CN205750554U - A kind of electromagnetic field positioner of overhead transmission line line walking unmanned plane - Google Patents
A kind of electromagnetic field positioner of overhead transmission line line walking unmanned plane Download PDFInfo
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- CN205750554U CN205750554U CN201620555648.XU CN201620555648U CN205750554U CN 205750554 U CN205750554 U CN 205750554U CN 201620555648 U CN201620555648 U CN 201620555648U CN 205750554 U CN205750554 U CN 205750554U
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- unmanned plane
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Abstract
The electromagnetic field positioner of a kind of overhead transmission line line walking unmanned plane, by measuring magnetic vector and the electric field intensity of unmanned plane present position, according to the mathematical relationship of electromagnetic field vector with distance, determines the locus between unmanned plane and transmission line of electricity.By radio transmission apparatus by the spatial position data between acquired unmanned plane and transmission line of electricity, it is transferred to terminal control system.Use three-component method to measure magnetic vector, use three axle Orthogonal Method to measure electric field intensity.This utility model can be effectively improved the accuracy to line walking unmanned plane location, it is to avoid the uncertainty that perusal brings, and reaches effect safely and efficiently, improves the intelligence degree of line walking simultaneously.
Description
Technical field
This utility model belongs to power transmission line inspection unmanned plane field, unmanned particularly to a kind of overhead transmission line line walking
The electromagnetic field positioner of machine, is mainly used in overhead transmission line line walking unmanned plane location.
Background technology
The overlay area of overhead power line is wide, pass through that region is with a varied topography and natural environment is severe.Electric lines of force, shaft tower
Expose in the wild for a long time, constantly encroached on by extraneous factors such as mechanical tension, material aging, thunderbolt, filths, be easily caused and lead
Ground wire breaks the generation of the faults such as stock, the breakage of gold utensil burn into insulator, shaft tower inclination, as found not in time and carry out to repair, more
Changing, eventually result in major accident, the safety of serious threat power system is with stable.In order to grasp circuit operation conditions and and
Time get rid of the potential risk of circuit, need regular visit transmission line of electricity, grasp the environmental change situation in route protection district at any time, fast
Speed finds and removes a hidden danger, and prevents major accident from occurring, it is ensured that the safety of power supply is with reliable.
The line walking developing into overhead power line of unmanned air vehicle technique provides new mobile platform.Utilize UAV flight
Inspection device carries out line walking, has an advantage that traditional line walking mode is incomparable: 1) unmanned, does not results in casualties,
Safety is high；2) do not limited by geographical conditions, even if running into the natural disasters such as earthquake, flood, still can be to devastated
Power circuit patrol and examine；3) line walking speed is fast, per hour up to tens kilometers.Polling transmission line is more pacified by unmanned plane
Entirely, low cost, efficiency is high, and can find the defect that transmission line of electricity exists in time, solves manual inspection existence and patrols and examines " blind
District " problem.Unmanned plane can carry multiple sensors and make an inspection tour transmission line of electricity, can be by analyzing unmanned plane to transmission of electricity
The audiovisual materials (infrared, ultraviolet, visible ray) of circuit shooting, obtain the defect that transmission line of electricity exists, and discovery as early as possible also eliminates
The hidden danger being likely to occur.But, current line walking unmanned plane is when away from operator, and it is only a stain in human eye, this
Time be difficult to the relative position that judges unmanned plane with transmission line of electricity, affect staff's control to line walking unmanned plane during flying path.
But present most of unmanned plane power-line patrolling project is in the scientific research stage more, and unmanned plane is patrolled and examined and still suffered from some problems.Line walking without
During man-machine execution task, because being positioned near transmission line wire so that it is be in the environment in stronger electric field and magnetic field, can make
Unmanned plane operation is compared harsh electromagnetic and is disturbed, and its performance is affected, and may make to patrol and examine operation and cannot be normally carried out, sternly
The even unmanned plane of weight crashes, and causes bigger economic loss；On the other hand, different patrol tasks has different patrolling and examining and wants
Ask, such as regular visit or special patrol and examine time require the most to the image acquisition of impact point, to the condition of a disaster inspection or
Unmanned plane is needed rapidly impact point to be monitored during fault inspection.And maximum patrols and examines distance and limited time.Above-mentioned ask
Topic is all chosen relevant to Path selection during unmanned plane operation and locus, therefore, to unmanned plane in polling transmission line
Path planning and the research of location, locus, and to patrol and examine efficiency, safety and health low cost the heaviest to improving unmanned plane
Want.Although unmanned plane line walking can be limited by conditions such as aviation application, body load-carrying and bad weathers, but along with unmanned plane skill
The high speed development of art, these problems can have been resolved.This technology of unmanned plane is applied to power circuit polling, including melting
Close multiple technical fields such as electronics, communication, image recognition, form a whole set of unmanned plane inspection system, can significantly alleviate electricity
The human input of power line walking, can implement to patrol and examine to circuit quickly and safely the most again, be a up-and-coming research direction,
And there is important practical value.
