CN106774417A - A kind of new unmanned plane patrols and examines flight range control method during tall and slender structure - Google Patents
A kind of new unmanned plane patrols and examines flight range control method during tall and slender structure Download PDFInfo
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- CN106774417A CN106774417A CN201710028443.5A CN201710028443A CN106774417A CN 106774417 A CN106774417 A CN 106774417A CN 201710028443 A CN201710028443 A CN 201710028443A CN 106774417 A CN106774417 A CN 106774417A
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- 230000008054 signal transmission Effects 0.000 claims abstract description 27
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- 230000003287 optical effect Effects 0.000 claims description 2
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 18
- 229910052742 iron Inorganic materials 0.000 description 9
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 8
- 238000004891 communication Methods 0.000 description 8
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
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- Automation & Control Theory (AREA)
- Computer Networks & Wireless Communication (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
A kind of new unmanned plane patrols and examines flight range control method during tall and slender structure, using the wireless signal transmission source array being laid in around tall and slender structure, emission source array emitter position limitation signal, unmanned plane receives the limitation signal, from the flight range of moving constraint unmanned plane.Step：1. laid around tall and slender structure（N=1,2 ... ... ,+∞）Wireless signal transmission source Sq (q=1,2 ..., N) form wireless signal transmission array SN；2. each wireless signal transmission source SqLaunch flight range limitation signal SS in the form of broadcastingq, form wireless signal array SSN；3. during unmanned plane during flying, the position limitation signal SS for coming from SN transmissions is constantly receivedq（q=1,2,……,N）, calculating automatically itself allows the flight range of flight, and the flight range is the vertical projection SCP on the earth horizontal planelimt, can also be three-dimensional spatial area SCP3Dlimt；4. when unmanned plane is in flight, judge the position of oneself beyond SCPlimtOr SCP3Dlimt, then adjust automatically return in the flight range of permission.
Description
Technical field
The present invention relates to unmanned plane application field, flight range when being related to new unmanned plane to patrol and examine tall and slender structure is controlled
Method.
Background technology
Tall and slender structure（high-rise structure）, the relatively small structure in highly larger, cross section is referred to, with
Horizontal loading（Particularly wind load）It is the Main Basiss of structure design.Self-supporting tower structure can be divided into according to its structure type
With stay-supported Guyed mast structure.Such as the radio tower and television tower of radio and television departments；The electric wire of the enterprises such as electric power, metallurgy, oil, chemical industry
Road tower, petroleum boring tower, oil-refining chemical tower, air operated machine tower, exhaust tower, water tower, chimney etc.；The departments such as post and telecommunications, traffic, transport
Antenna tower, navigation tower, voyage command tower, radar tower, beacon etc..Additionally, also satellite launching tower, parachute tower and environment weather tower
Deng.
At present, the outward appearance of tall and slender structure is patrolled and examined, most of to use the mode manually climbed and patrol and examine, its task difficulty
Greatly, operation danger coefficient is high.Therefore, to have engendered and lift camera using unmanned plane, outward appearance has been carried out to tall and slender structure and is patrolled and examined.
With, industrialization, the development of urbanization, tall and slender structure spatial peripheral may be simultaneously present tall and slender structure, high-lager building or
High-voltage line pathway etc., once out of control when unmanned plane is patrolled and examined, it may occur that unmanned aerial vehicle touches equipment nearby, causes serious consequence.
Therefore, the present invention proposes flight range control method when a kind of new unmanned plane patrols and examines tall and slender structure.Its
Feature is using a wireless signal transmission source array being laid in around tall and slender structure, emission source array emitter position limitation letter
Number, unmanned plane by receiving the limitation signal, from the flight range of moving constraint unmanned plane, it is ensured that unmanned plane is around tall and slender structure
When carrying out patrolling and examining flight, prevent unmanned plane out of control, fly away from safe flight region, cause unmanned aerial vehicle to touch asking for neighbouring equipment
Topic occurs.
