技术领域technical field
本实用新型涉及新型输电线路智能巡检系统，具体地说涉及一种用于高压输电线路巡检的多机协同四旋翼飞行器系统。The utility model relates to a novel transmission line intelligent inspection system, in particular to a multi-aircraft cooperative four-rotor aircraft system for high-voltage transmission line inspection.
背景技术Background technique
输电线路的巡视与检修工作一直是电力系统中一项重要的工作，电力巡检的方式有许多，主要有人工巡检、无人直升机巡检、现代智能机器人巡检等。人工巡检是当前电力部门最常使用的巡检方式，但是，却存在很大的弊端。人工巡检需要投入人力资源大、检修耗时长、危险系数高。无人直升机巡检可以减少对人力的需求、能够在地形复杂的空中巡检，但直升机体型大，巡检效率低，视角单一，易发生通信失灵的危险和错误判断的问题。现代智能机器人巡检能够克服恶劣环境，节约人力，但只能在特殊地形环境下使用，限制较大。The inspection and maintenance of transmission lines has always been an important task in the power system. There are many ways of power inspection, mainly manual inspection, unmanned helicopter inspection, modern intelligent robot inspection, etc. Manual inspection is currently the most commonly used inspection method in the power sector, but there are great drawbacks. Manual inspection requires a large investment of human resources, time-consuming maintenance, and high risk factors. Unmanned helicopter inspection can reduce the demand for manpower and can conduct inspections in the air with complex terrain. However, the helicopter is large in size, low in inspection efficiency, and has a single perspective, which is prone to the risk of communication failure and misjudgment. Modern intelligent robot inspections can overcome harsh environments and save manpower, but they can only be used in special terrain environments, which is relatively restrictive.
微型四旋翼飞行器近几十年来发展迅速，四旋翼飞行器采用四个旋翼作为飞行的直接动力源，旋翼对称分布在机体的前后、左右四个方向，四个旋翼处于同一高度平面，且四个旋翼的结构和半径都相同，四个电机对称的安装。飞行器主要由机身、机翼、无刷电机、电子调速器、和飞行控制板组成，简单的机械部件组成（仅电机轴承为机械部件），结构紧凑，能够产生巨大的升力。四只旋翼可以使陀螺效应和空气动力扭矩效应均被抵消，不需要专门的反扭矩浆。飞行器体积小、重量轻、载重大，可实现低空飞行不易察觉，所以引起了国内外的广泛关注，被应用在空中巡逻，监控，侦查及通信中继等军事任务和环境测量、摄影等领域。The micro quadrotor aircraft has developed rapidly in recent decades. The quadrotor aircraft uses four rotors as the direct power source of the flight. The rotors are symmetrically distributed in the front, rear, left and right directions of the body. The structure and radius are the same, and the four motors are installed symmetrically. The aircraft is mainly composed of fuselage, wings, brushless motors, electronic governor, and flight control board. It is composed of simple mechanical parts (only the motor bearing is the mechanical part), compact in structure, and capable of generating huge lift. The four rotors can cancel out both the gyroscopic effect and the aerodynamic torque effect, and no special anti-torque propeller is required. The aircraft is small in size, light in weight, and heavy in load, and can fly at low altitudes without detection. Therefore, it has attracted widespread attention at home and abroad, and has been used in military tasks such as air patrol, monitoring, investigation, and communication relay, as well as environmental measurement, photography, and other fields.
申请号为2014206992608的名称为“一种多旋翼巡检飞行器及输电线路巡检系统”的实用新型，设计了一种多旋翼输电线路巡检系统，包括多旋翼飞行装置、落线行走装置、巡检装置、动作调整装置和飞行端无线传输接口；飞行端无线传输接口分别连接导向摄像机、巡检摄像机和动作调整装置,并无线连接地面设备；动作调整装置连接旋翼和移动机构。但是，飞行器需要人工驾驶且系统较为复杂，飞行器体积较大无法近距离巡检输电线路，巡检存在不灵活、无法对输电线路全方位巡检的弊端。The application number is 2014206992608, which is a utility model named "A Multi-rotor Inspection Aircraft and Transmission Line Inspection System". Inspection device, action adjustment device and flight end wireless transmission interface; the flight end wireless transmission interface is respectively connected to the guidance camera, inspection camera and action adjustment device, and wirelessly connected to the ground equipment; the action adjustment device is connected to the rotor and the moving mechanism. However, the aircraft needs manual driving and the system is relatively complicated. The aircraft is too large to inspect the transmission lines at close range. The inspection has the disadvantages of being inflexible and unable to inspect the transmission lines in all directions.
