Unmanned aerial vehicle-based high-speed train overhead line system automatic patrol inspection method

Abstract

The present invention discloses an unmanned aerial vehicle-based high-speed train overhead line system automatic patrol inspection method. The method of the present invention is characterized in that by using an electromagnetic field sensor installed on an unmanned aerial vehicle to detect the alternating electromagnetic field intensity around an overhead line system, the relative position of the unmanned aerial vehicle and the overhead line system is determined, whether a high-speed train exists nearby is determined, and further, the flight route and the attitude of the unmanned aerial vehicle are adjusted; when the nearby high-speed train is detected, the unmanned aerial vehicle rises and suspends. According to the application, the problem that the conventional technology can not satisfy the high-speed train overhead line system automatic patrol inspection demand is solved, the unmanned aerial vehicle navigates automatically when carrying out the patrol inspection on the overhead line system, the influence of the strong electromagnetic interference and the airflow on the unmanned aerial vehicle are reduced, and the air crash accidents are reduced.

Description

technical field [0001] The invention belongs to the technical field of electronic information, and in particular relates to an automatic inspection method of a high-speed railway catenary using an unmanned aerial vehicle. Background technique [0002] High-speed railway catenary (hereinafter referred to as "high-speed railway catenary" or "catenary") is a transmission line erected along the railway line to supply power to electric locomotives. of. The operating voltage used by the catenary is 25KV, single-phase alternating current with a frequency of 50Hz or 60Hz. In actual use, the voltage can reach 27.5KV. Due to the transmission of alternating current, there is a changing electromagnetic field near the catenary. In the whole system of high-speed rail, catenary is the link most prone to problems, and it is also one of the three key links that affect the safe operation of high-speed electrified railways. Because the catenary is made of flexible conductor material, it is e...

AI Technical Summary

Problems solved by technology

In these cases, the drone's remote control signal and / or circuit will be interfered, which may cause the drone to malfunction, or even cause a crash, posing an unpredictable threat to the high-speed rail catenary

When a high-speed train passes by, the strong airflow will cause the drone to lose control, and even crash into the catenary or high-speed train

[0006] In order to avoid the above problems, the UAV should be far away from the catenary, but far away from the catenary, it is necessary to use an instrument with a long shooting distance, but these instruments that can shoot clearly at a long distance usually have a small shooting angle, and the UAV is affected by various factors It will shake, causing the shooting angle to shift, so that the drone cannot always capture the catenary; even if some images have been captured, but because the pixels reflecting the state of the catenary are too few, the state of the catenary cannot be effectively identified

[0007] The Chinese patent titled "Auxiliary Control System and Control Method for Electric Power Line Patrol UAV" with application number 201210069761.3 discloses a method to calculate the distance between the UAV and the power line by detecting the strength value of the electric field. The control command and distance value sent by the remote control control the flight attitude and path of the UAV to prevent the collision between the UAV and the power line during the power line inspection process. In the process, the operator still needs to control the flight route and direction of the UAV through human eye observation. The operator cannot stay away from the UAV, and still needs to remotely control the signal, which cannot solve the problem caused by strong airflow and electromagnetic interference when the high-speed train passes by. Drone out of control problem

[0008] The problem existing in the existing UAV-based high-speed rail catenary inspection technology is that the power inspection UAV in the prior art cannot meet the needs of high-speed rail catenary inspection. During automatic inspection, high-speed rail trains pass by Strong airflow and strong electromagnetic field interference, not only the remote control signal and airborne circuit are susceptible to strong electromagnetic field interference, but the airflow will also interfere with the movement of the drone, and even cause a crash, and the automatic inspection of the drone cannot be completed well Task; in the manual inspection of drones, it is difficult for operators to cross complex terrain, so they cannot always be close to the drone and the line, and it is difficult to avoid the drone hitting the catenary; manual inspection of the catenary is time-consuming, laborious, and high cost

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