WO2016184308A1 - Procédé d'évitement d'obstacles pendant une inspection d'acheminement de lignes de transport d'énergie à deux circuits à haute tension effectuée par un véhicule aérien sans pilote sur le même pylône en se basant sur une vitesse de modification d'une intensité de champ électrique - Google Patents

Procédé d'évitement d'obstacles pendant une inspection d'acheminement de lignes de transport d'énergie à deux circuits à haute tension effectuée par un véhicule aérien sans pilote sur le même pylône en se basant sur une vitesse de modification d'une intensité de champ électrique Download PDF

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Publication number
WO2016184308A1
WO2016184308A1 PCT/CN2016/081050 CN2016081050W WO2016184308A1 WO 2016184308 A1 WO2016184308 A1 WO 2016184308A1 CN 2016081050 W CN2016081050 W CN 2016081050W WO 2016184308 A1 WO2016184308 A1 WO 2016184308A1
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electric field
obstacle avoidance
field strength
change rate
drone
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PCT/CN2016/081050
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Chinese (zh)
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宋福根
林韩
黄俊璞
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State Grid Fujian Electric Power Co Ltd
Fuzhou Power Supply Co of State Grid Fujian Electric Power Co Ltd
State Grid Corp of China SGCC
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State Grid Fujian Electric Power Co Ltd
Fuzhou Power Supply Co of State Grid Fujian Electric Power Co Ltd
State Grid Corp of China SGCC
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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
    • G05D1/106—Change initiated in response to external conditions, e.g. avoidance of elevated terrain or of no-fly zones

Definitions

  • the invention relates to a method for patrolling and avoiding obstacles of a drone, in particular to a method for patrolling and avoiding obstacles of a high-voltage double-circuit transmission line based on electric field strength change rate.
  • Unmanned aerial vehicles have the advantage of being unrestricted by the terrain environment and have a high cost-effectiveness, without the need to worry about the casualties of the aircraft caused by accidental crashes. Therefore, in order to improve the efficiency of power grid inspection, and to solve the real threat to the grid security caused by frequent disasters in recent years, the use of drones for high-voltage power line inspection has become an urgent need, and will gradually replace manual inspection. Greatly improve the efficiency of inspection.
  • UAV inspection a very important aspect is the safety problem.
  • UAVs are required to take pictures of high-definition lines and towers during inspections.
  • the machine should be as close as possible to the transmission line or the tower, but the closer it is to the transmission line or the tower, there must be another safety hazard: since the flight speed of the UAV can generally reach 18 ⁇ 54Km/h, once and When the line or iron is close to the distance, it is likely to hit the line or the tower, causing a power outage such as a large-scale power outage.
  • the drone in order to shorten the distance between the drone and the transmission line or the tower as much as possible, and to ensure sufficient safety, the drone must have a high-sensitivity obstacle avoidance system, when the drone and the line target When the distance between the distances exceeds the safety distance, the signal is sent in time to the drone control system, and the safety distance is required to be as small as possible so that the photographs taken can be more clear and convenient for the fault diagnosis of the staff.
  • the obstacle avoidance system usually has infrared collision avoidance, ultrasonic collision avoidance, laser collision avoidance, radar collision avoidance, three-dimensional map GPRS obstacle avoidance and obstacle avoidance based on the principle of transmission line electromagnetic field.
  • the infrared collision avoidance has the shortest distance and can not be used under outdoor strong light; the effective distance of ultrasonic collision avoidance is difficult to exceed 10 meters, and because it is hung on the helicopter, the interference of the rotor to the air makes the application more difficult;
  • the laser collision avoidance distance can reach more than 200 meters, but because of the point reflection, the diameter of the wire is small, even if high-speed scanning is used, it is difficult to obtain a reflected signal, so the actual detection distance is greatly reduced; in addition, the reflection on the dark object It is much smaller, even without reflection.
  • Radar collision avoidance system has been studied at home and abroad, mainly for the main car Moving collision avoidance, but there are problems in how reflected radar waves are filtered, how to identify obstacle-avoidance targets, and radar obstacle-avoidance equipments have large volume and heavy weight. For drones, space and load are very limited. Therefore, there are great defects in the application of the UAV to avoid obstacles.