发明内容Contents of the invention
针对现有技术存在的问题，本实用新型设计了一种用于高压输电线路巡检的多机协同四旋翼飞行器系统。Aiming at the problems existing in the prior art, the utility model designs a multi-aircraft cooperative four-rotor aircraft system for patrol inspection of high-voltage transmission lines.
本实用新型用于高压输电线路巡检的多机协同四旋翼飞行器系统，包括外置主控制器17和飞行器模型13；The utility model is a multi-machine cooperative four-rotor aircraft system used for inspection of high-voltage transmission lines, including an external main controller 17 and an aircraft model 13;
所述飞行器模型13，包括机身4和云台支架8，所述机身4上设置有呈十字分布的四个机翼1，每个机翼1与无刷电机2相连，继而无刷电机2通过无刷电调3与机身4相连；机身4上方设置有飞行控制板5和飞行控制板安装棱柱7，飞行控制板5下方设置有电池12，飞行控制板5外侧设置有挡雨棚6；机身4下方设置有执行部件10和执行部件固定柱9，执行部件10外部设置有执行部件防护罩11；The aircraft model 13 includes a fuselage 4 and a platform bracket 8, the fuselage 4 is provided with four wings 1 distributed in a cross, each wing 1 is connected with a brushless motor 2, and then the brushless motor 2. Connected to the fuselage 4 through the brushless ESC 3; the flight control board 5 and the flight control board installation prism 7 are arranged above the fuselage 4, the battery 12 is arranged under the flight control board 5, and the outside of the flight control board 5 is provided with a rain shield The shed 6; the execution part 10 and the execution part fixing column 9 are arranged under the fuselage 4, and the execution part 10 is provided with an execution part protective cover 11;
所述飞行控制板5上设置有飞行控制模块15，飞行控制模块15用于控制飞行器模型13的飞行姿态和飞行方向。The flight control board 5 is provided with a flight control module 15, and the flight control module 15 is used to control the flight attitude and flight direction of the aircraft model 13.
所述执行部件10为高清摄像头10a、红外线摄像头10b或喷火器10c中的一种。The execution unit 10 is one of a high-definition camera 10a, an infrared camera 10b or a flamethrower 10c.
所述飞行控制模块15由微控制器模块15a、姿态测量模块、电源模块15d、电机驱动模块15e、无线通讯模块15f、GPS模块15g组成；微控制器模块15a为时钟频率为50MHZ以上的单片机，其他电子器件以微控制器模块15a为中心，连接到微控制器模块15a，与微控制器模块15a建立通信；姿态测量模块由加速度传感器15b、角速度传感器15c、数字气压传感器、三轴磁强计组成；电源模块15d和电机驱动模块15e共同用于控制飞行器电池为无刷电调和电机供电；无线通讯模块15f为nRF24L01无线模块器件，其发射电路通过LC振荡电路构成，用于发射和接收无线电来实现主控制器17和飞行器模型13的通信；GPS模块15g用于测定飞行器的具体方位。Described flight control module 15 is made up of microcontroller module 15a, attitude measurement module, power supply module 15d, motor drive module 15e, wireless communication module 15f, GPS module 15g; Other electronic devices take the microcontroller module 15a as the center, are connected to the microcontroller module 15a, and establish communication with the microcontroller module 15a; the attitude measurement module is composed of an acceleration sensor 15b, an angular velocity sensor 15c, a digital air pressure sensor, and a three-axis magnetometer. Composition; the power supply module 15d and the motor drive module 15e are jointly used to control the aircraft battery to supply power for the brushless ESC and the motor; the wireless communication module 15f is a nRF24L01 wireless module device, and its transmitting circuit is composed of an LC oscillator circuit for transmitting and receiving radio signals. Realize the communication between the main controller 17 and the aircraft model 13; the GPS module 15g is used to determine the specific orientation of the aircraft.
