CN107450585B - Automatic high-speed rail contact net inspection method based on unmanned aerial vehicle - Google Patents
Automatic high-speed rail contact net inspection method based on unmanned aerial vehicle Download PDFInfo
- Publication number
- CN107450585B CN107450585B CN201710788520.7A CN201710788520A CN107450585B CN 107450585 B CN107450585 B CN 107450585B CN 201710788520 A CN201710788520 A CN 201710788520A CN 107450585 B CN107450585 B CN 107450585B
- Authority
- CN
- China
- Prior art keywords
- aerial vehicle
- unmanned aerial
- electromagnetic field
- contact net
- flight
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 47
- 238000007689 inspection Methods 0.000 title claims abstract description 35
- 230000005672 electromagnetic field Effects 0.000 claims description 126
- 230000008569 process Effects 0.000 claims description 33
- 230000005540 biological transmission Effects 0.000 claims description 18
- 230000003750 conditioning effect Effects 0.000 claims description 12
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims description 7
- 238000001914 filtration Methods 0.000 claims description 7
- 238000004891 communication Methods 0.000 claims description 5
- 238000012545 processing Methods 0.000 claims description 5
- 230000008030 elimination Effects 0.000 claims description 3
- 238000003379 elimination reaction Methods 0.000 claims description 3
- 239000003990 capacitor Substances 0.000 description 19
- 230000008859 change Effects 0.000 description 5
- 230000005684 electric field Effects 0.000 description 5
- 239000000463 material Substances 0.000 description 5
- 230000000694 effects Effects 0.000 description 4
- 230000002159 abnormal effect Effects 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000002474 experimental method Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 238000002955 isolation Methods 0.000 description 2
- 230000003137 locomotive effect Effects 0.000 description 2
- 229910000889 permalloy Inorganic materials 0.000 description 2
- 208000025274 Lightning injury Diseases 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000005856 abnormality Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000001174 ascending effect Effects 0.000 description 1
- 230000002238 attenuated effect Effects 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 239000004020 conductor Substances 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 230000007123 defense Effects 0.000 description 1
- 239000012212 insulator Substances 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 238000000053 physical method Methods 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
Images
Classifications
-
- 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
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
-
- 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
Landscapes
- 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)
- Train Traffic Observation, Control, And Security (AREA)
Abstract
The invention discloses an automatic inspection method for a high-speed rail contact network by using an unmanned aerial vehicle. The automatic demand of patrolling and examining of prior art's unable satisfying high-speed railway contact net has been solved in this application, and automatic navigation when patrolling and examining the contact net has reduced strong electromagnetic interference and air current moreover to unmanned aerial vehicle's influence, has reduced the crash accident.
Description
Technical Field
The invention belongs to the technical field of electronic information, and particularly relates to an automatic inspection method for a high-speed rail contact network by adopting an unmanned aerial vehicle.
Background
The high-speed railway contact system (hereinafter referred to as "high-speed rail contact system" or "contact system") is a transmission line which is erected over a railway line and supplies power to an electric locomotive, and current which is relied on by the operation of a high-speed rail train is transmitted through the contact system at the upper end of the locomotive. The working voltage of the contact net is 25KV, the single-phase alternating current with the frequency of 50Hz or 60Hz, in actual use, the voltage can reach 27.5KV, and due to the transmission of the alternating current, a variable electromagnetic field is arranged near the contact net. In the whole system of a high-speed rail, a contact network is the link which is most prone to problems and is one of three key ring links which influence the safe operation of a high-speed electrified railway. The contact net is made of flexible conductor materials and is easy to damage, and under severe weather conditions, the contact net can be influenced by surface icing, lightning stroke and the like, foreign matters such as plastic bags and the like flying along with wind can be wound on the contact net, and the situation can cause the transmission line of the whole contact net to break down to influence the operation of a high-speed railway. Therefore, how to efficiently patrol the contact network and ensure the reliable and safe operation of the high-speed train becomes an important problem to be solved in the field.
An unmanned plane (hereinafter referred to as "drone") is an unmanned plane that is operated by a radio remote control device and a self-contained program control device. The unmanned aerial vehicle has wide application in the fields of national defense, police, city management, agriculture, geology, meteorology, electric power, emergency rescue and relief, video shooting and the like. The unmanned aerial vehicle that patrols and examines the use to power transmission net twine in the electric power field is called the unmanned aerial vehicle is patrolled and examined to electric power.
Unmanned aerial vehicle is patrolled and examined to present electric power often needs the operator to control unmanned aerial vehicle through radio remote control equipment and follow transmission line flight and patrol and examine electric power transmission line, in order to avoid striking transmission line, unmanned aerial vehicle and transmission line can not be kept away from to operating personnel. And the high-speed rail contact net is usually long, and passes through complex terrains such as mountains, rivers, swamps and tunnels, and in consideration of the safety of high-speed railways, inspection personnel are not suitable for walking on the high-speed rail and approaching a high-speed rail track for a long time, and if the high-speed rail is not used, the operation personnel are difficult to pass through the complex terrains such as rivers, mountains and swamps. Operating personnel is difficult to guarantee not to keep away from the contact net, and the operator is difficult to observe the distance of unmanned aerial vehicle and high-speed railway contact net, is difficult to accomplish and patrols and examines the task, can not guarantee that unmanned aerial vehicle does not strike the contact net.
