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Electric field measuring obstacle avoidance system and method for live wire routing inspection of unmanned aerial vehicle

A technology of electric field measurement and live wire, applied in measurement devices, measurement of electrical variables, instruments, etc., can solve problems such as inaccurate results, no application examples, and no practicability, to improve reliability, avoid volume, and ensure safe effect

Active Publication Date: 2014-02-26
STATE GRID INTELLIGENCE TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The results obtained by this method of detection are very inaccurate
[0009] (2) "On-site measurement" is mentioned in the prior art, but the measurement device (including device composition and installation location), measurement method, data processing method and judgment basis are not provided
[0010] (3) The "simulation calculation value" used for reference is mentioned in the prior art, but the simulation calculation results of lines of various voltage levels for comparison and judgment are not provided, which is not practical
[0011] (4) The application examples used to illustrate the feasibility of the method are not described in the prior art

Method used

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  • Electric field measuring obstacle avoidance system and method for live wire routing inspection of unmanned aerial vehicle
  • Electric field measuring obstacle avoidance system and method for live wire routing inspection of unmanned aerial vehicle
  • Electric field measuring obstacle avoidance system and method for live wire routing inspection of unmanned aerial vehicle

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0078] The electric field measurement and obstacle avoidance system is mounted on the UAV to detect the actual 220kV line. In order to verify the practicability of the simulation data, the flight route of the UAV is set to be perpendicular to the direction of the transmission line and equal to the side wire. The wire of the item is 70 meters to 16 meters (this distance range is selected to ensure the safety of the drone and to verify whether the alarm signal of the electric field measurement obstacle avoidance system is received at the expected position halfway). In order to reduce the flight error, the flight conditions are selected as follows:

[0079] Weather: sunny and windless;

[0080] Patrol wire: such as Figure 6 The wire in the middle of the straight line tower shown;

[0081] Set C220=29, Δt=0.1s, and conduct flight test.

[0082] In the middle of the flight, the UAV receives the alarm signal from the electric field measurement obstacle avoidance system. After ho...

Embodiment 2

[0085] The electric field measurement and obstacle avoidance system is mounted on the UAV to detect the actual 500kV line. In order to verify the practicability of the simulation data, the flight route of the UAV is set to be perpendicular to the direction of the transmission line, equal to the side wire, and determined by the distance from the side The wire of the item is 70 meters to 20 meters (this distance range is selected to ensure the safety of the drone and to verify whether the alarm signal of the electric field measurement obstacle avoidance system is received at the expected position halfway). In order to reduce the flight error, the flight conditions are selected as follows:

[0086] Weather: sunny and windless;

[0087] Patrol wire: as follows Figure 8 The wire in the middle of the straight line tower shown;

[0088] Set C500=56, Δt=0.1s, and conduct flight test.

[0089] In the middle of the flight, the UAV receives the alarm signal from the electric field me...

Embodiment 3

[0092] The electric field measurement and obstacle avoidance system is mounted on the UAV to detect the actual 750kV line. In order to verify the practicability of the simulation data, the flight route of the UAV is set to be perpendicular to the direction of the transmission line, and the same height as the side wire. The wire of the item is 70 meters to 23 meters (this distance range is selected to ensure the safety of the drone, and to verify whether the alarm signal of the electric field measurement obstacle avoidance system is received at the expected position halfway). In order to reduce the flight error, the flight conditions are selected as follows:

[0093] Weather: sunny and windless;

[0094] Patrol wire: as follows Figure 10 The conductor in the middle of the straight line tower shown;

[0095] Set C750=77, Δt=0.1s, and conduct flight test.

[0096] In the middle of the flight, the UAV receives the alarm signal from the electric field measurement obstacle avoidan...

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Abstract

The invention discloses an electric field measuring obstacle avoidance system and method for live wire routing inspection of an unmanned aerial vehicle. The electric field measuring obstacle avoidance system comprises a routing inspection unmanned aerial vehicle, wherein an electric field obstacle avoidance device is arranged on the unmanned aerial vehicle and comprises a digital signal processor (DSP) data processing module, an electric field measuring sensor, a signal processing unit and an analog-to-digital (A / D) conversion unit, and the electric field measuring sensor, the signal processing unit and the A / D conversion unit are sequentially connected, the A / D conversion unit is connected with an input end of the DSP data processing module, and the output end of the DSP data processing module is connected with an onboard flight control system. The electric field measuring obstacle avoidance system and method avoid the problem that the unmanned aerial vehicle collides with a power transmission line due to preset flying course deviation caused by errors of global position system (GPS) navigation, overlarge gust and insufficient flying height in the process of executing the task when performing routing inspection of the unmanned aerial vehicle, ensure safety of an unmanned line patrol system and the power transmission line of the unmanned aerial vehicle, improve reliability of the line patrol operation and guarantee safety of persons, power grids and devices.

Description

technical field [0001] The invention relates to an obstacle avoidance system and method for a drone for patrol inspection, in particular to an obstacle avoidance system and method for electric field measurement for a drone inspection for live wires. Background technique [0002] In recent years, the sustained and rapid development of my country's national economy has put forward higher and higher requirements for my country's electric power industry. At present, my country has formed six inter-provincial power grids in North China, Northeast China, East China, Central China, Northwest China and South China. The contradictions have been basically alleviated. Due to our country's vast territory and complex terrain, in order to provide safe and reliable power supply, the automation and modernization of line inspection maintenance has increasingly shown its urgency. [0003] The use of UAV aerial operations for power line inspection can overcome the disadvantages of using m...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/10G01R29/00
Inventor 郑天茹王滨海陈西广王骞刘俍张晶晶
Owner STATE GRID INTELLIGENCE TECH CO LTD
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