CN203825467U - Auxiliary control device for preventing unmanned patrol helicopter from mistakenly hitting transmission line - Google Patents

Abstract

The utility model relates to the technical field of unmanned helicopter cruising, and discloses an auxiliary control device for preventing an unmanned inspection helicopter from colliding with a power transmission line by mistake. Scanning module, servo communication interface, RF transmitter module, accelerometer, gyroscope and magnetic sensor connected to the minimum system. The utility model has a simple structure, and can assist the unmanned inspection helicopter to avoid accidental collision with power transmission lines and towers with high precision on the basis of not greatly changing the design of the existing GPS navigation unmanned inspection helicopter.

Description

Auxiliary control device to prevent unmanned inspection helicopters from colliding with transmission lines by mistake

technical field

The utility model relates to the technical field of unmanned helicopter cruising, in particular to an auxiliary control device for preventing an unmanned inspection helicopter from colliding with a transmission line by mistake.

Background technique

With the expansion of the power grid, the workload of inspections is also increasing. Unmanned helicopters, as a type of drone, can be used in transmission line inspections to improve the efficiency of inspections. Unmanned helicopter inspections Transmission lines are a more delicate job.

However, in most cases, unmanned helicopters use the Global Positioning System (GPS) for navigation and positioning, and a small number of unmanned helicopters use inertial navigation systems for auxiliary positioning. The estimation accuracy of GPS directly depends on the number of satellites participating in the positioning and the quality of the signal received by the receiving device and the influence of the station. In addition, the electromagnetic interference of the transmission line or the channel blockage of adjacent equipment may lead to unreliable position estimation, and these problems are common and difficult to solve. When the GPS signal cannot be used or obtained, the unmanned helicopter The navigation system can only rely on the inertial navigation system, and the high-precision inertial navigation system relies on high-precision sensors, which increases the cost on the one hand, and increases the load of the unmanned helicopter on the other hand.

Utility model content

(1) Technical problems to be solved

The technical problem to be solved by the utility model is how to avoid the influence of the electromagnetic interference of the power transmission line or the channel blockage of adjacent equipment on the GPS position estimation of the unmanned inspection helicopter, so as to help the unmanned inspection helicopter with high precision for the inspection of the power transmission line Avoid accidentally hitting transmission lines and towers.

(2) Technical solution

In order to solve the above-mentioned technical problems, the utility model provides an auxiliary control device for preventing unmanned inspection helicopters from colliding with power transmission lines by mistake, including a base and an FPGA minimum system located in the base, and connected to the FPGA minimum system respectively Scanning module, servo communication interface, RF transmitting module, accelerometer, gyroscope and magnetic sensor, the FPGA minimum system is used for program control, data storage and data processing of the auxiliary control device;

The scanning module is used to scan the transmission line and the tower, and measure the distance between the unmanned inspection helicopter and the transmission line and the tower;

The steering gear communication interface is used for communication between the entire auxiliary control device and the steering gear of the unmanned inspection helicopter;

The RF transmitting module is used for navigating the unmanned inspection helicopter, and sending danger warning information when the unmanned inspection helicopter is about to collide with the power transmission line or the tower;

The accelerometer is used to measure the current flight speed of the auxiliary control device;

The gyroscope is used to measure the current flight angle of the auxiliary control device;

The magnetic sensor is used to correct the electromagnetic interference information of the power transmission line received by the auxiliary control device, so as to provide precise control information for the steering gear of the unmanned inspection helicopter.

Wherein, the bottom surface of the base is provided with a lock for connecting with the bottom of the unmanned inspection helicopter.

Further, the scanning module is a radar scanning module.

Further, the accelerometer is a three-axis accelerometer.

Further, the gyroscope is a three-axis gyroscope.

Further, the magnetic sensor is a three-axis magnetic sensor.

Further, it also includes a display screen connected with the FPGA minimum system.

Further, the display screen is a touch display screen.

(3) Beneficial effects

Compared with the prior art, the utility model has the following advantages:

The utility model provides an auxiliary control device for preventing an unmanned inspection helicopter from accidentally colliding with a power transmission line, including a minimum FPGA system and a scanning module connected to the minimum FPGA system, a steering gear communication interface, an RF transmitting module, an accelerometer, Gyroscopes and magnetic sensors, through the use of each module and the smallest FPGA system, can provide a variety of accurate and reliable measurement parameters for unmanned inspection helicopters, and can assist unmanned inspection helicopters to avoid accidental collisions with transmission lines and pole tower.

Description of drawings

Fig. 1 is a structural schematic diagram of an auxiliary control device for preventing an unmanned inspection helicopter from colliding with a transmission line by mistake in the utility model.

In the figure: 1: FPGA minimum system; 2: scanning module; 3: servo communication interface; 4: RF transmitter module; 5: accelerometer; 6: gyroscope; 7: magnetic sensor; 8: display screen; 9: base .

Detailed ways

Below in conjunction with accompanying drawing and embodiment, the specific embodiment of the utility model is described in further detail. The following examples are used to illustrate the utility model, but not to limit the scope of the utility model.

As shown in Fig. 1, a kind of auxiliary control device embodiment that prevents unmanned inspection helicopter from colliding into transmission line by mistake provided by the utility model, it comprises base 9 and FPGA minimum system 1 that is located in described base 9, And the scanning module 2 , the servo communication interface 3 , the RF transmitting module 4 , the accelerometer 5 , the gyroscope 6 and the magnetic sensor 7 which are respectively connected with the FPGA minimum system 1 . The FPGA minimum system 1 is the simplest system that can make the FPGA (Field-Programmable Gate Array), that is, the field programmable gate array, work normally. Its peripheral circuits are as minimal as possible and only include the necessary control circuits of the FPGA. , the FPGA minimum system 1 mainly includes: an FPGA chip, a download circuit, an external clock, a reset circuit and a power supply. The FPGA minimum system 1 is mainly used for program control, data storage and data processing of the auxiliary control device.