The high-end electric power of current part patrols and examines unmanned aerial vehicle can type in advance a plurality of coordinates on the transmission line that need patrol and examine, and through the path fitting algorithm, unmanned aerial vehicle can patrol and examine according to the circuit that these several coordinates are constituteed. But this method is suitable for high-voltage transmission lines with relatively stable electromagnetic fields. In the vicinity of a moving high-speed train, the intensity of an electromagnetic field can be rapidly increased, electromagnetic waves with various frequencies can be generated, and even stronger electromagnetic interference can be generated. Under these circumstances, unmanned aerial vehicle's remote control signal and/or circuit can receive the interference to probably lead to unmanned aerial vehicle to break down, even cause the crash accident, cause unpredictable's threat to high-speed railway contact net. When a high-speed train passes by, the strong airflow can cause the unmanned aerial vehicle to be out of control and even collide against a contact net or a high-speed train.
In order to avoid the problems, the unmanned aerial vehicle is far away from the overhead line system, but instruments with long shooting distances are required to be used when the unmanned aerial vehicle is far away from the overhead line system, but the instruments capable of shooting remotely and clearly are usually small in shooting angle, the unmanned aerial vehicle can shake due to the influence of various factors, and the shooting angle is deviated, so that the unmanned aerial vehicle cannot shoot the overhead line system all the time; even if some images have been taken, the state of the catenary cannot be effectively recognized because there are too few pixels reflecting the state of the catenary.
The name is ' an electric power patrols line unmanned aerial vehicle auxiliary control system and control method ', chinese patent with application number 201210069761.3, it discloses a calculates the distance of unmanned aerial vehicle and power line through the intensity value that detects the electric field, unmanned aerial vehicle controls unmanned aerial vehicle's flight gesture and route according to control command and distance value that the remote controller sent, prevent the problem that unmanned aerial vehicle and power line collided in the electric power patrols the line process, but this kind of method is in the process that unmanned aerial vehicle patrols and examines the electric power transmission line, still need the operator to control unmanned aerial vehicle's flight route and direction through people's eye observation, operating personnel can not keep away from unmanned aerial vehicle, remote control signal still, can not solve the problem that high-speed railway train is out of control that strong air current and electromagnetic interference brought when passing through.
The current problem that exists based on unmanned aerial vehicle high-speed railway contact net technique of patrolling and examining is: the power inspection unmanned aerial vehicle in the prior art cannot meet the requirement of high-speed rail contact network inspection, in automatic inspection, a high-speed rail train generates strong airflow and strong electromagnetic field interference when passing through, not only is a remote control signal and an onboard circuit easily interfered by a strong electromagnetic field, but also the airflow interferes the motion of the unmanned aerial vehicle, even a crash accident is caused, and the automatic inspection task of the unmanned aerial vehicle cannot be well completed; in the inspection of the manually operated unmanned aerial vehicle, an operator is difficult to traverse a complex terrain, so that the unmanned aerial vehicle cannot be always close to a line and the unmanned aerial vehicle is difficult to avoid colliding with a contact net; the manual inspection of the contact net is time-consuming, labor-consuming and high in cost.
Disclosure of Invention
In order to solve the problems in the prior art, the invention discloses an automatic inspection method for a high-speed rail contact network based on an unmanned aerial vehicle, wherein the unmanned aerial vehicle is a multi-rotor aircraft and comprises a microprocessor, a flight control system, a navigation system, a power system, an operating device, a communication system and a shooting system; the flight control system comprises a flight sensor and a flight controller; the navigation system comprises a positioning module; the shooting system comprises a video memory, a video acquisition device and a holder; the power system comprises a battery, a motor and a rotor wing; at least three electromagnetic field sensors are used for respectively measuring the varying electromagnetic field intensity at different positions; the working process comprises the following contents:
the first process is as follows: the unmanned aerial vehicle executes coordinate initialization, records the geographic position coordinates of the take-off and landing platform and sets the geographic position coordinates of the automatic routing inspection route end point;
and a second process: an operator remotely controls the unmanned aerial vehicle to lift off from the lifting platform and hover over a contact net through the control equipment;
the third process: sending an instruction for starting to inspect to the unmanned aerial vehicle, after the unmanned aerial vehicle receives the instruction, measuring a variable electromagnetic field intensity signal by an electromagnetic field sensor for processing by a microprocessor, correcting the position of the unmanned aerial vehicle relative to a contact net by a flight controller according to an operation result of the microprocessor, and starting a video acquisition device by the unmanned aerial vehicle;
the process four is as follows: the unmanned aerial vehicle advances along the railway direction and continuously shoots videos from different angles, and the relative contact network position of the unmanned aerial vehicle is repeatedly calculated and adjusted according to the variable electromagnetic field intensity signals collected by the electromagnetic field sensor; acquiring geographic position data according to a signal of the positioning module and judging whether the destination of the routing inspection is reached; if the automatic routing inspection route end point is not reached, continuously repeating the process IV;
and a fifth process: if the automatic routing inspection route terminal has been reached, returning to the lifting platform according to a preset program;
the process six: in the flight of the unmanned aerial vehicle, when the signal output by the electromagnetic field sensor changes rapidly or the attitude signal output by the flight sensor changes rapidly, the unmanned aerial vehicle stops moving forward and rises, hovers, and if the signal output by the electromagnetic field sensor and the attitude signal output by the flight sensor become stable within a certain time, the unmanned aerial vehicle descends and continues to patrol.
