Method for detecting safe power-line-cruising distance of UAV (unmanned aerial vehicle)

A technology of safe distance and power line inspection, applied in directions such as overhead lines/cable equipment, 3D position/channel control, etc.

Active Publication Date: 2012-07-18
STATE GRID INTELLIGENCE TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, all processes of UAVs, such as take-off, air flight, mission execution, mission completion, return flight, and landing, need to be completed by the crew operator. The

Method used

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  • Method for detecting safe power-line-cruising distance of UAV (unmanned aerial vehicle)
  • Method for detecting safe power-line-cruising distance of UAV (unmanned aerial vehicle)
  • Method for detecting safe power-line-cruising distance of UAV (unmanned aerial vehicle)

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0108] Figure 1-Figure 6 As shown, taking the ZN-2 UAV inspection of 500kV transmission wires as an example, refer to the above description of the safety distance analysis method to calculate its safe flight area.

[0109] Among them, the ZN-2 type UAV adopts the system structure of the inspection overhead line route and the tower UAV helicopter system described in the patent number ZL200920029519.7.

[0110] (1) Establishment of space electromagnetic field model around 500kV AC line

[0111] choose as figure 1 The transmission wires of typical straight towers used in the actual 500kV AC transmission line shown are used for simulation modeling.

[0112] Set the parameters as follows:

[0113] a) Phase spacing of transmission wires: 12400mm, 12400mm;

[0114] b) The height of the transmission wire from the ground: 30000mm;

[0115] c) Ground wire spacing: 20550mm;

[0116] d) Vertical height from the ground wire to the transmission wire: 7800mm;

[0117] e) The wire ado...

Embodiment 2

[0159] Figure 7-Figure 11 In this paper, taking the ZN-2 UAV inspection 110kV transmission wire as an example, refer to the description of the safe distance analysis method to calculate its safe flight area.

[0160] (1) Establishment of space electromagnetic field model around 110kV AC line

[0161] choose as Figure 7 The actual 110kV AC transmission line shown is used for the simulation modeling of the transmission wires seen in typical straight towers.

[0162] Set the parameters as follows:

[0163] a) Phase spacing of transmission wires: 6500mm, 6500mm;

[0164] b) The height of the transmission wire from the ground: 10500mm;

[0165] c) Ground wire spacing: 9800mm;

[0166] d) Vertical height from the ground wire to the transmission wire: 3400mm;

[0167] e) The wire adopts LGJ-150 model, wire radius: 8mm; conductivity: 3.29*10 7 S / m;

[0168] f) The ground wire adopts GJ-35 model, wire radius: 3.9mm; conductivity: 7.353*10 6 S / m.

[0169] g) During the simul...

Embodiment 3

[0193] Figure 12-Figure 16 In this paper, taking the ZN-2 UAV to inspect 220kV transmission wires as an example, refer to the description of the safe distance analysis method to calculate its safe flight area.

[0194] (1) Establishment of space electromagnetic field model around 220kV AC line

[0195] choose as Figure 12 The actual 220kV AC transmission line shown is used for the simulation modeling of the transmission wires seen in typical straight towers.

[0196] Set the parameters as follows:

[0197] a) Phase spacing of transmission wires: 11000mm, 10992mm;

[0198] b) The height of the transmission wire from the ground: 14500mm;

[0199] c) Ground wire spacing: 17300mm;

[0200] d) Vertical height from the ground wire to the transmission wire: 4900mm;

[0201] e) The wire adopts 2*LGJ-240 model, wire radius: 10.8mm; splitting distance: 400mm; conductivity: 3.068*10 7 S / m;

[0202] f) The ground wire adopts GJ-50 model, wire radius: 4.5mm; conductivity: 9.8964*...

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Abstract

The invention discloses a method for detecting the safe power-line-cruising distance of a UAV (unmanned aerial vehicle), which comprises the following steps of: (1) carrying out analysis according to the characteristics of electromagnetic fields of to-be-detected high-tension transmission lines in different voltage levels, and establishing corresponding electromagnetic-field simulation calculation models; (2) determining the maximum errors of electronic devices (which are susceptible to electromagnetic interference) carried by the power-line-cruising UAV and measuring devices used in the process of route planning making before routing inspection; (3) according to the requirements of the determined electronic devices on electromagnetic fields in the process of normal operating, by using the electromagnetic-field simulation calculation models of the high-tension transmission lines in different voltage levels and electromagnetic-field simulation calculation software, calculating the similarities and differences of an electromagnetic environment when the UAV has different distances away from a transmission conductor in the process of carrying out line-cruising operation on each high-tension transmission line, thereby determining the range of the safe distance between the UAV and the transmission conductor; and (4) carrying out line-cruising by the UAV according to the determined safe distance of each to-be-detected transmission line, thereby avoiding the situations that the devices run disorderly, the flight communication is interfered, a flight mission is failed, and the like caused by the electromagnetic field of the transmission conductor, and then ensuring the safety, stability and reliability of a flight.

Description

technical field [0001] The invention relates to a technology for the safety of unmanned aerial vehicle power line inspection, in particular to a ZN-2 type unmanned aerial vehicle power line inspection safety distance detection method. Background technique [0002] Today's drones are not only used in the military, but are also widely used in areas such as electricity, ground traffic control, harbor monitoring, natural resource remote sensing, and weather services. Since the UAV system must rely on data communication to complete its tasks, the interference caused by the complex electromagnetic environment in practice has a decisive impact on its range of use and performance. How to judge whether the UAV and its equipment can work safely and correctly in a certain electromagnetic environment has become an important issue that needs to be solved urgently. [0003] At present, the research and analysis of the electromagnetic environment of high-voltage transmission wires at home...

Claims

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Application Information

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IPC IPC(8): G05D1/10H02G1/02
Inventor 郑天茹王滨海王骞刘俍张晶晶
Owner STATE GRID INTELLIGENCE TECH CO LTD
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