203397214U CN 201320407062 U CN201320407062 U CN 201320407062U CN 203397214 U CN203397214 U CN 203397214U
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Abstract
本实用新型公开了一种适用于山区电网巡检的专用无人直升机避障系统，所述的避障系统包括有机载信号采集模块及设置于飞控系统内的数据处理模块构成，机载的信号采集模块包括毫米波雷达测距传感器，毫米波雷达测距传感器与信号预处理模块相连以将模拟信号转换为数字信号，并将周围的环境信息经通讯端口发送给数据处理模块，再由数据处理模块发出相应的指令给飞控系统的控制计算机，再由飞控系统的控制计算机发送给无人机舵控系统。本实用新型的避障系统，无需人工干预，可确保无人机在山区复杂地形条件下，随时与电力线路保持安全距离，避免因突变阵风的扰动或者GPS误差导致飞机碰撞导线和其他障碍物。
The utility model discloses a special unmanned helicopter obstacle avoidance system suitable for the inspection of mountainous power grids. The obstacle avoidance system includes an onboard signal acquisition module and a data processing module arranged in the flight control system. The signal acquisition module includes a millimeter-wave radar ranging sensor. The millimeter-wave radar ranging sensor is connected with the signal preprocessing module to convert the analog signal into a digital signal, and sends the surrounding environment information to the data processing module through the communication port, and then the The data processing module sends corresponding instructions to the control computer of the flight control system, and then the control computer of the flight control system sends them to the UAV rudder control system. The obstacle avoidance system of the utility model does not require manual intervention, and can ensure that the UAV keeps a safe distance from the power line at any time under the complex terrain conditions in mountainous areas, and avoids the collision of the aircraft with wires and other obstacles due to the disturbance of sudden gusts or GPS errors.
Description
Technical field
The utility model relates to a kind of medium-sized dedicated unmanned Helicopter System that mountain area electrical network is patrolled and examined that is applicable to, and is particularly a kind ofly applicable to the dedicated unmanned helicopter obstacle avoidance system that mountain area electrical network is patrolled and examined.
Background technology
Along with the development of electric system, transmission line of electricity is more and more longer, and electric pressure is more and more higher.Nearly 900,000 kilometers of the current 110kV of China and above power circuit, walking operation all will carry out repeatedly every year, and workload is great.
At present, the routine inspection mode that China adopts is mainly manual inspection and manned helicopter routing inspection, and manual inspection is that power circuit polling personnel are on foot along line data-logging.Routine inspection mode is mainly by hoping glasses check circuit and shaft tower.Manned helicopter routing inspection is that electric inspection process personnel pass through helicopter platform, and side patrols and examines along circuit on the line.
Take In Fujian Province as example, Fujian is located in China's southeastern coast, hills, You Shu mountain area landforms, transmission line of electricity is mostly crossed over mountain after mountain, a lot of transmission lines of electricity are distributed in lake, depopulated zone, the working method that relies on Traditional Man to carry out periodical inspection inspection to transmission line of electricity expends a large amount of human and material resources and financial resources, its effect and efficiency are but difficult to promote, heavy, the inefficiency, cycle of working is very long, dangerous high, to power grid security, management brings much hidden danger, totally unfavorable for the safe operation that guarantees electrical network.
For solving various difficult problems for mountain area power transmission line inspection work, research institution both domestic and external begins one's study how by technological means, to improve the efficiency that power network line is maked an inspection tour from late 1980s, is mainly to adopt manned helicopter to carry out polling transmission line.Manned helicopter is patrolled and examined transmission line of electricity technology and is widely used at present in ultrahigh voltage alternating current transmission lines, the 110kV～500kV of North China Power Telecommunication Network company transmission line of electricity operational management work in China.Utilize manned helicopter routing inspection technology and method to exist as problems such as helicopter and maintenance cost costliness and personal securities.Restriction due to examined technical device, the flying speed of current manned machine is can not be too fast, height can not be too high, so manned aircraft flight is mistake slightly, just may cause fatal crass's serious consequence, and also probably to the consequence of bringing on a disaster property of electric power networks.Although also researched and developed at present some unmanned plane cruising inspection systems, but current unmanned aerial vehicle control system does not have obstacle avoidance system, unmanned plane all must real-time monitored unmanned plane in flight course state of flight and position, once find that closely barrier all wants timely manual operation to keep away barrier, so both strengthen operating personnel's workload, also had very large potential safety hazard simultaneously.
Utility model content
The purpose of this utility model is to overcome the deficiencies in the prior art part, and a kind of dedicated unmanned helicopter obstacle avoidance system that mountain area electrical network is patrolled and examined that is applicable to is provided.
A kind ofly be applicable to the dedicated unmanned helicopter obstacle avoidance system that mountain area electrical network is patrolled and examined, its structural feature is: described obstacle avoidance system includes airborne signal acquisition module and is arranged at the data processing module formation in flight control system, airborne signal acquisition module comprises millimetre-wave radar distance measuring sensor, millimetre-wave radar distance measuring sensor is connected that with signal pre-processing module simulating signal is converted to digital signal, and environmental information is around sent to data processing module through PORT COM, by data processing module, send corresponding instruction to the control computing machine of flight control system again, control computing machine by flight control system sends to unmanned plane rudder control system again.