The scanning module 2 is preferably a radar scanning module for scanning transmission lines and towers, and measuring the distance between the unmanned patrol helicopter and the transmission lines and towers;

The steering gear communication interface 3 is used for communication between the entire auxiliary control device and the steering gear of the unmanned inspection helicopter. When the FPGA minimum system 1 calculates that the current route is about to collide with the unmanned inspection helicopter and the power transmission line or tower, Timely adjust route information for the steering gear of the unmanned inspection helicopter such as hovering, returning, ascending or descending, and provide electrical energy for the auxiliary control device as a whole through the steering gear communication interface 3;

The RF transmitting module 4 is used to send parameter information such as geographic positioning information of the tower observation point where the auxiliary control device is located, relative height to the ground, etc. to the unmanned inspection helicopter entering the effective range of the auxiliary control device. The inspection helicopter is used for navigation, accepting the device adjustment and parameter correction command setting information of the ground debugging console, and sending danger warning information to the ground debugging console when the unmanned inspection helicopter is about to collide with the transmission line or tower;

The accelerometer 5, preferably a three-axis accelerometer, is used to measure the current flight speed of the auxiliary control device;

The gyroscope 6, preferably a three-axis gyroscope, is used to measure the current flight angle of the auxiliary control device;

The magnetic sensor 7 is preferably a three-axis magnetic sensor, which can measure the magnetic field components of the x, y, and z axes, and is used to correct the electromagnetic interference information of the power transmission line received by the auxiliary control device. The steering gear provides precise control information, and after processing the information of the three-axis accelerometer and the three-axis gyroscope through the FPGA minimum system 1, the current position information of the unmanned patrol helicopter is obtained, so as to be able to assist the unmanned patrol helicopter. The inspection helicopter can avoid accidental collision with power lines and towers with high precision.

The bottom surface of the base 9 is provided with a lock for connecting with the bottom of the unmanned helicopter. So that when in use, the auxiliary control device can be installed on the bottom of the unmanned inspection helicopter.

The auxiliary control device also includes a display screen 8 connected to the FPGA minimum system 1, further, the display screen is a touch display screen, and the touch display screen is used for the auxiliary control device when the unmanned inspection helicopter is installed. , to set accurate unmanned inspection helicopter steering gear, load and other parameter information for the auxiliary control device.

The utility model has a simple structure, and can assist the unmanned inspection helicopter to avoid accidental collision with power transmission lines and towers with high precision on the basis of not greatly changing the design of the existing GPS navigation unmanned inspection helicopter.

The above descriptions are only preferred embodiments of the present utility model, and are not intended to limit the present utility model. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present utility model shall be included in the Within the protection scope of the present utility model.

Claims (8)

1. one kind prevents that unmanned inspecting helicopter from hitting the sub controlling unit of transmission line of electricity by mistake, it is characterized in that, comprise base and be located at the FPGA minimum system in described base, the scan module, steering wheel communication interface, RF transmitter module, accelerometer, gyroscope and the Magnetic Sensor that are connected with described FPGA minimum system respectively, described FPGA minimum system is for programmed control, data storage and the data processing of this sub controlling unit;

Described scan module, for scanning transmission line of electricity and shaft tower, and measures the distance of unmanned inspecting helicopter and transmission line of electricity and shaft tower;

Described steering wheel communication interface, communicates by letter with the steering wheel of unmanned inspecting helicopter for whole sub controlling unit;

Described RF transmitter module, is used to unmanned inspecting helicopter to navigate, and is about to generation and transmission line of electricity or shaft tower bumps against under situation at described unmanned inspecting helicopter, sends danger warning information;

Described accelerometer, for measuring the current flying speed of this sub controlling unit;

Described gyroscope, for measuring the current flight angle of this sub controlling unit;

Described Magnetic Sensor, the transmission line of electricity electromagnetic interference (EMI) information of receiving for revising this sub controlling unit, for the steering wheel of described unmanned inspecting helicopter provides accurate control information.

2. as claimed in claim 1ly prevent that unmanned inspecting helicopter from hitting the sub controlling unit of transmission line of electricity by mistake, it is characterized in that, the bottom surface of described base is provided with the snap close for being connected with the bottom of unmanned inspecting helicopter.

3. as claimed in claim 1ly prevent that unmanned inspecting helicopter from hitting the sub controlling unit of transmission line of electricity by mistake, it is characterized in that, described scan module is radar scanning module.

4. as claimed in claim 1ly prevent that unmanned inspecting helicopter from hitting the sub controlling unit of transmission line of electricity by mistake, it is characterized in that, described accelerometer is three axis accelerometer.

5. as claimed in claim 1ly prevent that unmanned inspecting helicopter from hitting the sub controlling unit of transmission line of electricity by mistake, it is characterized in that, described gyroscope is three-axis gyroscope.

6. as claimed in claim 1ly prevent that unmanned inspecting helicopter from hitting the sub controlling unit of transmission line of electricity by mistake, it is characterized in that, described Magnetic Sensor is magnetic sensor.

7. as claimed in claim 1ly prevent that unmanned inspecting helicopter from hitting the sub controlling unit of transmission line of electricity by mistake, it is characterized in that, it also comprises the display screen being connected with described FPGA minimum system.

8. as claimed in claim 7ly prevent that unmanned inspecting helicopter from hitting the sub controlling unit of transmission line of electricity by mistake, it is characterized in that, described display screen is touch display screen.