RU2612937C1 - Unmanned aircraft system for the corona discharge coordinates determination - Google Patents

Abstract

FIELD: measurement equipment.

SUBSTANCE: unmanned aircraft system for the corona discharge coordinates determination includes an unmanned aerial vehicle, ground mobile unit for monitoring and control. Unmanned aerial vehicle comprises a frame with fixed on it six or more electric motors with propellers at a controlled rotation speed, carried out in a certain way, battery, computer, aerial observation system in the form of UV direction finder based on multi-anode photomultiplier, GPS/GLONASS receiver, motor rotation control, transceiver, accelerometer, compass, altimeter, gyro.

EFFECT: automatic definition of the corona discharges places geographical coordinates.

2 dwg

Description

The field of technology.

The invention relates to technical diagnostics in the electric power industry, in particular to optical-electronic devices for monitoring places of corona discharges on high-voltage electrical equipment and on high-voltage power lines.

Faults on high-voltage electrical equipment and on high-voltage power lines are accompanied by the appearance of corona discharges that emit in the ultraviolet range of the spectrum. By receiving and analyzing this ultraviolet radiation, it is possible to determine the places of malfunctions, and also in some cases to understand the type of malfunction. Very important is the ability to identify harbingers of accidents when a malfunction has not yet fully manifested itself.

The level of technology.

Known electron-optical flaw detector "Filin-6" [1], (RU 55480 U1 03/30/2006), which consists of a quartz telephoto lens with the corresponding band or dispersive filter, an electron-optical converter, a gating device, battery power, a reference optical source signal for measuring the amplitude of radiation, a digital camera with an adapter for connection to a flaw detector.

Compared with previous products, the known flaw detector has improved the quality of the visible image, increased resistance to background flare.

The disadvantage of this electron-optical flaw detector is the need to conduct an examination of electrical equipment (EE) for the presence or absence of local corona discharges only in the dark (light up to 100 lux). This disadvantage leads to increased danger, cost and significant inconvenience of conducting technical diagnostics of EA. In addition, this device does not automatically determine the geographic coordinates and the height above the ground of the corona discharge sites.

The known family of ultraviolet cameras DayCor from OFIL Systems, Israel (DayCor SUPERB, DayCor Classic, DayCor Rail, DayCor DayCor Ranger, DayCor Rom, DayCor Luminar, DayCor UVolle-VI, DayCor UVolle-S), the main element of which are catadioptric (collecting) lenses with a large area of photon accumulation (19 cm ² ) used in cameras for blocking background solar radiation and filtering with a high signal-to-noise optical radiation in the sun-blind range (SSD) - 240-280 nm [2].

These cameras allow convenient and efficient UV diagnostics of EO, including in daylight and in full sunlight (sensitivity 1.5-2 pC at a distance of 8 m).

The disadvantage of this technical solution is the use of expensive optical filtering technology in the field of hard ultraviolet (UV) radiation with a high signal-to-noise ratio. In addition, this device does not automatically determine the geographic coordinates and the height above the ground of the corona discharge sites.

Similar CoroCam products from UVIRCO Technologies South Africa [3] and Corovision II products from General Optics USA [4] are also known, the advantages and disadvantages of the products are the same as in previous cameras. These devices also do not allow to automatically determine the geographic coordinates and the height above the earth’s surface of corona discharge sites.

A device for detecting and determining the coordinates of sources of ultraviolet radiation (RU 108151 U1, 04/13/2011), which is an ultraviolet direction finder, contains a receiving lens, a spectral filter, a radiation receiver, a CCD matrix, the output of which is connected to an electronic signal processing unit, characterized in that additionally introduced a projection lens mounted between the radiation receiver and the CCD matrix, while the radiation receiver is made in the form of an electron-optical converter with a photocathode, sensitive UV.

The disadvantage of this device is the low productivity, the inability to automatically determine the geographical coordinates and the height above the ground surface of the corona discharge places and the inability to register the amplitude-time characteristics of the corona discharge.

A device is known that implements a method for remote monitoring the insulation quality of objects of high-voltage electrical installations of alternating current (RU 2402030 C1, 10.20.2010), which is an ultraviolet direction finder, as well as a method for detecting ultraviolet radiation and a device for its implementation (RU 2431121 C2, 29.12.2008), being an ultraviolet direction finder. Known devices contain an optical system including a UV lens, which uses lenses, special crystals with transmission of UV radiation in the range of 250-280 nm and suppression of other wavelengths, as well as UV filters, behind which a monophoton time-coordinate-sensitive detector (VCHD), time channel, electronic control system.

The devices allow recording the amplitude-time characteristic (signature) of a corona discharge.

The disadvantages of the known devices are the low accuracy of determining the coordinates, low speed, laborious process of preliminary calibration.

A ultraviolet target reconnaissance device is known (RU 2520726 C1, 12.24.2012), which is an ultraviolet direction finder in which, thanks to the use of a multi-anode photomultiplier of a new design, the accuracy of coordinate determination is increased, the speed is increased, and the laborious process of preliminary calibration is excluded.