The content of the invention
The present invention proposes flight range control method when a kind of new unmanned plane patrols and examines tall and slender structure.It is characterized in
Using a wireless signal transmission source array being laid in around tall and slender structure, emission source array emitter position limitation signal, nothing
It is man-machine by receiving the limitation signal, from the flight range of moving constraint unmanned plane., it is ensured that unmanned plane is carried out around tall and slender structure
When patrolling and examining flight, prevent unmanned plane out of control, fly away from safe flight region, the problem for causing unmanned aerial vehicle to touch equipment nearby is sent out
It is raw.It is specific as follows：
1. certain amount is laid around tall and slender structure（N=1,2 ... ... ,+∞）Wireless signal transmission source Sq (q=1,
2 ... ..., N), form wireless signal transmission array SN。
2. each wireless signal transmission source Sq(x, y) launches flight range limitation signal SS in the form of broadcasting q, formed
Wireless signal array SSN。
3. unmanned plane is received when around tall and slender structure flight, constantly and comes from SNThe position limitation signal SS of transmission q
（q=1,2,……,N）, itself is calculated automatically allows the flight range of free flight, and the flight range can be flight range
Vertical projection SCP on the earth horizontal planelimt, can also be three-dimensional spatial area SCP3Dlimt。
4. when unmanned plane is when around tall and slender structure flight, judge the position of oneself beyond SCPlimtOr SCP3Dlimt,
Then adjust automatically flight attitude, direction, return in the flight range of permission, continue to complete and patrol and examine work.
5. 1. to the wireless signal transmission source mentioned in 3., the wireless signal launched can be optical signal to the method,
It can also be electromagnetic wave signal.
6. the method is 2. to the SCP mentioned in 4.limt, when referring to that unmanned plane carries out tall and slender structure and patrols and examines, it flies safely
Upright projection scope of the capable spatial dimension on the earth horizontal plane；The scope can be closing space, any shape, such as triangle
Shape, quadrangle, polygon, circle, ellipse, five-pointed star etc., may also be semiclosed, open shape.
The beneficial effect that the present invention is produced：The present invention proposes flight when a kind of new unmanned plane patrols and examines tall and slender structure
Region control method, it is possible to achieve unmanned plane is carrying out effective control of flight range when tall and slender structure is patrolled and examined, and can effectively prevent
Only occur because unmanned plane flies away from related building, the problem of equipment around safe flight scope, collision tall and slender structure..
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
The accompanying drawing to be used needed for having technology description is briefly described.It should be evident that drawings in the following description are only this
Some embodiments of invention, for those of ordinary skill in the art, on the premise of not paying creative work, can be with
Other accompanying drawings are obtained according to these accompanying drawings.
Specific embodiment of the invention is described in further detail below in conjunction with the accompanying drawings.
Fig. 1 for it is a kind of patrol and examine unmanned plane tall and slender structure using wireless signal transmission source at 5 when carry out flight range control
Embodiment schematic diagram
Fig. 2 carries out the embodiment party of flight range control when being and patrolling and examining unmanned plane tall and slender structure using wireless signal transmission source at 3
Case schematic diagram
Fig. 3 carries out the embodiment party of flight range control when being and patrolling and examining unmanned plane tall and slender structure using wireless signal transmission source at 1
Case schematic diagram
Fig. 4 is that a kind of embodiment that flight range control is carried out when patrolling and examining unmanned plane tall and slender structure using laser array is illustrated
Figure
Fig. 5 is that a kind of embodiment that flight range control is carried out when patrolling and examining unmanned plane tall and slender structure using laser array is illustrated
Figure
Fig. 6 is that a kind of embodiment that flight range control is carried out when patrolling and examining unmanned plane tall and slender structure using laser array is shown
It is intended to
Specific embodiment
The present invention is further described with reference to embodiment.