电源模块15d同时连接微控制器模块15a和电池12，用于解锁电池12。The power module 15d is connected to the microcontroller module 15a and the battery 12 at the same time, and is used for unlocking the battery 12 .
电机驱动模块15e用于解锁无刷电机2。The motor driving module 15e is used to unlock the brushless motor 2 .
与现有技术相比，本实用新型具有以下有益效果：Compared with the prior art, the utility model has the following beneficial effects:
1、采用飞行器自主飞行的控制方式，避免了人工巡检浪费大量的人力财力，尤其是在多山地区的传输线路，更能发挥飞行器的优势。四旋翼飞行器可以通过主控制器的控制实现协同飞行作业，可以形成较为完备的输电线路空中故障检测系统。有助于更快发现问题，更好解决问题。1. Adopting the control method of the autonomous flight of the aircraft, avoiding the waste of a lot of manpower and financial resources for manual inspection, especially in the transmission lines in mountainous areas, it can give full play to the advantages of the aircraft. The quadrotor aircraft can realize cooperative flight operations through the control of the main controller, and can form a relatively complete air fault detection system for transmission lines. It helps to find problems faster and solve them better.
2、相比于其他复杂的智能巡检系统，本系统结构简单，通信协同方式较为简单，易于操作，具有较大的灵活性。现有智能巡检系统需要多重装置，飞行器内部还需设置机舱以满足人员控制多种装置。本系统结构简单而清晰，控制方便，飞行器飞行路线灵活，可以多角度、全方位的拍摄输电线路的全貌，并对一些短路停电事故进行及时的处理。2. Compared with other complex intelligent inspection systems, this system has a simple structure, a relatively simple communication and coordination method, is easy to operate, and has greater flexibility. The existing intelligent inspection system requires multiple devices, and a cabin needs to be installed inside the aircraft to allow personnel to control multiple devices. The structure of this system is simple and clear, the control is convenient, the flying route of the aircraft is flexible, and the whole picture of the transmission line can be taken from multiple angles and all directions, and some short-circuit power failure accidents can be dealt with in time.
3、可以实现全天候、多角度、全方位的线路巡检，飞行方式设计时采用飞行器在输电线路斜上方飞行且多架小型四旋翼飞行器，在线路两侧同时进行巡检，这样可以采集在同一时间条件下的不同角度的图像，合成立体3D图，可以更全面的巡检输电线路；任务执行系统结合两种摄像机的优点，采用红外摄像机与高清摄像机相结合的方法，利用红外摄像机的“夜间优势”与高清摄像机“日间高清晰度”的特点，配合使用，可以实现全天候的巡检。3. It can realize all-weather, multi-angle and all-round line inspection. The flight mode is designed to use the aircraft to fly obliquely above the transmission line and multiple small quadrotor aircraft to conduct inspections on both sides of the line at the same time, so that it can be collected in the same Images from different angles under time conditions can be synthesized into a three-dimensional 3D image, which can inspect the transmission line more comprehensively; the task execution system combines the advantages of the two cameras, adopts the method of combining an infrared camera and a high-definition camera, and uses the "night "Advantage" and high-definition camera "daytime high-definition" features, used together, can realize all-weather inspection.
4、飞行器体积小，也不会造成输电线路相间短路和人员伤亡。如今大部分的无人飞行器巡检事故是由于飞行器失联造成的，大型飞行器失联会造成输电线路相间短路和人员伤亡。本系统采用的飞行器体积小，即使发生失联也不会造成输电线路相间短路和人员伤亡，使用安全可靠。4. The small size of the aircraft will not cause phase-to-phase short circuit of the transmission line and casualties. Nowadays, most of the unmanned aerial vehicle inspection accidents are caused by the loss of communication of the aircraft. The loss of communication of large aircraft will cause a short circuit between phases of the transmission line and casualties. The aircraft used in this system is small in size, and even if there is a loss of connection, it will not cause a short circuit between phases of the transmission line and casualties, and it is safe and reliable to use.
附图说明Description of drawings
图1为本实用新型的整体结构示意图；Fig. 1 is the overall structural representation of the utility model;
图2为本实用新型的侧视图；Fig. 2 is a side view of the utility model;
图3为本实用新型的系统方框图；Fig. 3 is a system block diagram of the utility model;
图4为主控制器与飞行器模型之间的集中式应用共享方式示意图。Fig. 4 is a schematic diagram of a centralized application sharing method between the main controller and the aircraft model.