In the mode of existing manual inspection, there is many " blind area ", expend a lot of manpower and materials, it is impossible to meet intelligent grid
Developing the economy property and the demand of safety；Use artificial mode that overhead transmission line is patrolled and examined, ring complicated in the wild
Under border, staff's personal safety is vulnerable to the threat of other factors in nature, and during existing unmanned plane line walking, due to it
Position inaccurate, it is impossible to reach the technology requirement to line walking；Because under suitably distance, line walking unmanned plane can be only achieved most preferably
Line walking result, thus support our the correct judgement to circuit ruuning situation.At present during unmanned plane line walking, because naked eyes can not
It is accurately judged to the distance of unmanned plane and aerial line, does not reaches optimum efficiency, aerial line and unmanned plane all will be produced huge prestige
The side of body.
The shortcoming of prior art: prior art the most one-sided detection electric field or magnetic field, exists by mistake when three-dimensional imaging
Difference.When aerial line current/voltage changes, the measurement data of one-side field, do not have measure judge can dependence.Utilize
Although GPS RTK technology can obtain the navigation information of Centimeter Level precision, but its transmission line of electricity make somebody a mere figurehead install on steel tower multiple
Reference subsystem, not only makes circuit run cost and improves, and returns the upper tower operation of O&M maintainer and brings a lot of puzzlement, is not inconsistent
Zygonema road construction principle.
Unmanned plane alignment system at present, has the visual performance utilizing machine vision simulation people, uses vision algorithm to realize fixed
Position；GPS positions, such as patent " a kind of power-line patrolling UAV Navigation System based on GPS RTK technology " (number of patent application
201410100706.5) navigation system proposed, it includes one or more unmanned plane movement station, base station subsystem and ground
Station, face Monitor And Control Subsystem, plurality of base station subsystem is arranged on power circuit pylon, utilizes reference subsystem to incite somebody to action
GPS differential data passes to movement station；Differential electric field barrier-avoiding method (number of patent application 201210222437.0) etc..Domestic to small-sized
Unmanned plane is accurately positioned and seldom, major part is also in the primary stage.At present, both at home and abroad to high voltage electricity transmission conductive wire electromagnetic environment
Research and analysis are achieved with certain achievement, but main research direction is that high voltage electricity transmission conductive wire electromagnetic environment is to human body and band
The impact of electricity operating personnel, and the interference to some electronic machines.The electromagnetic environment utilizing aerial line realizes unmanned plane location
Only mention at rare document and patent, such as number of patent application be 201210222437.0 patent " a kind of for unmanned plane
Patrol and examine differential electric field obstacle avoidance system and the method for live wire " it is referred to the differential electric field measurement of utilization to evade wire, adopted
Be the identical field measurement device of two-way, by the way of certain, record electric field intensity at two, and calculate difference with
Available data compares, thus draws the distance between unmanned plane and wire.This patent it is mentioned that a kind of to different electric pressures
Wire around electric field change to do simulation calculation distance of wire the nearest, its Calculation results is the most accurate.The data recorded are same
Existing emulation data compare, and can carry out position detection and judgement.
Summary of the invention
In order to meet the demand it positioned when utilizing unmanned plane to patrol and examine, find a kind of unmanned plane present position that utilizes
Magnetic vector and electric field intensity method, this utility model provides the electromagnetic field location dress of a kind of overhead transmission line line walking unmanned plane
Put, determine the locus between line walking unmanned plane and transmission line of electricity according to the mathematical relationship of electromagnetic field vector and distance, solve
At present unmanned plane is difficult to the naked eye to position its problem caused with the distance of aerial line when patrolling and examining.Can be effectively improved to line walking without
The accuracy of man-machine location, it is to avoid the uncertainty that perusal brings, reaches effect safely and efficiently, improves simultaneously and patrol
The intelligence degree of line.
This utility model be the technical scheme is that
The electromagnetic field positioner of a kind of overhead transmission line line walking unmanned plane, including magnetic vector measurement apparatus, electric field
Device for measuring vector quantity, radio transmission apparatus, alarm device, terminal control system.