Embodiment 1
The present invention proposes flight range control method when a kind of new unmanned plane patrols and examines tall and slender structure.It is characterized in utilizing
It is laid in a wireless signal transmission source array around tall and slender structure, emission source array emitter position limitation signal, unmanned plane
By receiving the limitation signal, from the flight range of moving constraint unmanned plane, prevent that unmanned plane is out of control to be flown away from safe flight region, touch
Related building, the problem of equipment around tall and slender structure is hit to occur.Below in conjunction with the accompanying drawings, spacing nobody of five kinds of wireless fences is introduced
Machine structure cruising inspection system high.
Embodiment 1
Embodiment one：It is a kind of to carry out flight range control when patrolling and examining unmanned plane tall and slender structure using wireless signal transmission source at 5
The embodiment of system（Fig. 1）
（1）In certain limit around communication iron tower to be inspected, wireless signal transmission source S at 5 is laid1、S2、S3、S4And S5,
Launched respectively by antenna and carry own location information SS1、SS2 、SS3、 SS4And SS5443MHz citizens' radio band radio
Signal.
（2）Unmanned plane is positioned over around communication iron tower, after taking off, is installed on the radio signal receiving apparatus on unmanned plane
RCVER is by receiving radio signal SS1、SS2 、SS3、 SS4And SS5, unmanned plane is calculated automatically allows the earth water of flight
Planar flight range SCPlimt, and feed back to UAV Flight Control System.
（3）When UAV Flight Control System find, unmanned plane have deviated from or by it is to be separated allow flight the earth
Horizontal plane two dimension flight range SCPlimt, then adjust automatically flight attitude, direction, return to the flight range SCP of permissionlimtIt is interior, after
Work is patrolled and examined in continuous completion.
Embodiment 2
A kind of embodiment for carrying out flight range control when patrolling and examining unmanned plane tall and slender structure using wireless signal transmission source at 3
（Fig. 2）
（1）In certain limit around communication iron tower to be inspected, wireless signal transmission source S at 3 is laid1、S2And S3, by day
Line is launched carry own location information SS respectively1、SS2And SS3443MHz citizens' radio band radio signals.
（2）Unmanned plane is positioned over around communication iron tower, after taking off, is installed on the radio signal receiving apparatus on unmanned plane
RCVER is by receiving radio signal SS1、SS2And SS3, unmanned plane is calculated automatically allows the earth horizontal plane two dimension of flight
Flight range SCPlimt, and feed back to UAV Flight Control System.Wherein, SCPlimtIt it is one with S2Placement location for original
Point, S1S2And S1S3It is the sector region on side.
（3）When UAV Flight Control System find, unmanned plane have deviated from or by it is to be separated allow flight the earth
Horizontal plane two dimension flight range SCPlimt, then adjust automatically flight attitude, direction, return to the flight range SCP of permissionlimtIt is interior, after
Work is patrolled and examined in continuous completion.
Embodiment 3
A kind of embodiment for carrying out flight range control when patrolling and examining unmanned plane tall and slender structure using wireless signal transmission source at 1
（Fig. 3）
（1）In certain limit around communication iron tower to be inspected, wireless signal transmission source S at 1 is laid1, distinguished by antenna
Transmitting carries own location information and flight range limitation parameter（Rmin, Rmax, Hmax, Hmin）（International unit：Rice）'s
443MHz citizens' radio band radio signals（SS1, Rmin, Rmax, Hmax, Hmin）.Wherein（Rmin, Rmax, Hmax, Hmin）Nothing is determined
The flight range SCP of man-machine permission autonomous flight3Dlimt。
（2）Unmanned plane is positioned over around communication iron tower, after taking off, is installed on the radio signal receiving apparatus on unmanned plane
RCVER is by receiving radio signal SS1, unmanned aerial vehicle control system calculates self-position in the earth horizontal plane vertical projection automatically
Coordinate (xx, yy) and wireless signal transmission source S1Position is between the coordinate (x, y) of bottoming horizontal plane vertical projection
Apart from L；The height above sea level h of itself flight is calculated simultaneously.