图中，1为机翼，2为无刷电机，3为无刷电调，4为机身，5为飞行控制板，6为挡雨棚，7为飞行控制板安装棱柱，8为云台支架，9为执行部件固定柱，10为执行部件，10a为高清摄像头，10b为红外线摄像头，10c为喷火器，11为执行部件防护罩，12为电池，13为飞行器模型，14为任务执行系统，15为飞行控制模块，15a为微控制器模块，15b为加速度传感器，15c为角速度传感器，15d为电源模块，15e为电机驱动，15f为无线通讯，15g为GPS模块；17为主控制器。In the figure, 1 is the wing, 2 is the brushless motor, 3 is the brushless ESC, 4 is the fuselage, 5 is the flight control board, 6 is the canopy, 7 is the prism installed on the flight control board, and 8 is the gimbal Bracket, 9 is the fixing column of the executive part, 10 is the executive part, 10a is the high-definition camera, 10b is the infrared camera, 10c is the flamethrower, 11 is the protective cover of the executive part, 12 is the battery, 13 is the aircraft model, 14 is the mission execution system , 15 is a flight control module, 15a is a microcontroller module, 15b is an acceleration sensor, 15c is an angular velocity sensor, 15d is a power supply module, 15e is a motor drive, 15f is a wireless communication, 15g is a GPS module; 17 is a main controller.
具体实施方式detailed description
下面通过实施例，并结合附图，对本实用新型的技术方案作进一步具体的说明。The technical solutions of the present utility model will be further specifically described below through the embodiments and in conjunction with the accompanying drawings.
如图1、图2所示，飞行器模型13包括机翼1、无刷电机2、无刷电调3、机身4、飞行控制板5、挡雨棚6、飞行控制板安装棱柱7、云台支架8、执行部件固定柱9、执行部件10、执行部件防护罩11、电池12。机身4下安装云台支架8组成整体机架支撑，机身4上方在四个旋翼的终点上安装有四个无刷电机2，无刷电机2上安装有机翼1，在四个旋翼臂上固定四个无刷电调3，无刷电调3一端连接无刷电机2，一端连接电池12，四个无刷电调3的信号线连接飞行控制板5，因为无刷电调3有将高电平转化为低电平的功能，所以，四个无刷电调3中的一个要引出一根电源转换线连接飞行控制板5给其供电。电池12固定在机身4上方中心，飞行控制板5（具体的组成见下方）通过飞行控制板安装棱柱7固定在电池12的上方。飞行控制板5、飞行控制板安装棱柱7、电池12一起被保护在飞行控制系统挡雨棚6内防止巡检时出现暴雨天气对飞行控制板5和电池12产生影响。机身4下方通过执行部件固定柱9搭载执行部件10，执行部件10有高清摄像头10a、红外线摄像头10b和喷火器10c三种，外罩机载摄像头防护罩11，防止当飞行器受到撞击或者摄像头从飞行器上脱漏时摄像头或喷火器受到损坏。As shown in Figures 1 and 2, the aircraft model 13 includes a wing 1, a brushless motor 2, a brushless ESC 3, a fuselage 4, a flight control board 5, a rain shelter 6, a flight control board installation prism 7, a cloud Table bracket 8 , actuator fixing column 9 , actuator 10 , actuator shield 11 , battery 12 . The pan-tilt bracket 8 is installed under the fuselage 4 to form an integral frame support, and four brushless motors 2 are installed on the ends of the four rotors above the fuselage 4, and the brushless motor 2 is equipped with a wing 1, and the four rotor arms Fix four brushless ESCs 3, one end of the brushless ESCs 3 is connected to the brushless motor 2, the other end is connected to the battery 12, and the signal lines of the four brushless ESCs 3 are connected to the flight control board 5, because the brushless ESCs 3 have The function of converting high level to low level, therefore, one of the four brushless ESCs 3 needs to lead out a power conversion line to connect the flight control board 5 to supply power to it. The battery 12 is fixed at the center above the fuselage 4, and the flight control board 5 (see below for the specific composition) is fixed above the battery 12 through the flight control board installation prism 7. The flight control board 5, the flight control board installation prism 7, and the battery 12 are protected together in the flight control system canopy 6 to prevent the rainstorm from affecting the flight control board 5 and the battery 12 during inspection. The fuselage 4 below is equipped with the execution part 10 through the execution part fixing column 9. The execution part 10 has three kinds of high-definition camera 10a, infrared camera 10b and flamethrower 10c, and the outer cover airborne camera protective cover 11 prevents when the aircraft is hit or the camera is removed from the aircraft. The camera or flamethrower is damaged when the vehicle is dropped.