Magnetic vector measurement apparatus, electric field intensity measurement apparatus are arranged on the support of unmanned plane；Radio transmission apparatus
Discharger is arranged in the fuselage of unmanned plane；The discharger of radio transmission apparatus and reception device are by wireless network even
Connect.
The reception device of radio transmission apparatus, alarm device, terminal control system are arranged in ground level control room.
Magnetic vector measurement apparatus is made up of three magnetic field detecting coils being disposed vertically two-by-two.
Electric field intensity measurement apparatus is made up of three orthogonal insulating epoxy rods.
The electromagnetic field positioner of this utility model a kind of overhead transmission line line walking unmanned plane, advantage is:
1: this utility model achieves overhead transmission line line walking unmanned plane and utilizes electromagnetic vector to position, can be by its week
Enclose the detection of electromagnetic field, meet the unmanned plane operator determination to line walking unmanned plane position so that it is can work safely and efficiently；
2: the alignment system used in this utility model is to utilize electric field intensity and magnetic vector, can effectively keep away perusal
The uncertainty brought, improves the accuracy of location.The offer one that normally works for line walking unmanned plane ensures；
3: the utility model proposes determines line walking unmanned plane and aerial line by measurement electric field, the method for magnetic vector
Between distance, successfully solve human eye and directly observe the inconvenience brought, use electronic surveying device to improve automaticity,
It it is the performance of technological progress.Can be that unmanned plane provides location under different flight environment of vehicle, the line walking for overhead transmission line brings newly
Technological means, solve currently without the man-machine problem applied to encountered in Practical Project.
4: two kinds of vector positioning that this utility model uses, still can be accurate when unmanned plane flight not parallel with wire
Location, may be implemented in unmanned plane change direction etc. special circumstances time, still can the operation of safety and stability.
Accompanying drawing explanation
Fig. 1 is the electromagnetic field positioner schematic diagram of this utility model power transmission line inspection unmanned plane.
Fig. 2 is magnetic field measuring device structural representation of the present utility model.
Fig. 3 is field measurement device structural representation of the present utility model.
Fig. 4 is that the electromagnetic field positioner of power transmission line inspection unmanned plane of the present utility model runs schematic diagram.
1-unmanned plane；1.1-unmanned aerial vehicle body；1.2--support；2-magnetic vector measurement apparatus；2.1-detection of magnetic field line
Circle；3-electric field intensity measurement apparatus；3.1-insulating epoxy rod；4-radio transmission apparatus；4.1-discharger；4.2-receives device
4.2；4.3-wireless network；5-alarm device；6-terminal control system；7-transmission line of electricity；8-magnetic vector；9-electric field intensity.
Detailed description of the invention
The electromagnetic field localization method of a kind of overhead transmission line line walking unmanned plane, by measuring unmanned plane 1 present position
Magnetic vector 8 and electric field intensity 9, according to the mathematical relationship of electromagnetic field vector and distance, determine unmanned plane 1 and transmission line of electricity 7 it
Between locus.
Electromagnetic field vector is determined by following maxwell equation group with the mathematical relationship of distance,
Wherein H, J, E, B, D are respectively magnetic field intensity, electric current density, electric field intensity, magnetic induction, electric displacement vector；
X, y, z and x0, y0, z0It is to be three coordinate positions in rectangular coordinate system end and source respectively.Directly obtain magnetic field by measurement to vow
Amount B (x, y, z) and electric field intensity E (x, y, z), then according to constitutive equation:
D (x, y, and z)=ε E (x, y, z)
B (x, y, z=μ H (x, y, z)
Obtain magnetic field intensity H (x, y, z) and electric displacement vector D (x, y, z), ε here, μ be respectively dielectric constant of air and
Pcrmeability.Above equation can try to achieve the relative position of field and source, that is determines the sky between unmanned plane 1 and transmission line of electricity 7
Between position.
By radio transmission apparatus 4 by the spatial position data between acquired unmanned plane 1 and transmission line of electricity 7, transmission
To terminal control system 6.
Electromagnetic field vector is determined by following maxwell equation group with the mathematical relationship of distance,
Wherein H, J, E, B, D are respectively magnetic field intensity, electric current density, electric field intensity, magnetic induction, electric displacement vector；
X, y, z and x0, y0, z0It is to be three coordinate positions in rectangular coordinate system end and source respectively.Directly obtain magnetic field by measurement to vow
Amount B (x, y, z) and electric field intensity E (x, y, z), then according to constitutive equation:
D (x, y, and z)=ε E (x, y, z)
B (x, y, z=μ H (x, y, z)
Obtain magnetic field intensity H (x, y, z) and electric displacement vector D (x, y, z), ε here, μ be respectively dielectric constant of air and
Pcrmeability.Above equation can try to achieve the relative position of field and source, that is determines the sky between unmanned plane 1 and transmission line of electricity 7
Between position.