The mode of calculating the relative contact network position of the unmanned aerial vehicle in the process IV is as follows: the changed electromagnetic field intensity values obtained by the electromagnetic field sensors are corrected and then divided, the result is only related to the distance between the electromagnetic field sensors and a contact net, the positions and the distances between the electromagnetic field sensors are known, the distances between the electromagnetic field sensors and a contact net power transmission cable are calculated according to the position relation and the distances between the quotient and the electromagnetic field sensors, and then the relative position between the unmanned aerial vehicle and the contact net is calculated.
Preferably, the number of the electromagnetic field sensors is four, two of the electromagnetic field sensors are respectively arranged on the left side and the right side, the heights of the two electromagnetic field sensors are the same, the other two electromagnetic field sensors are arranged under the unmanned aerial vehicle, the heights of the two electromagnetic field sensors are different, and the distances between all the adjacent electromagnetic field sensors are equal. The positioning module is based on a GPS system and/or a Beidou satellite system.
The electromagnetic field sensor comprises a filter, and the electromagnetic field sensor outputs signals after filtering.
Preferably, a signal conditioning circuit is arranged between the electromagnetic field sensor and the microprocessor, and the signal conditioning circuit comprises a compensation circuit; the signal conditioning circuit comprises a filter; the signal conditioning circuit corrects the signals obtained by the electromagnetic field sensor to obtain the respective alternating electromagnetic field intensity after interference elimination, and a digital filtering and compensation algorithm is adopted in a program.
Compared with the prior art, the invention has the following beneficial effects: the requirement of high-speed rail contact net inspection is better met, the high-speed rail contact net inspection device automatically flies in the inspection process, and an operator does not need to pass through a complex terrain; when a high-speed rail train passes through the system, the influence of air flow and electromagnetic field interference can be avoided, the failure rate is reduced, the crash accident is avoided, the contact net and the train are prevented from being damaged by the unmanned aerial vehicle, and the failure and crash accident of the unmanned aerial vehicle caused by strong convection weather can be reduced even if the high-speed rail train does not pass through the system; compare with artifical patrolling and examining, this application labour saving and time saving, it is with low costs.
Drawings
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described with reference to the accompanying drawings and examples. The accompanying drawings are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification.
FIG. 1 is a primary block diagram of one embodiment of the present invention.
Fig. 2 is a flowchart of a control method according to an embodiment of the present invention.
FIG. 3 is an electrical schematic of an electromagnetic field sensor employed in one embodiment of the present invention.
FIG. 4 is a schematic view of an electromagnetic field sensor assembly used in one embodiment of the present invention.
In fig. 1, a microprocessor, 2, a flight sensor, 3, a flight controller, 4, a positioning module, 5, a video memory, 6, a video acquisition device, 7, a power supply and 8, an electromagnetic field sensor.
In the figure 2, 9, a first process, 10, a second process, 11, a third process, 12, shooting, signal acquisition and attitude adjustment, 13, judging whether a terminal is reached, 14, a fifth process, 15, entering an interruption program because of rapid change of an output signal of an electromagnetic field sensor or an attitude signal of an unmanned aerial vehicle output by a flight sensor, 16, stopping the unmanned aerial vehicle from advancing, raising the altitude and hovering, 17, whether the output signal of the electromagnetic field sensor and the attitude signal output by the flight sensor are stable within a specific time, 18, continuing inspection, 19, and performing exception handling.
In fig. 4, 401, a first electromagnetic field sensor, 402, a second electromagnetic field sensor, 403, a third electromagnetic field sensor, 404, a fourth electromagnetic field sensor, 405, a contact network power transmission cable, 406 and a body of the unmanned aerial vehicle.
Detailed Description
The present application is described below with reference to the drawings and examples. Fig. 1 is an embodiment in which the drone used is a multi-rotor aircraft including a microprocessor, flight control system, navigation system, power system, steering device, communication system, camera system; the flight control system comprises a flight sensor and a flight controller; the navigation system comprises a positioning module; the shooting system comprises a video memory, a video acquisition device and a holder; the video acquisition device is fixed on the holder; the power system comprises a battery, a motor and a rotor wing; at least three electromagnetic field sensors are used for respectively measuring the variable electromagnetic field intensity at different positions, and the electromagnetic field sensors are electrically connected with the microprocessor. Whether the continuous inspection unmanned aerial vehicle's of flight sensor gesture takes place the slope, the upset and with the distance of barrier, the continuous monitoring unmanned aerial vehicle's of orientation module position, electromagnetic field sensor monitors the distance of unmanned aerial vehicle and contact net, when deviating from the flight or flight gesture unusual or with the contact net when too near, flight controller adjusts unmanned aerial vehicle's direction and gesture, make unmanned aerial vehicle can be steadily along the contact net and, or the high-speed railway circuit accomplishes and patrols and examines the task. The control flow of the embodiment is given in fig. 2, and an interrupt handler is adopted.