Obstacle avoidance system of the present utility model, without manual intervention, can guarantee that unmanned plane, under the MODEL OVER COMPLEX TOPOGRAPHY of mountain area, keeps a safe distance with power circuit at any time, avoids causing aircraft collision wire and other barriers because of disturbance or the GPS error of sudden change fitful wind.
Described data processing module is a kind of single-chip microcomputer or AMR data processing chip.
Obstacle avoidance system of the present utility model, by each sensor signal, first pass through pretreatment module, simulating signal is converted to digital signal, and environmental information is through PORT COM, data are offered to data processing module and carry out analytical calculation, and judge whether to keep away barrier behavior, calculate simultaneously and rationally dodge route, control signal is sent to the control subsystem that flies of unmanned plane---unmanned plane rudder control system is dodged action to realize.
Described data processing module is for by built-in predeterminable range threshold value, environmental information around and default distance threshold value contrasted and draws barrier orientation, and by built-in keeping away, hinder strategy and make keeping away accordingly and hinder in strategy.
The millimetre-wave radar distance measuring sensor of described obstacle avoidance system is divided into the place ahead, left side, the right side of unmanned plane.
In sum, the utility model following advantage compared to existing technology:
Of the present utility modelly be applicable to the dedicated unmanned helicopter obstacle avoidance system that mountain area electrical network patrols and examines and have: without manual intervention, can guarantee that unmanned plane is under the MODEL OVER COMPLEX TOPOGRAPHY of mountain area, keep a safe distance with power circuit at any time, avoid causing aircraft collision wire and other barriers because of disturbance or the GPS error of sudden change fitful wind.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of depopulated helicopter obstacle avoidance system of the present utility model.
Fig. 2 is the workflow diagram of data processing module of the depopulated helicopter obstacle avoidance system of the utility model embodiment.
Embodiment
Below in conjunction with embodiment, the utility model is described in more detail.
Embodiment 1
As shown in Figure 1 a kind of is applicable to the dedicated unmanned helicopter obstacle avoidance system that mountain area electrical network is patrolled and examined, described obstacle avoidance system includes airborne signal acquisition module and is arranged at the data processing module formation in flight control system, airborne signal acquisition module comprises millimetre-wave radar distance measuring sensor, millimetre-wave radar distance measuring sensor is connected that with signal pre-processing module simulating signal is converted to digital signal, and environmental information is around sent to data processing module through PORT COM, by data processing module, send corresponding instruction to the control computing machine of flight control system again, control computing machine by flight control system sends to unmanned plane rudder control system again.The millimetre-wave radar distance measuring sensor of described obstacle avoidance system is divided into the place ahead, left side, the right side of unmanned plane.
Described data processing module is for by built-in predeterminable range threshold value, environmental information around and default distance threshold value contrasted and draws barrier orientation, and by built-in keeping away, hinder strategy and make keeping away accordingly and hinder in strategy.
Be applicable to the workflow of the dedicated unmanned helicopter obstacle avoidance system that mountain area electrical network patrols and examines as Fig. 2, its step is as follows:
(1) the millimetre-wave radar distance measuring sensor of an obstacle avoidance system is respectively set on the place ahead, left side, the right side of unmanned plane, by computing machine control carry out orderly electron scanning, obtain three directions apart from the distance and bearing angle of barrier, and by communication interface, be sent to the data processing module of system for flight control computer;
(2) what the data processing module of system for flight control computer was responsible for analyzing three directions keeps away barrier data: according to default distance threshold value with keep away barrier strategy, disturbance of analysis Wu orientation, make and keep away accordingly barrier strategy, and hinder by keeping away the flight-control computer that instruction sends to flight control system;
(3) what flight-control computer provided according to data processing module keeps away barrier instruction and keeps away barrier strategy, sends corresponding rudder control instruction to unmanned plane rudder control system, and rudder control system control aircraft is made and kept away accordingly barrier action, maneuvering flight;
(4) unmanned aerial vehicle tracking telemetry and command station is responsible for obstacle avoidance system to carry out remote-control romote-sensing: ground control station is sent and keeps away barrier switch order to flight control system by Data-Link, by flight control system, forward and keep away barrier switch order, remote control obstacle avoidance system switch, the real time execution operating mode of obstacle avoidance system forwards by flight control system, by back Data-Link, is responsible for sending it back land station.
The described barrier analysis decision module workflow of keeping away illustrates:
(1) the millimetre-wave radar distance measuring sensor scanning probe on unmanned plane the place ahead, left side, right side to obstacle distance and position angle parameter by communication interface, be sent to system for flight control computer " keep away barrier analysis decision module ".(position angle is for aid decision making)
(2) when obstacle distance aircraft is greater than 70 meters, keep away barrier analysis decision module and filter this data, do not do any processing.