  • GPRS obstacle avoidance based on three-dimensional map is mainly due to the difficulty in accurately synthesizing three-dimensional maps, and the existence of variability and randomness and irregularity of ground buildings, etc.
  • the research on the electromagnetic field of transmission lines at home and abroad mainly focuses on the electromagnetic field strength at the height of 6 meters from the ground below the transmission line and the electromagnetic field around the obstacles. It mainly studies the impact of the staff working on high-voltage operation and the health of residents living under the transmission line.
  • the electric field strength theory of high-voltage transmission lines there are still few studies on UAV patrol obstacle avoidance.
  • the current application of the electric field strength theory of high-voltage transmission lines to carry out the research on the obstacle avoidance strategy of the UAV is mentioned and deduced in the patent application Nos. 201210222359.4 and 201210222437.0.
  • the electric field strength change rate is used as the only parameter for the obstacle avoidance of the UAV, and the parameter limits of the obstacle avoidance of the transmission lines with different voltage levels are obtained through simulation and theoretical simulation analysis, respectively: electric field strength of the 220KV transmission line
  • the rate of change of the rate of change is 29; the limit of the rate of change of the electric field strength of the 500KV transmission line is 56; the limit of the rate of change of the electric field strength of the 750KV transmission line is 77; the limit of the rate of change of the electric field strength of the 1000KV transmission line is 81.
  • the flight control system issues an obstacle avoidance command to force the drone platform to change the flight direction to avoid collision between the drone and the transmission line and avoid an accident.
  • the obstacle avoidance strategy proposed by the prior art performs simulation calculation on the transmission lines of various voltage levels, and then compares the measurement results with the simulation calculation results.
  • This kind of calculation method leads to the simulation calculation of various voltage levels, which causes the increase of workload and the cumbersome simulation calculation, which is not conducive to the application in engineering practice.
  • the object of the present invention is to overcome the deficiencies of the prior art, and to provide a high-voltage homologous tower based on the electric field strength change rate that does not need to be classified according to the arrangement of the wires, without distinguishing the voltage level of the transmission line. Returning to the transmission line UAV inspection and obstacle avoidance method.
  • the high-voltage single-circuit transmission line unmanned aerial vehicle patrol obstacle avoidance method provides a high-voltage transmission line unmanned aerial vehicle patrol obstacle avoidance system based on the electric field strength change rate, which includes the inspection drone
  • An electric field obstacle avoidance device is arranged on the drone, and the device comprises a DSP data processing module, an electric field measuring sensor, a signal processing unit and an A/D conversion unit connected in turn, and the A/D conversion unit is connected with the input end of the DSP data processing module.
  • the output of the DSP data processing module is connected to the onboard flight control system.
  • the airborne flight control system includes an onboard control computer of the flight control system, which is respectively equipped with a digital compass, a three-axis gyroscope, a three-axis accelerometer, a satellite positioning module, a barometric altimeter, a rotational speed measuring sensor, a PCM remote control receiver, and a steering gear.
  • the controller, the digital transmission station, the servo controller are connected to the servo servo, and the digital transmission station communicates with the ground station.
  • the electric field obstacle avoidance device as a whole is to be in the central position directly under the inspection drone body, and the steps are as follows:
  • Step 1 Before the UAV patrols the live conductor, the staff selects the unmanned obstacle avoidance strategy under the arrangement according to the arrangement of the transmission line.
  • the specific methods of the UAV obstacle avoidance strategy include: (1) In the high-voltage and UHV transmission lines in the same-phase double-phase phase-synchronous mode, when the rate of change of the electric field strength at the main body of the drone is detected to be greater than or equal to 20V/m 2 , the obstacle avoidance command should be issued; The drone is in a safe area and does not need to issue an obstacle avoidance command; (2) The high-voltage and ultra-high-voltage transmission lines in the reverse-phase-sequence mode of the same tower, when the electric field strength change rate at the main body of the drone is detected is greater than or equal to 27.3 When V/m 2 , the obstacle avoidance instruction should be issued; otherwise, the drone is in the safe area, and there is no need to issue an obstacle avoidance instruction;
  • Step 2 When the inspection drone checks the live conductor, the direction of the fuselage and the transmission line are basically parallel;
  • Step 3 The electric field measuring sensor inputs the measured electric field strength value into the signal processing unit, extracts the electric field intensity value in the power frequency range and sends it to the DSP data processing module; the judgment algorithm in the DSP data processing module is as follows:
  • E is the effective value of the electric field strength (unit: V/m)
  • x is the distance (unit: m) of the distance from the side of the drone. It is the first derivative of the effective value of the electric field strength versus x, that is, the rate of change of the electric field strength (unit: V/m 2 ).