（3）Unmanned aerial vehicle control system calculates Δ L in real timemin=L-Rmin、ΔLmax=L-Rmax, Δ hmin=h-Hmin、Δhmax=h-
HmaxDeng four absolute differences；When there is Δ Lmin≤0、ΔLmax≥0、Δhmin≤0、Δhmax>=0 situations such as a period of time, explanation
Unmanned plane have deviated from or by it is to be separated allow flight region SCP3Dlimt, then adjust automatically flight attitude, direction, return to
The flight range SCP of permission3DlimtIt is interior, continue to complete and patrol and examine work.
Embodiment 4
A kind of embodiment for carrying out flight range control when patrolling and examining unmanned plane tall and slender structure using laser array（Fig. 4）
The embodiment for carrying out flight range control when patrolling and examining unmanned plane tall and slender structure using wireless signal transmission source at 3
（1）In certain limit around communication iron tower to be inspected, a Laser emission being made up of N number of laser emitting source is laid
Array S1、S2、………..、SN.After implantation of device is good, laser array is opened, laser dot-matrix is continuous perpendicular to ground, heavenwards
Launch the laser of certain wavelength X.
（2）Minimum range between two laser cells of laser array is Dmax；The closed interval that the laser array is surrounded
Constituting unmanned plane allows the earth horizontal plane two dimension flight range SCP of flightlimt。
（3）A laser signal reception device is lifted with below unmanned plane, the laser signal reception device can be with received wave
The laser signal of a length of λ.
（4）After unmanned plane takes off, the laser signal receiving plane of the laser signal reception device being lifted under it is in the earth water
The vertical range Lmin at the most narrow place of projection geometries in plane, with DmaxBetween relation be, Lmin be not less than Dmax。
（5）Before unmanned plane takes off, be positioned over steel tower nearby, SCPlimtIn the range of；After taking off, filled when laser signal is received
Put receive wavelength be λ laser signal after, illustrate unmanned plane have deviated from or by it is to be separated allow fly the earth level
The two-dimentional flight range SCP in facelimt, laser signal reception device by the feedback of the information to UAV Flight Control System, flight control
System adjust automatically flight attitude processed, direction, return to the flight range SCP of permissionlimtIt is interior, continue to complete and patrol and examine work.
Embodiment 5
A kind of embodiment for carrying out flight range control when patrolling and examining unmanned plane tall and slender structure using laser array（Fig. 5）（Figure
6）
（1）In certain limit around communication iron tower to be inspected, two Laser emissions being made up of N number of laser emitting source are laid
Array S1、S2、………..、SN.After implantation of device is good, laser array is opened, laser dot-matrix is continuous perpendicular to ground, heavenwards
Launch the laser of certain wavelength X.
（2）Minimum range in same laser array, between two laser cells is Dmax；Two laser array transmittings
Laser beam form respectively a trapezoidal cylinder shape, horizontal plane, iron in two trapezoidal cylinders and steel tower pedestal height above sea level
Tower height degree adds the horizontal plane of the height above sea level after certain easily amount, and a trapezoidal hollow cylinder for closing of composition is constituted
Unmanned plane allows the three dimensions SCP of flight3Dlimt（Accompanying drawing 4）, SCP3DlimtVertical projection on the earth horizontal plane is
SCPlimt。
（3）A laser signal reception device is lifted with below unmanned plane, the laser signal reception device can be with received wave
The laser signal of a length of λ.
（4）After unmanned plane takes off, the laser signal receiving plane of the laser signal reception device being lifted under it is in the earth water
The vertical range Lmin at the most narrow place of projection geometries in plane should be able to meet, and unmanned plane touches laser dot-matrix transmitting
During the trapezoidal cylinder shape that laser beam is formed, the laser that at least one laser dot-matrix is launched can be normally received.