图3为无人飞行器各系统关系方框图，包括机身、机翼、无刷电机、电子调速器等在内的飞行器模型13、任务执行系统14和飞行控制系统15。飞行器模型13上搭建任务执行系统14，飞行控制模块15控制飞行器模型13的飞行姿态和飞行方向，各系统的组成及功能介绍如下：FIG. 3 is a block diagram of the relationship between various systems of an unmanned aerial vehicle, including an aircraft model 13 , a task execution system 14 and a flight control system 15 including a fuselage, wings, brushless motors, electronic governors, etc. The task execution system 14 is built on the aircraft model 13, and the flight control module 15 controls the flight attitude and flight direction of the aircraft model 13. The composition and functions of each system are as follows:
如图3所示，包括机身、机翼、无刷电机、电子调速器等在内的飞行器模型13是系统的基础和载体，飞行器的安装要严格按照图1、图2的安装顺序安装，为了保持最佳的飞行效果。As shown in Figure 3, the aircraft model 13 including the fuselage, wings, brushless motors, electronic governor, etc. is the basis and carrier of the system, and the installation of the aircraft must be installed in strict accordance with the installation sequence shown in Figure 1 and Figure 2 , in order to maintain the best flight effect.
如图3所示，任务执行系统14由执行部件10组成。执行部件10包括高清摄像头10a、红外线摄像头10b或喷火器10c三部分。由于飞行器要沿着输电线路飞行，为了保持飞行器能够飞行的距离较大，飞行器的体积应做的较为轻便小巧,所以，飞行器只携带高清摄像头或红外线摄像头或喷火器中的一种。高清摄像头10a摄像质量高、图像清晰，红外摄像头10b色彩真实和聚焦准群清晰，由红外线反射所成的影像达到可拍摄黑暗环境下肉眼看不到的影像的目的。因为输电线路的巡检时间为全天候，结合两种摄像头的优点，采用红外摄像头10b与高清摄像头10a相结合的方法，利用红外摄像头的“夜间优势”与高清摄像头“日间高清晰度”的特点，配合使用，以达到最佳效果。当停电事故是由悬挂于线路上的风筝等可燃物或者鸟禽类造成的时候，携带喷火器10c的飞行器会飞行到事故点，对造成线路短路的物质进行焚烧处理或者驱赶，使电网尽快恢复供电。As shown in FIG. 3 , the task execution system 14 is composed of execution components 10 . The execution unit 10 includes three parts: a high-definition camera 10a, an infrared camera 10b or a flamethrower 10c. Since the aircraft will fly along the power transmission line, in order to keep the flying distance of the aircraft relatively large, the volume of the aircraft should be relatively light and compact. Therefore, the aircraft only carries one of the high-definition camera or infrared camera or flamethrower. The high-definition camera 10a has high camera quality and clear images, and the infrared camera 10b has true colors and clear focus. The image formed by infrared reflection achieves the purpose of shooting images invisible to the naked eye in dark environments. Because the inspection time of the transmission line is all-weather, combining the advantages of the two cameras, the method of combining the infrared camera 10b and the high-definition camera 10a is adopted, and the "night advantage" of the infrared camera and the "high-definition daytime" feature of the high-definition camera are used , used together to achieve the best results. When the power outage accident is caused by combustible objects such as kites or birds hanging on the line, the aircraft carrying the flamethrower 10c will fly to the accident point, and incinerate or drive away the material causing the short circuit, so that the power grid can resume power supply as soon as possible .