  • Step 4 The obstacle avoidance command is output to the airborne flight control system by the DSP data processing module, and then the servo servo is controlled by the unmanned servo servo controller to perform the next action.
  • the command is “safe”, the current flight task is continued;
  • the UAV is first hovered, and the instruction of "original return” or “temporary adjustment of route” is issued through the video transmitted in real time.
  • the invention overcomes the erroneous view that the rate of change of the electric field intensity around the transmission line is mainly determined by the voltage level of the transmission line in the prior art, and proposes that the rate of change of the electric field intensity around the transmission line is mainly determined by the arrangement of the wires and the structure of the tower.
  • the theory of the decision and the resulting obstacle avoidance method thereby improving the accuracy of obstacle avoidance, can greatly simplify the obstacle avoidance method.
  • electromagnetic field strength testing instruments suitable for high voltage, and it has high real-time performance, high precision and high resolution.
  • the US HOLADAY HI-3604 power frequency electromagnetic field strength tester can be used for substations, high-voltage transmission lines, transformers, and distribution.
  • Electromagnetic radiation sources such as electric room, cable, mobile phone signal tower, TV signal tower, and broadcast signal tower are tested. The range: electric field: 1V/m-200kV/m; meet relevant requirements.
  • the surrounding electric field is carried out on the ultra-high voltage 500kV and UHV 1000kV transmission lines with the same phase and double phase in the same tower.
  • the simulation analysis of the rate of change of the intensity studies the main factors affecting the rate of change of the electric field strength.
  • the heights of phase A, phase C and phase B are 33 meters, 44.8 meters and 56.6 meters respectively;
  • the transverse span between A1 and A2 is 21 meters;
  • B1 and The lateral span between the two phases of B2 is 19 meters;
  • the lateral span between the two phases of C1 and C2 is 20 meters;
  • the height of both grounds is 63.6 meters and the lateral span is 23 meters.
  • the heights of phase A, phase C and phase B are 43.6 meters, 86.2 meters and 64.9 meters respectively; the transverse span between A1 and A2 is 42 meters; B1 and The lateral span between the two phases of B2 is 40 meters; the lateral span between the two phases of C1 and C2 is 38 meters; the height of both grounds is 102.7 meters and the lateral span is 44 meters.
  • the heights of phase A, phase C and phase B are 43.6 meters, 86.2 meters and 64.9 meters respectively; the transverse span between A1 and A2 is 42 meters; B1 and The lateral span between the two phases of B2 is 40 meters; the lateral span between the two phases of C1 and C2 is 38 meters; the height of both grounds is 102.7 meters and the lateral span is 44 meters.
  • the length of the rotor of the large UAV is generally 4 meters (radius)
  • the closest distance between the large UAV and the side conductor is 24 meters, that is, when the distance between the UAV fuselage and the side conductor is less than 24 meters.
  • the obstacle avoidance instruction should be issued at the same time; otherwise, there is no need to issue an obstacle avoidance instruction.
  • the electric field strength change rate is 19.3V/m 2 ;
  • the electric field strength change rate is 20.1V/m 2 ; that is, the limit of the obstacle avoidance parameter (electric field strength change rate) of the 500kV EHV transmission line and the 1000kV UHV transmission line is basically the same, that is, both It is about 20V/m 2 .
  • the obstacle limit can be avoided according to the electric field strength change rate limit of 20V/m 2 .
  • the electric field strength change rate is greater than 20V/m 2 , it indicates that the distance between the UAV fuselage and the side conductor is less than the limit obstacle avoidance distance of 24 meters.
  • the obstacle avoidance command should be issued; otherwise, when the electric field strength change rate is less than 20V/ The m 2 indicates that the drone is within a safe distance and there is no need to issue an obstacle avoidance command.