（5）Most short spacing between the trapezoidal cylinder shape any two points that the laser beam that two laser arrays are launched is formed
Rmin, should be greater than Lmin；RminPose adjustment when unmanned plane is patrolled and examined, heading adjustment etc. should be able to be met to require.
（6）Before unmanned plane takes off, SCP is positioned over3DlimtIn the range of；After taking off, when laser signal reception device is received
Wavelength for λ laser signal after, illustrate unmanned plane have deviated from or by it is to be separated allow fly flight range SCP3Dlimt,
Laser signal reception device is by the feedback of the information to UAV Flight Control System, flight control system adjust automatically flight appearance
State, direction, return to the flight range SCP of permission3DlimtIt is interior, continue to complete and patrol and examine work.
（7）Can be by adjusting two the launch angle δ and β of the lasing light emitter of laser array（Unit：Radian or degree）, go control
SCP processed3DlimtSize.
The above is only five specific embodiments of the invention.It should be pointed out that for the common skill of the art
For art personnel, on the premise of principle of the invention is not departed from, some improvements and modifications can also be made, these improve and moisten
Decorations should also be considered as protection scope of the present invention.
Claims (5)
1. flight range control method when a kind of new unmanned plane patrols and examines tall and slender structure, it is characterised in that be using laying
A wireless signal transmission source array around tall and slender structure, emission source array emitter position limitation signal, unmanned plane passes through
The limitation signal is received, from the flight range of moving constraint unmanned plane.
2. comprise the following steps：
1. certain amount is laid around tall and slender structure（N=1,2 ... ... ,+∞）Wireless signal transmission source Sq (q=1,
2 ... ..., N), form wireless signal transmission array SN；
2. each wireless signal transmission source SqLaunch flight range limitation signal SS in the form of broadcastingq, form wireless signal battle array
Row SSN；
3. unmanned plane constantly receives the position limitation signal SS for coming from SN transmissions when around tall and slender structure flightq（q=1,
2,……,N）, calculating automatically itself allows the flight range of free flight, and the flight range can be flight range in the earth
Vertical projection SCP on horizontal planelimt, can also be three-dimensional spatial area SCP3Dlimt；
4. when unmanned plane is when around tall and slender structure flight, judge the position of oneself beyond SCPlimtOr SCP3Dlimt, then certainly
Dynamic adjustment flight attitude, direction, return in the flight range of permission, continue to complete and patrol and examine work.
3. flight range control method when new unmanned plane according to claim 1 patrols and examines tall and slender structure, its feature
It is that 1. to 3. mentioned wireless signal transmission source, the wireless signal launched can be optical signal to the step, also may be used
Being electromagnetic wave signal.
4. flight range control method when new unmanned plane according to claim 1 patrols and examines tall and slender structure, its feature
It is that the 2. mentioned transmitting flight range limitation signal of step can be continuous transmitting, can also be discontinuous transmitting, its
The data content of signal, format and content are unrestricted, and satisfaction carries out flight range restrictive condition to unmanned plane.
5. flight range control method when new unmanned plane according to claim 1 patrols and examines tall and slender structure, its feature
It is that step is 2. to the SCP mentioned in 4.limt, when referring to that unmanned plane carries out tall and slender structure and patrols and examines, the space of its safe flight
Upright projection scope of the scope on the earth horizontal plane；The scope can be closing space, any shape, such as triangle, four sides
Shape, polygon, circle, ellipse, five-pointed star, may also be semiclosed, open shape.
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| CN201710028443.5A CN106774417A (en) | 2017-01-16 | 2017-01-16 | A kind of new unmanned plane patrols and examines flight range control method during tall and slender structure |
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| CN201710028443.5A CN106774417A (en) | 2017-01-16 | 2017-01-16 | A kind of new unmanned plane patrols and examines flight range control method during tall and slender structure |
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Cited By (1)
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Application publication date: 20170531 |