Fig. 3 is an electrical schematic diagram of an electromagnetic field sensor IN an embodiment, and includes an adjustable resistor R1, an adjustable range of the adjustable resistor R1 is 0-1K Ω, a resistor R2 is 51K Ω, a capacitor C1 is 10uF, a capacitor C2 is 1uF, a capacitor C3 is 0.1uF, a capacitor C4 is 0.1uF, a capacitor C5 is 6.8nF, a capacitor C6 is 0.1uF, diodes D1 and D2 are IN4007 and L1 are 10mH, and an operational amplifier U1 is IN LM386 and Vout.
One end of the inductor L1 is grounded, and the other end is electrically connected with the capacitor C5; one end of the capacitor C5 is grounded, one end of the capacitor C3 is electrically connected to the capacitor C3, the first pin of the operational amplifier U1 is electrically connected to the capacitor C1, the second pin of the operational amplifier U1 is grounded, the third pin of the operational amplifier U1 is electrically connected to the capacitor C3, the fourth pin of the operational amplifier U1 is grounded, the fifth pin of the operational amplifier U1 is electrically connected to the capacitor C4, the sixth pin of the operational amplifier U1 is connected to the positive electrode of the power supply, the seventh pin of the operational amplifier U1 is electrically connected to the capacitor C2, the other end of the capacitor C2 is grounded, the eighth pin of the operational amplifier U1 is electrically connected to the resistor R1, the capacitor C1 is electrically connected to the resistor R1, the diode D1 is electrically connected to the capacitor C1, the other end of the capacitor C1 is grounded, the diode D1 is electrically connected to the diode D1, the diode.
There are many components in the varying electromagnetic field. The first is an electromagnetic field generated by 50Hz or 60Hz alternating current on a contact net, the change frequency of the electromagnetic field is consistent with the frequency of the alternating current, the electric field intensity is related to alternating voltage, the magnetic field intensity is related to alternating current, when a high-speed train approaches, the contact net supplies power to the train, the alternating current is increased, and the change amplitude and the change speed of the magnetic field are increased. The second electromagnetic field is generated by equipment such as a motor on the train, the frequency range is from several hundred hertz to hundreds of megahertz, the electromagnetic field is mainly transmitted along a power transmission line and gradually attenuated, the closer to the train, the stronger the electromagnetic interference is, and the unmanned aerial vehicle cannot be interfered as long as the distance is far enough. The third type of electromagnetic field is primarily generated by other sources, such as communication base stations, radio stations, industrial equipment, radar, etc.
In order to improve the frequency response characteristic of the electromagnetic field sensor and reduce the influence of the electromagnetic field in a specific frequency band, a signal conditioning circuit can be added between the electromagnetic field sensor and the microprocessor. The signal conditioning circuit can comprise a compensation circuit; the signal conditioning circuit may also include a filter to remove extraneous components. The performance of each sensor has some differences or the output signals of the sensors are not linear, and the signals obtained by the sensors are corrected by the signal conditioning circuit, so that the alternating electromagnetic field intensity of each sensor after interference elimination can be obtained. In the experiment, the influence of frequency modulation and amplitude modulation signals sent by a broadcasting station on an electromagnetic field sensor is larger, the influence of television station signals is slightly smaller, the influence of communication base station signals on the electromagnetic field sensor is not larger, the influence of interference signals can be obviously reduced by adopting a filter, and the embodiment of the invention uses capacitance filtering, thereby having the advantages of low price, small volume, light weight and good filtering effect. A similar effect can be achieved by using digital filtering and compensation algorithms in the program.
In fig. 3, after an inductor L1 senses a signal of an alternating electromagnetic field of a catenary, the signal is amplified by a gain set by an adjustable resistor R1 through an operational amplifier U1 and a peripheral circuit thereof, band-pass filtering is realized by a capacitor, and the signal is output from a Vout port and is collected by an analog-to-digital converter. However, the inductance mainly measures the changing magnetic field parallel to the axial direction, in order to accurately measure the changing magnetic field intensity of the space, 3 inductors which are arranged mutually perpendicular are used in each sensor, the 3 inductors respectively measure the changing magnetic field intensity of 3 directions, and the total changing magnetic field intensity of each sensor is obtained by a physical method.
In another embodiment, a bipolar Hall element is used to measure the electromagnetic field, and an operational amplifier is used to amplify the signal.