  • the obstacle avoidance strategy when studying the obstacle avoidance strategy of the UAV double-circuit transmission line based on the electric field strength change rate, the obstacle avoidance strategy is the same for the different voltage grade transmission lines in the same tower mode. Regardless of the voltage level, the drone avoidance strategy for each tower is determined according to the tower method.
  • the 500kV ultra-high voltage transmission line is taken as an example to study the electric field based on each tower mode.
  • the obstacle avoidance scheme of intensity change rate because the obstacle avoidance strategy is independent of the voltage level, the same type of tower mode of other voltage levels is the same as the obstacle avoidance strategy of the patented 500kV ultrahigh voltage transmission line.
  • the heights of phase A, phase C and phase B are 33 meters, 44.8 meters and 56.6 meters respectively;
  • the transverse span between A1 and A2 is 21 meters;
  • B1 and The lateral span between the two phases of B2 is 19 meters;
  • the lateral span between the two phases of C1 and C2 is 20 meters;
  • the height of both grounds is 63.6 meters and the lateral span is 23 meters.
  • High-voltage transmission line model of 500kV double-circuit line on the same tower the heights of the left A phase, C phase and B phase are 33 meters, 44.8 meters and 56.6 meters respectively; the heights of the right B phase, C phase and A phase are respectively It is 33 meters, 44.8 meters and 56.6 meters; the transverse span between A1 and B2 is 21 meters; the lateral span between B1 and A2 is 19 meters; the horizontal span between C1 and C2 is 20 m; the height of the two ground lines is 63.6 meters, and the horizontal span is 23 meters. As shown in Figure 5.
  • the electric field strength change rate corresponding to the safety distance of 24 meters is about 27.3V/m 2 . Therefore, in the high-voltage and UHV transmission lines in the reverse phase sequence of the same tower, when the rate of change of the electric field strength at the main body of the drone is detected to be greater than or equal to 27.3V/m 2 , the obstacle avoidance command should be issued; otherwise, The drone is in a safe area and there is no need to issue an obstacle avoidance command.
  • the present invention proposes to calculate the rate of change of the electric field strength as an obstacle avoidance parameter, and calculate the arrangement of various different overhead line conductors.
  • the same tower is divided into three categories: equilateral triangle arrangement, inverted triangle arrangement and horizontal arrangement to study the obstacle avoidance strategy, thus simplifying the drone inspection and obstacle avoidance strategy.
  • the electric field strength is mainly determined by the voltage level of the transmission line, it is not affected by the tidal current distribution and variation of the line, and the other obstacles in the space are generally non-charged bodies, so the electric field in the space is mainly caused by the transmission line, so The electric field strength change rate is used as the obstacle avoidance parameter of the UAV inspection, which is less affected by the changes of the remaining obstacles in the space and the power flow of the power grid, and the accuracy is improved.
  • the UAV obstacle avoidance system based on the electric field strength change rate is designed according to the particularity of the electric field environment around the transmission line, and the components used are small, simple and light, which can overcome the ultrasonic ranging, infrared ranging and laser ranging equipment.
  • the problem of low detection accuracy is able to overcome the drawbacks of the size and weight of the microwave radar ranging device and the inconvenience of the UAV.
  • the invention analyzes the rate of change of the electric field strength around the transmission line, and summarizes the obstacle avoidance strategy under different phase sequences of the double-circuit transmission line on the same tower, and gives the safety distance between the UAV and the transmission line edge conductor. .
  • Figure 1 is a spatial orientation map (unit: m) of the same phase of the same tower in the same tower of 500kV EHV transmission line.
  • Figure 2 shows the variation trend of the electric field strength change rate of the same phase in the same tower of the 500kV EHV transmission line.
  • Figure 3 is a spatial orientation map (unit: meter) of the same phase sequence of the same tower of 1000kV UHV transmission line.
  • Figure 4 shows the variation trend of the electric field strength change rate of the same phase sequence of the same tower in the 1000kV EHV transmission line.
  • Figure 5 is a spatial orientation map of the double-reverse reverse phase sequence of the same tower on the 500kV EHV transmission line (unit: meter).
  • Figure 6 shows the variation trend of the electric field strength change rate of the double-phase reverse phase sequence of the same tower on the 500kV EHV transmission line.