Terminal control system 6 is made up of the computer and direction controller with data-handling capacity.Set by being wirelessly transferred
Standby 4 receive magnetic vector 8 that device 4.2 receives and electric field intensity 9 passes to the computer of terminal control system 6 and analyzes
Locus between unmanned plane 1 and transmission line of electricity 7, then according to measurement data control direction controller adjustment direction.
Use three-component method to measure magnetic vector 8, use three axle Orthogonal Method to measure electric field intensity 9.
When distance between unmanned plane 1 and transmission line of electricity 7 is less than 0.5m or more than 2m, alarm signal will be sent, and carry
Awake operator adjust flight path.The electric discharge of unmanned plane 1 and transmission line of electricity 7 it is susceptible to when distance is less than 0.5m, and distance
More than being difficult to during 2m find line fault.
When the distance of unmanned plane 1 with transmission line of electricity 7 is less than 0.5m, prompting operator adjust towards the direction that distance increases
Whole；When the distance of unmanned plane 1 with transmission line of electricity 7 is more than 2m, prompting operator adjust towards the direction that distance reduces.
It is susceptible to the electric discharge of unmanned plane 1 and transmission line of electricity 7 when distance is less than 0.5m, and distance is more than being difficult to during 2m find
Line fault.
The electromagnetic field positioner of a kind of overhead transmission line line walking unmanned plane, including magnetic vector measurement apparatus 2, electric field
Device for measuring vector quantity 3, radio transmission apparatus 4, alarm device 5, terminal control system 6.
Magnetic vector measurement apparatus 2, electric field intensity measurement apparatus 3 are arranged on the support 1.2 of unmanned plane 1；It is wirelessly transferred
The discharger 4.1 of equipment 4 is arranged in the fuselage 1.1 of unmanned plane 1；Magnetic vector measurement apparatus 2, electric field intensity measurement apparatus
3 are connected by wireless network 4.3 with radio transmission apparatus 4.
Radio transmission apparatus 4 uses 2.4G transmitter, and frequency selectes width 300-800MHz, and COFDM will be utilized digital
The signal that modulation-demodulation technique generates sends.
Wireless network selects 433MHz frequency range wireless network, and these band transmissions data are up to several kilometers.
The reception device 4.2 of radio transmission apparatus 4, alarm device 5, terminal control system 6 are arranged in ground level control room.
Alarm device 5 uses buzzer, is simultaneously emitted by shaking and sound, such as SFM-27 type DC6-24V electronic buzzer,
Alternative sounds can be sent according to different distance.
Magnetic vector measurement apparatus 2 is made up of three magnetic field detecting coils being disposed vertically two-by-two 2.1.Need to measure magnetic field
Three components of vector 8, so needing mutually orthogonal three search coil.
Electric field intensity measurement apparatus 3 is made up of three orthogonal insulating epoxy rods 3.1.Need to measure electric field intensity 8
Three components, so need orthogonal insulating epoxy rod.
Embodiment:
According to making magnetic vector measurement apparatus 2 shown in Fig. 2, according to making electric field intensity measurement apparatus 3 shown in Fig. 3；Point
Magnetic vector measurement apparatus 2 and electric field intensity measurement apparatus 3 are not arranged at the support 1.2 of unmanned plane 1；Magnetic vector is surveyed
Amount device 2 and electric field intensity measurement apparatus 3 are connected to the discharger 4.1 of radio transmission apparatus 4 by transmission line, and by wireless
The discharger 4.1 of transmission equipment 4 is arranged in the fuselage 1.1 of unmanned plane 1；By the reception device 4.2 of radio transmission apparatus 4,
Alarm device 5, terminal control system 6 are arranged on ground level control room.
Start unmanned plane 1 to fly near transmission line of electricity 7, measure magnetic vector 8 and the electricity of now unmanned plane 1 present position
Field vector 9, and calculate the distance between itself and transmission line of electricity 7 between 0.5m to 2m with this；Continue to control unmanned plane 1 along defeated
Electric line 7 is flown, and when unmanned plane 1 runs to A point, detects that the distance between unmanned plane 1 and transmission line of electricity 7 is more than 2m, report
Alarm device 5 sends apart from excessive warning, and prompting operator adjust towards the direction that distance reduces；Continue to control unmanned plane 1 edge
Transmission line of electricity 7 flies, and when unmanned plane 1 runs to B point, detects that the distance between unmanned plane 1 and transmission line of electricity 7 is less than
0.5m, alarm device 5 sends apart from too small warning, and prompting operator adjust towards the direction that distance increases.