And correcting the changed electromagnetic field intensity values obtained by the electromagnetic field sensors, and then dividing the corrected electromagnetic field intensity values, and calculating the relative position of the unmanned aerial vehicle and the contact net according to the position relation and the distance between the quotient and each sensor. The purpose of correction is to reduce the influence of interference signals and eliminate the nonlinear characteristic of an electromagnetic field sensor, and the corrected signals reflect the electromagnetic field generated by alternating current and/or the electromagnetic field intensity generated by high-speed train equipment. In FIG. 4, the first electromagnetic field sensor, the second electromagnetic field sensor, the third electromagnetic field sensor, and the third electromagnetic field sensor are electrically connectedFour magnetic field sensors such as the magnetic field sensor are fixed in the below of the inspection unmanned aerial vehicle. They measure the varying electromagnetic field strength of each point, correct their output signals and eliminate the influence of interference signals. For magnetic field, according to the formula
Wherein mu is magnetic conductivity, I is current flowing in a contact network lead, r is the distance between the sensor and the lead, B is magnetic field intensity, and the alternating magnetic field intensity detected by the electromagnetic field sensor I is set as B1The alternating magnetic field intensity detected by the second electromagnetic field sensor is B2The alternating magnetic field intensity detected by the electromagnetic field sensor III is B3The alternating magnetic field intensity detected by the electromagnetic field sensor four is B4. The magnetic field signals measured by the sensors are divided, and the result is only related to the distance between the sensors and the overhead line system, and the distance between the sensors and the overhead line system is r1、r2、r3、r4And the positions and the distances among the electromagnetic field sensors are known, the listed equations can calculate the distances between the sensors and a contact net power transmission cable, and then the relative positions between the unmanned aerial vehicle and the contact net are judged.
The varying electromagnetic field contains both electric and magnetic fields. The distance between the unmanned aerial vehicle and a contact net and the existence of a high-speed train nearby can be judged only by measuring a changing magnetic field by the electromagnetic field sensor. Similarly, the electromagnetic field sensor only measures the changed electric field and can also judge the distance between the unmanned aerial vehicle and a contact net and whether a high-speed train exists nearby.
In the embodiment of fig. 4, 4 electromagnetic field sensors are placed below the unmanned aerial vehicle, wherein two sensors are respectively arranged at the left side and the right side and have the same height; two other sensors are all under unmanned aerial vehicle, and highly different, all adjacent sensor distances all are 20 centimetres, just can judge unmanned aerial vehicle's position through the ratio of each sensor measuring result. The unmanned aerial vehicle is required to fly at a distance of 1.8 meters right above a contact net, magnetic field intensity signals generated by alternating current obtained by electromagnetic field sensors on the left side and the right side are equal, the ratio of the electromagnetic field intensity signals obtained by the upper electromagnetic field sensor to the electromagnetic field intensity signals obtained by the lower electromagnetic field sensor is 0.9, if the data deviate from the data, the unmanned aerial vehicle is adjusted, and if the unmanned aerial vehicle is required to fly at other positions relative to the contact net, the ratio of the signals of the electromagnetic field sensors can be.
FIG. 2 is a workflow of an embodiment, the work process of which comprises the following:
the first process is as follows: the unmanned aerial vehicle executes coordinate initialization, records the geographic position coordinates of the take-off and landing platform and sets the geographic position coordinates of the automatic routing inspection route end point; in the embodiment, the unmanned aerial vehicle patrols along a fixed line, if the line is not changed, the position coordinate is only required to be recorded once, and the position coordinate is not required to be recorded repeatedly every time;
and a second process: an operator remotely controls the unmanned aerial vehicle to lift off from the lifting platform and hover over a contact net through the control equipment;
the third process: sending an instruction for starting to inspect to the unmanned aerial vehicle, after the unmanned aerial vehicle receives the instruction, measuring a variable electromagnetic field intensity signal by an electromagnetic field sensor for processing by a microprocessor, correcting the position of the unmanned aerial vehicle relative to a contact net by a flight controller according to an operation result of the microprocessor, and starting a video acquisition device by the unmanned aerial vehicle;
the process four is as follows: the unmanned aerial vehicle patrols and examines the contact net, the unmanned aerial vehicle advances along the railway direction and shoots the video continuously from different angles, the contact net state in the field of vision is stored in the video memory in the form of video through the video acquisition device, and the position coordinate corresponding to the video is recorded at the same time, so that the video can be supplied to an operation platform, and the result can also be analyzed by a microprocessor in the air; repeatedly calculating and adjusting the position of the unmanned aerial vehicle relative to the contact net according to the variable electromagnetic field intensity signal acquired by the electromagnetic field sensor; acquiring geographic position data according to a signal of the positioning module and judging whether the destination of the routing inspection is reached; if the automatic routing inspection route end point is not reached, continuously repeating the process IV;
and a fifth process: if the automatic routing inspection route terminal has been reached, returning to the lifting platform according to a preset program;
the process six: in the flight of the unmanned aerial vehicle, when the signal output by the electromagnetic field sensor changes rapidly or the attitude signal output by the flight sensor changes rapidly, the unmanned aerial vehicle stops moving forward and rises, hovers, and if the signal output by the electromagnetic field sensor and the attitude signal output by the flight sensor are stable within a certain time, the unmanned aerial vehicle descends and continues to patrol.