  • the high-voltage single-circuit transmission line unmanned aerial vehicle patrol obstacle avoidance method provides a high-voltage transmission line unmanned aerial vehicle patrol obstacle avoidance system based on the electric field strength change rate, which includes the inspection drone
  • An electric field obstacle avoidance device is arranged on the drone, and the device comprises a DSP data processing module, an electric field measuring sensor, a signal processing unit and an A/D conversion unit connected in turn, and the A/D conversion unit is connected with the input end of the DSP data processing module.
  • the output of the DSP data processing module is connected to the onboard flight control system.
  • the airborne flight control system includes an onboard control computer of the flight control system, which is respectively equipped with a digital compass, a three-axis gyroscope, a three-axis accelerometer, a satellite positioning module, a barometric altimeter, a rotational speed measuring sensor, a PCM remote control receiver, and a steering gear.
  • the controller, the digital transmission station, the servo controller are connected to the servo servo, and the digital transmission station communicates with the ground station.
  • the electric field obstacle avoidance device as a whole is to be in the central position directly under the inspection drone body, and the steps are as follows:
  • Step 1 Before the UAV patrols the live conductor, the staff selects the unmanned obstacle avoidance strategy under the arrangement according to the arrangement of the transmission line.
  • the specific methods of the UAV obstacle avoidance strategy include: (1); in the high-voltage and UHV transmission lines in the same-phase double-phase in-phase sequence mode, when the rate of change of electric field strength at the main body of the drone is detected to be greater than or equal to 20V/m 2 , an obstacle avoidance command should be issued; Explain that the drone is in a safe area and does not need to issue an obstacle avoidance command; (2) The high-voltage and ultra-high-voltage transmission lines in the reverse-phase-sequence mode of the same tower, when the electric field strength change rate at the main body of the drone is detected is greater than or equal to At 27.3V/m 2 , the obstacle avoidance instruction should be issued; otherwise, the drone is in the safe area and there is no need to issue an obstacle avoidance instruction;
  • Step 2 When the inspection drone checks the live conductor, the direction of the fuselage and the transmission line are basically parallel;
  • Step 3 The electric field measuring sensor inputs the measured electric field strength value into the signal processing unit, extracts the electric field intensity value in the power frequency range and sends it to the DSP data processing module; the judgment algorithm in the DSP data processing module is as follows:
  • E is the effective value of the electric field strength (unit: V/m)
  • x is the distance (unit: m) of the distance from the side of the drone. It is the first derivative of the effective value of the electric field strength versus x, that is, the rate of change of the electric field strength (unit: V/m 2 ).
  • Step 4 The obstacle avoidance command is output to the airborne flight control system by the DSP data processing module, and then the servo servo is controlled by the unmanned servo servo controller to perform the next action.
  • the command is “safe”, the current flight task is continued;
  • the UAV is first hovered, and the instruction of "original return” or “temporary adjustment of route” is issued through the video transmitted in real time.

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

La présente invention concerne un procédé d'évitement d'obstacles pendant une inspection d'acheminement de lignes de transport d'énergie à deux circuits à haute tension effectuée par un véhicule aérien sans pilote sur le même pylône en se basant sur une vitesse de modification d'une intensité de champ électrique, ledit procédé proposant une théorie complètement nouvelle, à savoir que la vitesse de modification d'une intensité de champ électrique autour d'une ligne de transport d'énergie est surtout déterminée par un agencement de fil conducteur et une structure de pylône, et un procédé d'évitement d'obstacles est obtenu à partir de cette dernière, ce qui permet d'améliorer la précision d'évitement d'obstacles et de simplifier fortement le procédé d'évitement d'obstacles.
PCT/CN2016/081050 2015-05-15 2016-05-04 Procédé d'évitement d'obstacles pendant une inspection d'acheminement de lignes de transport d'énergie à deux circuits à haute tension effectuée par un véhicule aérien sans pilote sur le même pylône en se basant sur une vitesse de modification d'une intensité de champ électrique Ceased WO2016184308A1 (fr)

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CN201510250261.3 2015-05-15
CN201510250261.3A CN104977930B (zh) 2015-05-15 2015-05-15 基于电场强度变化率的高压同塔双回输电线路无人机巡检避障方法

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