A disadvantage of the known device, as well as all of the above devices, is the long examination time of electrical equipment and power lines and the inability to automatically determine the geographic coordinates and the height above ground of the corona discharge sites.

To reduce the time of inspection of electrical equipment and power lines, it is necessary to place the devices on aircraft carriers, in addition, it becomes possible to automatically determine the geographical coordinates and the height of the corona discharge places above the earth's surface.

Placing devices on full-fledged helicopters and aircraft limits the ability to use equipment, in addition, it dramatically increases the cost of monitoring and diagnostics.

The way out is the use of small-sized unmanned aerial vehicles (UAVs) of aircraft, helicopter or multicopter type.

The closest to the claimed technical solution is an unmanned aerial vehicle and aerial surveillance complex for it RU 2518440 C2, 04/23/2012 (prototype).

The disadvantage of this device is the lack of the ability to register corona discharges and, therefore, the inability to automatically determine the geographic coordinates and the height above the ground surface of the places of corona discharges.

Disclosure of invention

The objective of the present invention is the creation of an unmanned aerial device and aerial surveillance complex for it, providing the possibility of registering corona discharges of electrical equipment and power lines, providing the ability to automatically determine the geographical coordinates and altitudes above the earth’s surface of corona discharges and automatically recording the amplitude-time characteristics (signatures) corona discharge, allowing to determine the type of malfunction of electrical equipment and power lines.

The invention is characterized by the following set of features.

An unmanned aerial device for determining the coordinates of corona discharges, containing an unmanned aerial vehicle and a ground-based mobile control and control center, the unmanned aerial vehicle includes a supporting frame on which at least six electric motors with propellers with a controlled rotation speed are rigidly fixed at the vertices of an imaginary polygon, moreover, diametrically located electric motors have a counter direction of rotation, the electric motors are connected to the battery and a computer that is connected to an aircraft surveillance system, a GPS / GLONASS receiver, an electric motor rotation regulator, a transceiver, an accelerometer, a compass, an altimeter (altimeter), a gyroscope, and the computer is configured to control the electric engine speed, while ensuring the aircraft is positioned horizontally by the accelerometer signals and a gyroscope, providing a change in the course and altitude of the aircraft according to control signals from a ground-based mobile control and control station, as well as monitoring and control of the aircraft based on the coordinates of the satellite navigation system according to the GPS / GLONASS receiver signals for performing an automatic flight mission with returning to the take-off area, characterized in that the airborne surveillance system is made in the form of an ultraviolet direction finder based on a multi-anode photomultiplier.

As an additional developing feature, you should specify the ability to perform a transceiver in the form of a WiFi device.

Description of drawings

In FIG. 1 is a structural diagram of an unmanned aerial device for determining the coordinates of corona discharges; FIG. 2 is a diagram explaining the principle of determining geographic coordinates and altitudes of corona discharge sites above the earth's surface.

The implementation of the invention

The device contains:

1 - unmanned aerial vehicle;

1.1 - supporting frame;

1.2 - propellers;

1.3 - electric motors;

1.4 - regulators of rotation of electric motors;

1.5 - computer;

1.6 - battery;

1.7 - ultraviolet direction finder;

1.8 - the antenna of the GPS / GLONASS receiver;

1.9 - GPS / GLONASS receiver;

1.10 - accelerometer;

1.11 - compass;

1.12 - altimeter (altimeter);

1.13 - gyroscope;

1.14 - antenna of the transceiver;

1.15 - transceiver;

2 - ground mobile control and management center;

2.1 - computer;

2.2 - control panel;

2.3 - antenna of the GPS / GLONASS receiver;

2.4 - GPS / GLONASS receiver;

2.5 - antenna of the transceiver;

2.6 - transceiver;

2.7 - battery.

The designations shown in FIG. 2, mean the following:

α is the angle of the field of view of the ultraviolet direction finder, β is the angle of inclination of the optical axis of the ultraviolet direction finder relative to the earth's surface, γ is the angle between the optical axis of the ultraviolet direction finder and the direction to the corona discharge, N is the height of the ultraviolet direction finder above the earth's surface, Nkr is the height of the corona discharge above the earth surface, L is the distance from the projection of the center of coordinates of the ultraviolet direction finder to point C, Lcr is the distance from the projection of the center of coordinates of the ultraviolet direction finder to point D.

The device operates as follows. The device can operate in automatic and manual modes.