In the embodiment, when the electromagnetic field signal received by the electromagnetic field sensor changes rapidly, which indicates that a high-speed train is nearby, and a high-speed railway train is close, an irregular electromagnetic signal of hundreds to tens of kilohertz exists, and the maximum value of the magnetic field intensity generated by the alternating current sometimes increases by more than 10 times, so that the electromagnetic field sensor detects the rapidly changing electromagnetic signal. In order to prevent strong electromagnetic interference brought by the high-speed train and the influence of airflow near the high-speed train on the flight of the unmanned aerial vehicle, the unmanned aerial vehicle collides with high-speed railway equipment, the unmanned aerial vehicle stops advancing at the moment, rises, hovers for a period of time, descends again and continues to patrol. In the embodiment, the height of the unmanned aerial vehicle rises by 15 meters, the time is 10 minutes, the height of the unmanned aerial vehicle is detected by descending if the signal of the sensor is stable within 10 minutes, and if the signal is not stable all the time within 10 minutes, the unmanned aerial vehicle enters an exception handling program and calls a return flight program to fly back to the starting point. In another embodiment, after waiting ten minutes, if the signal is still unstable, the drone advances 100 meters along the high-speed rail line and descends to a height for inspection.
Generally, the overhead contact system of the high-speed rail is safe and has few obstacles. Occasionally, a high-voltage power transmission line crosses a high-speed rail line, when the unmanned aerial vehicle ascends, the electromagnetic field sensor adopted by the unmanned aerial vehicle can also detect the fact that the electric field or the magnetic field is strengthened, when the electric field or the magnetic field is strong enough, the unmanned aerial vehicle stops ascending in time, and a certain distance can be kept between the unmanned aerial vehicle and the high-voltage power transmission line. The height that the unmanned aerial vehicle ascends in the tunnel is limited by the tunnel, and the unmanned aerial vehicle only hovers at the position of 20 centimeters away from the top of the tunnel at most. If a bridge is arranged above the high-speed rail, the same processing mode as that of the tunnel can be adopted.
The unmanned aerial vehicle attitude signal of flight sensor output takes place the rapid change, shows that there is strong air current or foreign matter striking, is that high-speed railway train or strong wind, hail, heavy rainfall etc. arouse usually, in order to prevent that unmanned aerial vehicle from hitting the contact net, in addition keeps away from the contact net.
The video image signals can be interpreted by the microprocessor, whether the contact line has abnormality or not is analyzed, such as whether the contact line, a dropper, a carrier cable, a cantilever, a horizontal pull rod, an insulator, a positioning pipe, a positioner, a support column and the like have abnormal conditions, such as position deviation, surface foreign matters, cracks and the like, and images which cannot be clearly judged by the microprocessor are transmitted back to the operation platform and judged by people.
The positioning module is as follows: the positioning module based on the GPS system and/or the positioning module based on the Beidou satellite system. In one embodiment, a NEO-7N GPS module is adopted as a positioning module of the system, and in another embodiment, a S1216-based GPS Beidou two-star positioning module is adopted, so that the positioning accuracy of the system is further improved compared with the positioning module adopted in the previous embodiment.
In one embodiment, the outer surface of the unmanned aerial vehicle is provided with the electromagnetic shielding material, the permalloy metal mesh is adopted, and the electromagnetic field in the shielding body is greatly weakened by means of the low magnetic resistance and the electric conductivity of the permalloy material, so that the interference of the external electromagnetic field on the unmanned aerial vehicle circuit is effectively reduced. When a high-speed train passes by at a high speed, the generated electromagnetic field is stronger, and the failure rate of the unmanned aerial vehicle is reduced and the failure of the unmanned aerial vehicle caused by thunder is also reduced due to the shielding effect of the shell shielding material on the electromagnetic field. In an embodiment, the attenuation of the electromagnetic field is still up to 20dB due to the air gap at the rotor of the drone. The electromagnetic field sensor is not within the shielding range of the electromagnetic shielding material, and the electromagnetic field sensor is below the unmanned aerial vehicle shell in the embodiment of fig. 4.
The microprocessor and flight controller are integrated in one integrated circuit. In one embodiment, the STM32F407 integrated circuit adopting the intentional semiconductor can reach the clock frequency of 168MHz at most, and basically meets the requirements of simple video processing and flight control of the embodiment. The embodiment uses a block of STM32F407 integrated blocks that implement all the functions of the microprocessor and flight controller in the present application. In another embodiment, the unmanned aerial vehicle is modified on the basis of a civil unmanned aerial vehicle, the unmanned aerial vehicle is provided with a flight controller before modification, a microprocessor and an electromagnetic field sensor are added during modification, and the flight controller and the microprocessor are two integrated circuits.
In one embodiment, analog signals output by the electromagnetic field sensor are subjected to analog-to-digital conversion, and the analog-to-digital converter is a 12-bit ADC successive approximation type analog-to-digital converter integrated into the processor, so that the acquisition precision under severe working conditions is guaranteed, the system power consumption is reduced, the endurance time of the unmanned aerial vehicle is prolonged, and the cost and the weight of the unmanned aerial vehicle are reduced. In another embodiment, an ADI 6-bit isolation type sigma-delta ADC AD7403 is used as an external analog-to-digital converter, an RC filter circuit is arranged in front of the ADI 6-bit isolation type sigma-delta ADC AD7403, interference of high-frequency signals is filtered, and meanwhile, the external analog-to-digital converter supports the AQEC standard, has an EOS protection function and can effectively resist interference signals and surge voltage which are possibly brought when a high-speed train passes by.