(3) when obstacle distance aircraft is greater than 45 meters while being less than 70 meters, keep away barrier analysis decision module by Data-Link earthward tracking telemetry and command station system send obstacle-avoidance warning.
(4), when obstacle distance aircraft is less than 45 meters, that keeps away that barrier analysis decision module sends correspondence direction to UAV Flight Control computing machine keeps away barrier action command.
(5) when left side, keep away barrier sensor and send and keep away barrier action command, unmanned plane 5 meters of oblique upper 15 degree translations to the right.When again sending, keep away barrier action command, oblique upper 15 is spent 5 meters of translations to the right again, until sensor no longer sends, keeps away after barrier action command, and unmanned plane continues to fly according to prebriefed pattern.
(6) when right side, keep away barrier sensor and send and keep away barrier action command, unmanned plane 5 meters of oblique upper 15 degree translations to the left.When again sending, keep away barrier action command, oblique upper 15 is spent 5 meters of translations to the left again, until sensor no longer sends, keeps away after barrier action command, and unmanned plane continues to fly according to prebriefed pattern.
(7) when both sides, keeping away barrier sensor sends simultaneously and keeps away barrier action command, unmanned plane brakes, hovers, vertically climbs 5 meters, when again sending, keeps away barrier action command, again vertically climbs 5 meters, until sensor no longer sends, keep away after barrier action command, unmanned plane continues to fly according to prebriefed pattern.
When dead ahead, keep away barrier sensor and send and keep away barrier action command, unmanned plane brake, hovering, vertically climb 5 meters, when again sending, keep away barrier action command, stop immediately preplanned mission, according to preset height, climb and make a return voyage to takeoff point and land.
It is same as the prior art that the present embodiment is not stated part.
Claims (2)
1. one kind is applicable to the dedicated unmanned helicopter obstacle avoidance system that mountain area electrical network is patrolled and examined, it is characterized in that: described obstacle avoidance system includes airborne signal acquisition module and is arranged at the data processing module formation in flight control system, airborne signal acquisition module comprises millimetre-wave radar distance measuring sensor, millimetre-wave radar distance measuring sensor is connected that with signal pre-processing module simulating signal is converted to digital signal, and environmental information is around sent to data processing module through PORT COM, by data processing module, send corresponding instruction to the control computing machine of flight control system again, control computing machine by flight control system sends to unmanned plane rudder control system again.
2. be according to claim 1ly applicable to the dedicated unmanned helicopter obstacle avoidance system that mountain area electrical network is patrolled and examined, it is characterized in that: the millimetre-wave radar distance measuring sensor of described obstacle avoidance system is divided into the place ahead, left side, the right side of unmanned plane.
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Cited By (14)
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| CN104503463A (en) * | 2014-12-25 | 2015-04-08 | 中国人民解放军总参谋部第六十研究所 | Active obstacle avoidance flight control method for unmanned helicopter |
| CN104898696A (en) * | 2015-05-15 | 2015-09-09 | 国家电网公司 | Unmanned-plane routing-inspection obstacle avoidance method for high-voltage common-tower single-circuit transmission line based on change rate of intensity of electric field |
| CN104932524A (en) * | 2015-05-27 | 2015-09-23 | 深圳市高巨创新科技开发有限公司 | Unmanned aerial vehicle and method for omnidirectional obstacle avoidance |
| CN104932526A (en) * | 2015-05-29 | 2015-09-23 | 深圳市大疆创新科技有限公司 | Flight equipment control method and flight equipment |
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| CN106155078A (en) * | 2015-04-10 | 2016-11-23 | 广西电网有限责任公司防城港供电局 | A kind of power transmission line inspection flight avoiding device and many rotors line walking unmanned plane |
| CN104898696A (en) * | 2015-05-15 | 2015-09-09 | 国家电网公司 | Unmanned-plane routing-inspection obstacle avoidance method for high-voltage common-tower single-circuit transmission line based on change rate of intensity of electric field |
| CN104898696B (en) * | 2015-05-15 | 2018-03-16 | 国家电网公司 | High pressure based on electric-field intensity rate of change is the same as tower list back transmission line unmanned plane inspection barrier-avoiding method |
| CN104932524A (en) * | 2015-05-27 | 2015-09-23 | 深圳市高巨创新科技开发有限公司 | Unmanned aerial vehicle and method for omnidirectional obstacle avoidance |
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| US11368002B2 (en) | 2016-11-22 | 2022-06-21 | Hydro-Quebec | Unmanned aerial vehicle for monitoring an electrical line |
| CN112068597B (en) * | 2020-09-25 | 2022-09-13 | 中国直升机设计研究所 | Obstacle avoidance system of helicopter based on front-driving unmanned aerial vehicle |
| CN112068597A (en) * | 2020-09-25 | 2020-12-11 | 中国直升机设计研究所 | Obstacle avoidance system of helicopter based on front-driving unmanned aerial vehicle |
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