This utility model can be effectively improved the accuracy to line walking unmanned plane location, it is to avoid it is the most true that perusal brings
Qualitative, reach effect safely and efficiently, improve the intelligence degree of line walking simultaneously.
Claims (4)
1. an electromagnetic field positioner for overhead transmission line line walking unmanned plane, including magnetic vector measurement apparatus (2), electric field
Device for measuring vector quantity (3), radio transmission apparatus (4), alarm device (5), terminal control system (6)；It is characterized in that: magnetic field is vowed
Measuring device (2), electric field intensity measurement apparatus (3) are arranged on the support (1.2) of unmanned plane (1)；Radio transmission apparatus (4)
Discharger (4.1) be arranged in the fuselage (1.1) of unmanned plane (1)；The discharger (4.1) of radio transmission apparatus (4) and
Receive device (4.2) to be connected by wireless network (4.3).
A kind of electromagnetic field positioner of overhead transmission line line walking unmanned plane, it is characterised in that:
The reception device (4.2) of radio transmission apparatus (4), alarm device (5), terminal control system (6) are arranged in ground level control room.
A kind of electromagnetic field positioner of overhead transmission line line walking unmanned plane, it is characterised in that:
Magnetic vector measurement apparatus (2) is made up of three magnetic field detecting coils being disposed vertically two-by-two (2.1).
A kind of electromagnetic field positioner of overhead transmission line line walking unmanned plane, it is characterised in that:
Electric field intensity measurement apparatus (3) is made up of three orthogonal insulating epoxies rod (3.1).
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| CN201620555648.XU CN205750554U (en) | 2016-06-07 | 2016-06-07 | A kind of electromagnetic field positioner of overhead transmission line line walking unmanned plane |
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| CN201620555648.XU CN205750554U (en) | 2016-06-07 | 2016-06-07 | A kind of electromagnetic field positioner of overhead transmission line line walking unmanned plane |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105912024A (en) * | 2016-06-07 | 2016-08-31 | 三峡大学 | Electromagnetic field positioning method of overhead transmission line patrol unmanned aerial vehicle and apparatus thereof |
| CN110031828A (en) * | 2018-10-22 | 2019-07-19 | 国网浙江省电力有限公司检修分公司 | A kind of unmanned plane range-measurement system and method based on transmission line of electricity magnetic distribution |
| CN111064114A (en) * | 2019-11-15 | 2020-04-24 | 国家电投集团江西电力工程有限公司 | High tension transmission line is with patrolling line unmanned aerial vehicle based on high in clouds data platform |
| CN113945768A (en) * | 2021-10-15 | 2022-01-18 | 沈阳建筑大学 | Adsorption type insulator pollution online removing device and method |
| CN117933097A (en) * | 2024-03-21 | 2024-04-26 | 国网江西省电力有限公司电力科学研究院 | Intelligent measuring method for magnetic field strength of overhead transmission line |
-
2016
- 2016-06-07 CN CN201620555648.XU patent/CN205750554U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105912024A (en) * | 2016-06-07 | 2016-08-31 | 三峡大学 | Electromagnetic field positioning method of overhead transmission line patrol unmanned aerial vehicle and apparatus thereof |
| CN105912024B (en) * | 2016-06-07 | 2019-06-11 | 三峡大学 | A kind of the electromagnetic field localization method and device of overhead transmission line patrol UAV |
| CN110031828A (en) * | 2018-10-22 | 2019-07-19 | 国网浙江省电力有限公司检修分公司 | A kind of unmanned plane range-measurement system and method based on transmission line of electricity magnetic distribution |
| CN111064114A (en) * | 2019-11-15 | 2020-04-24 | 国家电投集团江西电力工程有限公司 | High tension transmission line is with patrolling line unmanned aerial vehicle based on high in clouds data platform |
| CN113945768A (en) * | 2021-10-15 | 2022-01-18 | 沈阳建筑大学 | Adsorption type insulator pollution online removing device and method |
| CN113945768B (en) * | 2021-10-15 | 2024-02-09 | 沈阳建筑大学 | Online cleaning device and method for dirt of adsorption type insulator |
| CN117933097A (en) * | 2024-03-21 | 2024-04-26 | 国网江西省电力有限公司电力科学研究院 | Intelligent measuring method for magnetic field strength of overhead transmission line |
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| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20161130 Termination date: 20200607 |
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| CF01 | Termination of patent right due to non-payment of annual fee |