In experiments, the electromagnetic field sensor repeatedly outputs abnormal signals at certain geographic positions, and no fault is found after manual inspection. In the signal rectification program, the microprocessor ignores these abnormal signals in combination with the geographical location.
The above embodiments are merely illustrative of the principles and effects of the present invention, and it will be apparent to those skilled in the art that various changes and modifications can be made without departing from the inventive concept of the present invention, and the invention is within the protection scope of the present invention.
Claims (3)
1. A high-speed rail contact net automatic inspection method based on an unmanned aerial vehicle is provided, the used unmanned aerial vehicle is a multi-rotor aircraft, and comprises a microprocessor, a flight control system, a navigation system, a power system, an operation device, a communication system and a shooting system; the flight control system comprises a flight sensor and a flight controller; the navigation system comprises a positioning module; the shooting system comprises a video memory, a video acquisition device and a holder; the power system comprises a battery, a motor and a rotor wing; the method is characterized in that:
at least three electromagnetic field sensors are used for respectively measuring the varying electromagnetic field intensity at different positions;
the working process comprises the following contents:
the first process is as follows: the unmanned aerial vehicle executes coordinate initialization, records the geographic position coordinates of the take-off and landing platform and sets the geographic position coordinates of the automatic routing inspection route end point;
and a second process: an operator remotely controls the unmanned aerial vehicle to lift off from the lifting platform and hover over a contact net through the control equipment;
the third process: sending an instruction for starting to inspect to the unmanned aerial vehicle, after the unmanned aerial vehicle receives the instruction, measuring a variable electromagnetic field intensity signal by an electromagnetic field sensor for processing by a microprocessor, correcting the position of the unmanned aerial vehicle relative to a contact net by a flight controller according to an operation result of the microprocessor, and starting a video acquisition device by the unmanned aerial vehicle;
the process four is as follows: the unmanned aerial vehicle advances along the railway direction and continuously shoots videos from different angles, and the relative contact network position of the unmanned aerial vehicle is repeatedly calculated and adjusted according to the variable electromagnetic field intensity signals collected by the electromagnetic field sensor; acquiring geographic position data according to a signal of the positioning module and judging whether the destination of the routing inspection is reached; if the automatic routing inspection route end point is not reached, continuously repeating the process IV;
and a fifth process: if the automatic routing inspection route terminal has been reached, returning to the lifting platform according to a preset program;
the process six: when the signal output by the electromagnetic field sensor changes rapidly or the attitude signal output by the flight sensor changes rapidly during the flight of the unmanned aerial vehicle, the unmanned aerial vehicle stops advancing, rises in height, hovers, descends in height and continues to inspect if the signal output by the electromagnetic field sensor and the attitude signal output by the flight sensor become stable within a certain time;
the mode of calculating the relative contact network position of the unmanned aerial vehicle in the process IV is as follows: the changed electromagnetic field intensity values obtained by the electromagnetic field sensors are corrected and then divided, the result is only related to the distance between the electromagnetic field sensors and a contact net, the positions and the distances between the electromagnetic field sensors are known, the distances between the electromagnetic field sensors and a contact net power transmission cable are calculated according to the position relation and the distances between the quotient and the electromagnetic field sensors, and then the relative position between the unmanned aerial vehicle and the contact net is calculated.
2. The automatic inspection method for the high-speed rail overhead line system based on the unmanned aerial vehicle as claimed in claim 1, which is characterized in that: the electromagnetic field sensors are four, wherein the two electromagnetic field sensors are respectively arranged on the left side and the right side and have the same height, the other two electromagnetic field sensors are arranged under the unmanned aerial vehicle and have different heights, and the distances between all the adjacent electromagnetic field sensors are equal.