如图3所示，飞行控制系统15由微控制器模块15a、姿态测量模块、无线通讯模块15f、电机驱动模块组成。微控制器模块15a由时钟频率为50MHZ或50MHZ以上的单片机组成；姿态测量模块由加速度传感器(三轴加速度计)15b、角速度传感器(三轴陀螺仪)15c、数字气压传感器、三轴磁强计组成，负责飞行器的姿态实时检测，保证飞行器的平稳可靠飞行；无线通讯模块15f可以用nRF24L01无线模块器件，可以满足接收和发射信号的需要，其发射电路可以通过LC振荡电路构成；电源模块15d和电机驱动15e可以控制飞行器电池为无刷电调和电机供电；GPS模块15g主要用于测定飞行器的具体方位，为主控制器17规划飞行器的飞行路线做准备。As shown in FIG. 3 , the flight control system 15 is composed of a microcontroller module 15a, an attitude measurement module, a wireless communication module 15f, and a motor drive module. The microcontroller module 15a is made up of a single-chip microcomputer with a clock frequency of 50MHZ or more than 50MHZ; the attitude measurement module is composed of an acceleration sensor (three-axis accelerometer) 15b, an angular velocity sensor (three-axis gyroscope) 15c, a digital air pressure sensor, and a three-axis magnetometer It is responsible for the real-time detection of the attitude of the aircraft to ensure the stable and reliable flight of the aircraft; the wireless communication module 15f can use the nRF24L01 wireless module device, which can meet the needs of receiving and transmitting signals, and its transmitting circuit can be formed by an LC oscillator circuit; the power supply module 15d and The motor drive 15e can control the aircraft battery to supply power for the brushless ESC and the motor; the GPS module 15g is mainly used to measure the specific orientation of the aircraft, and prepare for the main controller 17 to plan the flight route of the aircraft.
如图3所示，通信系统根据线路巡检的实际情况，飞行器的协同工作采用协同工作模式中的本地同步模式，即使得处于同一区域的合作者在同一时间进行同一任务的协作。多台飞行器在同一区域同一时间受同一主控制器控制飞行。飞行方式设计时采用飞行器在输电线路斜上方飞行且多架小型四旋翼飞行器，在线路两侧同时进行巡检，这样可以采集在同一时间条件下的不同角度的图像，可以更全面的巡检输电线路。主控制器17与飞行控制器15的通讯方式采用集中式应用共享方式，集中式应用共享方式如图4所示，任务执行系统14将采集到的图像通过无线电发送给主控制器，主控制器将各个不同角度的图像合成3D图像，以便工作人员发现线路的问题。各飞行器之间的相互通信通过主控制器17完成，所以对主控制器17的处理速度有较高的要求。主控制器17为现有控制器，飞行控制模块15的各组成部分模块也均为现有技术。As shown in Figure 3, the communication system adopts the local synchronization mode in the cooperative work mode for the collaborative work of the aircraft according to the actual situation of the line inspection, that is, the partners in the same area can cooperate on the same task at the same time. Multiple aircraft are flying under the control of the same main controller at the same time in the same area. When designing the flight mode, the aircraft flies obliquely above the power transmission line and multiple small quadrotor aircraft conduct inspections on both sides of the line at the same time, so that images from different angles can be collected under the same time conditions, and more comprehensive power transmission can be inspected line. The communication mode between the main controller 17 and the flight controller 15 adopts a centralized application sharing method, as shown in Figure 4, the task execution system 14 sends the collected images to the main controller by radio, and the main controller Combining images from different angles into a 3D image, so that the staff can find the problem of the line. The mutual communication between the various aircrafts is completed through the main controller 17, so the processing speed of the main controller 17 is highly required. The main controller 17 is an existing controller, and each component module of the flight control module 15 is also an existing technology.
白天，飞行器携带高清摄像头10a，两台飞行器组成一个编队。当线路巡检开始时，主控制器17通过无线电向飞行控制模块15发送信号，微控制器模块15a解锁，电源模块15d启动，传感器测量单元（包括数字三轴陀螺与三轴加速度传感器、数字气压传感器、三轴数字磁阻传感器）启动，测量飞行器的位姿数据。在微控制器模块15a进行数据处理与分析后，解算此时飞行器的姿态。GPS模块15g获得飞行器的地理位置信息。飞行控制模块15将飞行姿态和地理位置信息反馈给主控制器17，主控制器17根据巡航要求确定路线，根据飞行器的地理位置信息确定飞行器飞行方向。之后，主控制器17向飞行控制系统15发送信号，飞行控制板根据PID控制算法进行姿态角的闭环控制，解算出无刷电机2应有的转速，电源模块15d解锁电池，电池向电机供电，电机按飞控板解锁出的转速旋转，飞行器起飞。During the day, the aircraft carries a high-definition camera 10a, and two aircraft form a formation. When the line inspection starts, the main controller 17 sends a signal to the flight control module 15 by radio, the microcontroller module 15a is unlocked, the power supply module 15d is started, and the sensor measurement unit (including a digital three-axis gyroscope and a three-axis acceleration sensor, a digital air pressure sensor) sensor, three-axis digital magneto-resistive sensor) to measure the position and attitude data of the aircraft. After the microcontroller module 15a performs data processing and analysis, the attitude of the aircraft at this time is calculated. The GPS module 15g obtains the geographic location information of the aircraft. The flight control module 15 feeds back the flight attitude and geographic location information to the main controller 17, and the main controller 17 determines the route according to the cruising requirements, and determines the flight direction of the aircraft according to the geographic location information of the aircraft. Afterwards, the main controller 17 sends a signal to the flight control system 15, and the flight control board performs closed-loop control of the attitude angle according to the PID control algorithm, and calculates the proper speed of the brushless motor 2, and the power module 15d unlocks the battery, and the battery supplies power to the motor. The motor rotates at the speed unlocked by the flight control board, and the aircraft takes off.
在飞行的过程中，为避免飞行器在狂风等恶劣气候及其他因素影响下，其垂直坠落对线路造成损坏，飞行器沿线路飞行时应与线路边线具有一定的水平距离。又由于任务执行系统安装于巡视方式方案设计飞行器下方，为满足巡视质量的要求，同时避免飞行器受线路电磁场的影响、保证无人机有充裕的飞行空间，飞行器在线路上方飞行应具有一定的垂直距离。所以，四旋翼飞行器巡检时需在线路斜上方飞行。因线路相间距离大且塔高，旋翼机探测系统的检测距离、视角有限。为保证巡检精度，可调用一个编队或多个编队的多架飞行器，在线路两侧同时进行巡检，这样可以采集在同一时间条件下的不同角度的图像，合成立体3D图。During the flight, in order to avoid damage to the line caused by the vertical fall of the aircraft under the influence of severe weather such as strong winds and other factors, the aircraft should have a certain horizontal distance from the sideline of the line when flying along the line. And because the task execution system is installed under the aircraft in the inspection mode design scheme, in order to meet the requirements of inspection quality, avoid the aircraft from being affected by the electromagnetic field of the line, and ensure that the UAV has sufficient flying space, the aircraft should have a certain vertical distance when flying above the line. distance. Therefore, the quadrotor aircraft needs to fly obliquely above the line during inspection. Due to the large distance between the lines and the height of the tower, the detection distance and viewing angle of the rotorcraft detection system are limited. In order to ensure the accuracy of the inspection, multiple aircraft in one formation or multiple formations can be called to conduct inspections on both sides of the line at the same time, so that images from different angles can be collected under the same time conditions and synthesized into a three-dimensional 3D image.
飞行器将自身采集图像的通过无线电传输设备传递到主控制器17上。主控制器接受到多个角度拍摄的图像信息之后，还原输电线路的原貌，这样，在输电线路出现故障时，维修人员能够快速的找到故障原因，高效的进行整修。The aircraft transmits the images collected by itself to the main controller 17 through radio transmission equipment. After the main controller receives the image information taken from multiple angles, it restores the original appearance of the transmission line. In this way, when the transmission line fails, the maintenance personnel can quickly find the cause of the failure and carry out efficient repairs.
晚上，飞行器携带红外线摄像头10b。当线路巡检开始时，主控制器17通过无线电向飞行控制系统15发送信号，微控制器模块15a解锁，电源模块15d启动，传感器测量单元（包括数字三轴陀螺与三轴加速度传感器、数字气压传感器、三轴数字磁阻传感器）启动，测量飞行器的位姿数据。在微控制器模块15a进行数据处理与分析后，解算此时飞行器的姿态。GPS模块15g获得飞行器的地理位置信息。飞行控制系统15将飞行姿态和地理位置信息反馈给主控制器17，主控制器17根据巡航要求确定路线，根据飞行器的地理位置信息确定飞行器飞行方向。之后，主控制器17向飞行控制系统15发送信号，飞控板根据P I D 控制算法进行姿态角的闭环控制，解算出无刷电机2应有的转速，电源模块15d解锁电池，电池向电机供电，电机按飞控板解锁出的转速旋转，飞行器起飞。飞行器同样将自身采集图像的通过无线电传输设备传递到主控制器17上。At night, the aircraft carries an infrared camera 10b. When the line inspection starts, the main controller 17 sends a signal to the flight control system 15 by radio, the microcontroller module 15a is unlocked, the power supply module 15d is started, and the sensor measurement unit (including a digital three-axis gyroscope and a three-axis acceleration sensor, a digital air pressure sensor) sensor, three-axis digital magneto-resistive sensor) to measure the position and attitude data of the aircraft. After the microcontroller module 15a performs data processing and analysis, the attitude of the aircraft at this time is calculated. The GPS module 15g obtains the geographic location information of the aircraft. The flight control system 15 feeds back the flight attitude and geographic location information to the main controller 17, and the main controller 17 determines the route according to the cruising requirements, and determines the flight direction of the aircraft according to the geographic location information of the aircraft. Afterwards, the main controller 17 sends a signal to the flight control system 15, and the flight control board performs closed-loop control of the attitude angle according to the PID control algorithm, and calculates the proper speed of the brushless motor 2, and the power module 15d unlocks the battery, and the battery supplies power to the motor. The motor rotates at the speed unlocked by the flight control board, and the aircraft takes off. The aircraft also transmits the images collected by itself to the main controller 17 through the radio transmission device.
当有停电事故发生时，携带摄像头的飞行器快速飞向故障点，将拍摄的不同角度的故障点的图像通过无线电传输给主控制器17，维修人员可以判定短路发生的类型，当停电事故是由悬挂于线路上的风筝等可燃物或者鸟禽类造成的时候，通过主控制器17向携带喷火器10c的飞行器发送信号，飞行器起飞，飞行到事故点之后，对造成线路短路的物质进行喷火焚烧处理或者驱赶，使电网尽快恢复供电。When there is a power failure accident, the aircraft carrying the camera will fly to the fault point quickly, and the images of the fault point at different angles will be transmitted to the main controller 17 by radio, and maintenance personnel can determine the type of short circuit. When the power failure accident is caused by When it is caused by combustibles such as kites or birds hanging on the line, the main controller 17 sends a signal to the aircraft carrying the flamethrower 10c, the aircraft takes off, and after flying to the accident point, the material that caused the short circuit of the line is sprayed and burned Deal with or drive away, so that the power grid can be restored as soon as possible.
综上，系统就实现了全方位、多角度、全天候灵活方便的巡视和检修输电线路的目标。To sum up, the system realizes the goal of all-round, multi-angle, all-weather flexible and convenient inspection and maintenance of transmission lines.
上述为一种用于高压输电线路巡检的多机协同四旋翼飞行器系统的具体实施实例，并不用以限制本实用新型，凡在本实用新型的精神和原则之内所作的任何修改、等同替换和改进等，均应包含在本实用新型的保护范围之内。The above is a specific implementation example of a multi-machine cooperative four-rotor aircraft system for inspection of high-voltage transmission lines, and is not intended to limit the utility model. Any modifications and equivalent replacements made within the spirit and principles of the utility model And improvements, etc., all should be included in the protection scope of the present utility model.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620289892.6UCN205574268U (en) | 2016-04-08 | 2016-04-08 | A multimachine is four rotor aircraft system in coordination for high tension transmission line patrols and examines |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620289892.6UCN205574268U (en) | 2016-04-08 | 2016-04-08 | A multimachine is four rotor aircraft system in coordination for high tension transmission line patrols and examines |
| Publication Number | Publication Date |
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| CN205574268Utrue CN205574268U (en) | 2016-09-14 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620289892.6UExpired - Fee RelatedCN205574268U (en) | 2016-04-08 | 2016-04-08 | A multimachine is four rotor aircraft system in coordination for high tension transmission line patrols and examines |
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| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | Granted publication date:20160914 Termination date:20170408 | |
| CF01 | Termination of patent right due to non-payment of annual fee |