Work in the automatic mode. The operator at the ground-based mobile monitoring and control station 2 using computer 2.1 sets the flight route and flight altitude along the route. The operator using the ground-based mobile control and management point 2 gives the UAV 1 command to start the flight. Computer 1.5 UAV 1 using a GPS / GLONASS 1.9 receiver measures the current geographical coordinates, compares them with the first given geographical coordinates and, controlling electric motors 1.3 through the electric rotation regulators 1.4, is sent to the first point of geographical coordinates of a given route. The computer 1.5 UAV 1 using an altimeter 1.12 measures the current flight altitude, compares it with the first preset flight altitude and, controlling the electric motors 1.3 through the rotation regulators of electric motors 1.4, rises to the first preset altitude. After that, the device starts flying around a given route. When the device starts, the ultraviolet direction finder 1.7 also starts working. When flying along the route, the ultraviolet direction finder 1.7 is constantly ready to fix the ultraviolet radiation of corona discharges. When the appearance of ultraviolet radiation from a corona discharge, the ultraviolet direction finder 1.7 determines the coordinates of the corona discharge relative to its optical axis. Knowing the focal length of the lens of the ultraviolet direction finder 1.7, the direction finder 1.7 determines the angle γ (Fig. 2) between the optical axis of the ultraviolet direction finder 1.7 and the direction to the corona discharge. Computer 1.5, knowing the altitude of the device using an altimeter 1.12, knowing the current geographical coordinates of the device using the GPS / GLONASS 1.9 receiver, knowing the direction of flight of the device using compass 1.11, determines the distance L and the geographical coordinates of point C (Fig. 2). Thus, the equation of the first straight line on which the corona discharge is located is determined. For the second route point, the specified sequence of actions is repeated and the equation of the second straight line on which the corona discharge is located is determined. The joint solution of these two equations allows you to find the geographical coordinates and the height above the earth's surface of the place of the current corona discharge. The indicated sequence of actions is repeated for all other available places of the corona discharge. The geographic coordinates and the height of the corona discharge places are recorded in a computer storage device 1.5. In addition, moving along the route, an ultraviolet direction finder 1.7, based on a multi-anode photomultiplier, can record the amplitude-time characteristic (signature) of a corona discharge. Knowing typical signatures of malfunctions, an ultraviolet direction finder determines the type of malfunction at a given specific location of the corona discharge and the time of development of the emergency condition. Computer 1.5 UAV 1 using the transceiver 1.15 constantly in real time transmits the received information to the ground-based mobile control and control center 2. Computer 2.1 of the ground-based mobile control and control center 2 displays a map of the area on its monitor, computer 2.1 displays special information on the map of the area the location and location of the UAV 1. Computer 2.1 of the ground control station also displays special places on the map of the place of corona discharges, indicates the height of the month t corona discharges above the earth's surface and indicates the type of malfunction. If places of pre-emergency conditions are detected, then computer 2.1 emits a sound signal, highlights the place of the alleged accident in red and gives an indication of urgent measures to be taken to eliminate the malfunction.

Work in manual mode. The operator, using the control panel 2.2 of the ground-based mobile control and monitoring station 2, starts the UAV 1 and starts moving along the route. Ultraviolet direction finder 1.7 is turned on and monitors the surrounding area. Further actions occur similarly to working in automatic mode.

As the transceivers 1.15 and 2.6, a WiFi device can be used.

The scope of the device is not limited to the electric power industry. The device can be used in any area where it is required to determine the geographical coordinates and the height above the ground surface of ultraviolet radiation.

Information sources

1. Arbuzov Roman Sergeevich. Research and improvement of the method of optical control of the external insulation of high voltage electrical equipment. Thesis, Ph.D. tech. Sciences, 05.14.12, Novosibirsk, 2005, 203 s, RSL OD 61: 05-5 / 2114.

2. Cameras of the DayCor series [Electronic resource] - URL: www.davcor.ru. - (Website of OFIL Systems).

3. Ultraviolet cameras CoroCam [Electronic resource] - URL: www.corocam-uv.ru. - (Website of UViRCO Technologies).

4. Ultraviolet cameras COROVISION II [Electronic resource] - URL: www.corovision.ru. - (Website of General Optics).

Claims (1)

An unmanned aerial complex for determining the coordinates of corona discharges, containing an unmanned aerial vehicle and a ground-based mobile monitoring and control station, the unmanned aerial vehicle includes a supporting frame on which at least six electric motors with propellers with a controlled rotation speed are rigidly fixed at the vertices of an imaginary polygon, moreover, diametrically located electric motors have a counter direction of rotation, the electric motors are connected to the battery and a computer that is connected to an aircraft surveillance system, a GPS / GLONASS receiver, an electric motor rotation regulator, a transceiver, an accelerometer, a compass, an altimeter (altimeter), a gyroscope, and a computer is configured to control the electric engine speed, while ensuring the aircraft is positioned horizontally by the accelerometer signals and a gyroscope, providing a change in the course and altitude of the aircraft according to control signals from a ground-based mobile control and control station, as well as both sintering of monitoring and control of the aircraft based on the coordinates of the satellite navigation system according to the GPS / GLONASS receiver signals for performing an automatic flight mission with returning to the take-off area, characterized in that the aircraft surveillance system is made in the form of an ultraviolet direction finder based on a multi-anode photomultiplier.

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