3. The automatic inspection method for the high-speed rail overhead line system based on the unmanned aerial vehicle as claimed in claim 1, which is characterized in that: a signal conditioning circuit is arranged between the electromagnetic field sensor and the microprocessor, and the signal conditioning circuit comprises a compensating circuit; the signal conditioning circuit comprises a filter; the signal conditioning circuit corrects the signals obtained by the electromagnetic field sensor to obtain the respective alternating electromagnetic field intensity after interference elimination, and a digital filtering and compensation algorithm is adopted in a program.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710788520.7A CN107450585B (en) | 2017-09-05 | 2017-09-05 | Automatic high-speed rail contact net inspection method based on unmanned aerial vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710788520.7A CN107450585B (en) | 2017-09-05 | 2017-09-05 | Automatic high-speed rail contact net inspection method based on unmanned aerial vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107450585A CN107450585A (en) | 2017-12-08 |
| CN107450585B true CN107450585B (en) | 2020-09-08 |
Family
ID=60495154
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710788520.7A Active CN107450585B (en) | 2017-09-05 | 2017-09-05 | Automatic high-speed rail contact net inspection method based on unmanned aerial vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107450585B (en) |
Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107885229A (en) * | 2017-12-15 | 2018-04-06 | 上海达实联欣科技发展有限公司 | A kind of unmanned plane and its electric power line inspection method of achievable power line automatic detecting |
| CN108489720B (en) * | 2018-03-16 | 2021-12-14 | 中铁第四勘察设计院集团有限公司 | Method for stably loading force load under high-frequency condition of catenary dropper fatigue test |
| CN108872724A (en) * | 2018-06-13 | 2018-11-23 | 国网浙江省电力有限公司金华供电公司 | For obtaining the detection method of UHVDC Transmission Lines state |
| CN109669080B (en) * | 2019-01-11 | 2024-05-24 | 深圳供电局有限公司 | Spatial electric field intensity measuring device and method |
| CN111506116B (en) * | 2020-05-29 | 2021-08-17 | 中国南方电网有限责任公司超高压输电公司昆明局 | Unmanned aerial vehicle safety control method based on strong magnetic field interference of converter station |
| CN111625021A (en) * | 2020-06-02 | 2020-09-04 | 广东电网有限责任公司 | Unmanned aerial vehicle power line patrol distance measurement system and method based on electromagnetic field |
| CN113189449B (en) * | 2021-04-29 | 2021-11-19 | 沸蓝建设咨询有限公司 | Power cable intelligent monitoring system based on unmanned aerial vehicle |
| CN114743119B (en) * | 2022-04-28 | 2024-04-09 | 石家庄铁道大学 | High-speed rail contact net hanger nut defect detection method based on unmanned aerial vehicle |
| CN115718501B (en) * | 2022-11-21 | 2023-07-14 | 众芯汉创（北京）科技有限公司 | Safety state regulation and control system and method for unmanned aerial vehicle flight |
| CN117675085B (en) * | 2023-11-27 | 2024-07-30 | 国网电力空间技术有限公司 | Unmanned aerial vehicle autonomous flight monitoring method and system for power grid inspection |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102941920A (en) * | 2012-12-05 | 2013-02-27 | 南京理工大学 | High-tension transmission line inspection robot based on multi-rotor aircraft and method using robot |
| US8880241B2 (en) * | 2013-02-20 | 2014-11-04 | Farrokh Mohamadi | Vertical takeoff and landing (VTOL) small unmanned aerial system for monitoring oil and gas pipelines |
| CN103593968B (en) * | 2013-11-14 | 2016-04-06 | 浙江大学 | Based on high voltage transmission line line walking detection system and the line walking detection method of laser communication |
| EP3152630A4 (en) * | 2014-06-09 | 2017-06-21 | Izak Van Cruyningen | Uav constraint in overhead line inspection |
| CN204423158U (en) * | 2015-01-08 | 2015-06-24 | 广东电网有限责任公司东莞供电局 | Electromagnetic induction-based aerial flight platform power transmission line avoidance device |
-
2017
- 2017-09-05 CN CN201710788520.7A patent/CN107450585B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN107450585A (en) | 2017-12-08 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107450585B (en) | Automatic high-speed rail contact net inspection method based on unmanned aerial vehicle | |
| EP3104184B1 (en) | Method and apparatus for locating faults in overhead power transmission lines | |
| CN101381002B (en) | Flying robot for detecting transmission line insulator | |
| CN110466760B (en) | Auxiliary mechanical arm for electric power inspection unmanned aerial vehicle and control system thereof | |
| CN105633855B (en) | Crusing robot and its method for inspecting | |
| CN103855644B (en) | Many rotary wind types Intelligent overhead-line circuit scanning test robot | |
| CN101604830B (en) | Unmanned helicopter system for patrolling trolly wire route and tower and method thereof | |
| CN109885083A (en) | Transmission line of electricity fining inspection flying platform and method for inspecting based on laser radar | |
| CN102183955A (en) | Transmission line inspection system based on multi-rotor unmanned aircraft | |
| CN208873047U (en) | A kind of inspection device based on multi-rotor unmanned aerial vehicle | |
| JP2006529077A (en) | Power line inspection vehicle | |
| CN106737872A (en) | A kind of high-tension line patrols and examines deicing specialized robot | |
| CN105067484A (en) | Unmanned plane based live-line test apparatus for hydrophobicity of composite insulator of power transmission line | |
| CN203983835U (en) | Many rotary wind types Intelligent overhead-line circuit scanning test robot | |
| Foudeh et al. | An advanced unmanned aerial vehicle (UAV) approach via learning-based control for overhead power line monitoring: A comprehensive review | |
| CN109782803B (en) | Unmanned aerial vehicle transmission conductor line patrol system and method | |
| CN111580531B (en) | Unmanned aerial vehicle electricity inspection method and device for power transmission line | |
| CN105892485A (en) | Overhead line inspection system | |
| CN106848922A (en) | A kind of intelligent electric power line walking device and method | |
| CN105514872A (en) | High-efficiency unmanned aerial vehicle group power inspection system | |
| WO2018053974A1 (en) | Aerial robot with climbing function | |
| CN108490245A (en) | A kind of transmission line of electricity electroscopic device based on UAV flight | |
| CN111896794A (en) | Overhead line unmanned aerial vehicle electricity testing method and device | |
| CN109521792A (en) | A kind of unmanned aerial vehicle flight control system based on power transmission and transforming equipment threedimensional model | |
| CN114115317A (en) | Substation unmanned aerial vehicle inspection method based on artificial intelligence |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |