A high-voltage transmission line inspection device based on Luneberg antenna

Abstract

The present invention relates to the technical field of line inspection, and discloses a high-voltage transmission line inspection device based on a Luneburg antenna, comprising a main control unit, a suspension unit and a communication unit, wherein the main control unit is connected below the suspension unit, and the communication unit comprises a satellite communication unit and a radio frequency communication unit, wherein the satellite communication unit is arranged above the suspension unit, and the radio frequency communication unit is arranged outside the main control unit; the satellite communication unit is used to receive satellite signals from an external control center and send them to the main control unit, and to send the received satellite signals from the main control unit to the external control center, and the radio frequency communication unit is used to receive radio frequency signals from the main control unit and send them to an external mobile terminal, and to receive radio frequency signals from an external mobile terminal and send them to the main control unit. The present invention realizes long-distance inspection and control of the line through medium and low orbit satellites, and ensures the stability of the communication signal at the inspection site through the improved Luneburg antenna.

Description

Technical Field

[0001] The present invention relates to the technical field of line inspection, and in particular to a high-voltage transmission line inspection device based on a Luneburg antenna. Background Art

[0002] In the field of power transmission lines, there are many high-voltage transmission lines that cross uninhabited areas. These high-voltage transmission equipment deployed in mountainous areas, Gobi, and even desert areas are difficult for power grid inspectors to perform line maintenance and regular inspections. Especially for high-voltage transmission equipment deployed deep in uninhabited areas, such as deep mountains, deserts, and Gobi hinterlands, the cost of reaching these areas is huge. In particular, during the implementation of some work, the number of inspectors is small, the operation and maintenance workload is relatively large, and the repetitiveness is high and cumbersome. At the same time, due to the harsh environment and high-altitude operations, it is easy to cause personal injury. A remotely controlled inspection device is needed to replace manual line inspection work.

[0003] Currently, power grid inspection devices are limited by the signal transmission distance and generally require manual on-site deployment and operation, and need to be recovered after the inspection. However, such devices cannot effectively solve the problem of high cost of reaching the equipment site for inspection of high-voltage transmission lines deployed in uninhabited areas. In addition, communicating with the outside world during on-site maintenance in remote areas is also a major technical difficulty. Currently, high-orbit satellites are usually used as communication links to ensure communication. The high relative height of high-orbit satellites and the ground causes many problems in the communication link, which cannot effectively solve the communication problems of inspection personnel during on-site maintenance. Summary of the invention

[0004] In order to solve the above-mentioned technical problems, the present invention provides a high-voltage transmission line inspection device based on Luneburg antenna, which can solve the problem of poor communication in long-distance inspection of high-voltage transmission lines, and achieve the technical effect of ensuring the stability of communication signals at the inspection site and improving the efficiency of line inspection.

[0005] In a first aspect, the present invention provides a high-voltage transmission line inspection device based on a Luneburg antenna, the device comprising:

[0006] A main control unit, a suspension unit and a communication unit, wherein the main control unit is connected below the suspension unit, the communication unit comprises a satellite communication unit and a radio frequency communication unit, the satellite communication unit is arranged above the suspension unit, the radio frequency communication unit is arranged outside the main control unit, and the suspension unit, the satellite communication unit and the radio frequency communication unit are respectively connected to the main control unit for communication;

[0007] The satellite communication unit is used to receive satellite signals from an external control center through medium and low orbit satellites and send them to the main control unit, and send the satellite signals received from the main control unit to the external control center. The radio frequency communication unit is used to receive radio frequency signals from the main control unit and send them to an external mobile terminal, and receive radio frequency signals from an external mobile terminal and send them to the main control unit.

[0008] The main control unit is used to convert the satellite signal received from the satellite communication unit into a radio frequency signal and send it to the radio frequency communication unit, and convert the radio frequency signal received from the radio frequency communication unit into a satellite signal and send it to the satellite communication unit, and generate a motion control signal according to the received satellite signal and the received radio frequency signal, and send it to the suspension unit;

[0009] The suspension unit is installed on a high-voltage transmission line and is used to perform cable detection on the high-voltage transmission line and to move according to the received motion control signal to achieve motion control of the inspection device.

[0010] Furthermore, there are at least two radio frequency communication units, which are respectively arranged on both sides of the main control unit;

[0011] Each of the radio frequency communication units comprises a Luneburg antenna body and an antenna housing;

[0012] The main body of the Luneburg antenna is a dielectric disk, the antenna housing is a semicircular structure, a first connecting member is provided at the center of the dielectric disk, second connecting members are provided at the center of both sides of the antenna housing, a through hole matching the first connecting member is provided at the center of the second connecting member, the first connecting member and the second connecting member are connected through the through hole, and the first connecting member is fixed to the main control unit;

[0013] The second connecting member is a cylindrical structure, and a micro motor, a rotating bearing and a feeder are arranged inside the cylindrical structure, the micro motor is connected to the main control unit and the rotating bearing respectively, and the feeder is connected to the main control unit;

[0014] A coaxial line is arranged at the middle point of the inner semicircular edge of the antenna housing, a waveguide is arranged on the inner wall of the antenna housing, the coaxial line is connected to the feed line through the waveguide, and the coaxial line is in contact with the dielectric disk.

[0015] Furthermore, the main control unit also includes a beam control unit and a motion control unit;

[0016] The beam control unit is used to control the micro motor to drive the antenna housing to rotate according to the radio frequency signal received by the radio frequency communication unit from the external mobile terminal, so as to control the coverage direction of the antenna beam of the radio frequency communication unit;

[0017] The motion control unit includes an inspection control unit and a communication control unit;

[0018] The inspection control unit is used to generate an inspection mobile signal according to the inspection satellite signal received from the satellite communication unit, and send it to the suspension unit to realize the inspection of the high-voltage transmission line by the inspection device;

[0019] The communication control unit is used to determine the terminal quantity and movement status of the external mobile terminal based on the radio frequency signal received from the radio frequency communication unit, generate a communication mobile signal based on the terminal quantity and the movement status, and send it to the suspension unit to realize communication between the external control center and the external mobile terminal.

[0020] Further, the communication control unit is also used to generate a first communication mobile signal and send it to the suspension unit when it is determined that the number of the terminals is one and the motion state is a stationary state, so that the suspension unit controls the inspection device to move to the top of the external mobile terminal according to the first communication mobile signal;

[0021] When it is determined that there are at least two terminals, the two external mobile terminals farthest away are respectively used as the first mobile terminal and the second mobile terminal, the vertical height of the inspection device from the ground and the rotation angle of the antenna feed source of the radio frequency communication unit on both sides of the main control unit are obtained, and the position matrix is ​​obtained according to the vertical height and the two rotation angles;

[0022] The position matrix is ​​updated in real time according to the motion states of the first mobile terminal and the second mobile terminal, a second communication mobile signal is generated according to the updated position matrix, and the second communication mobile signal is sent to the suspension unit, so that the suspension unit controls the inspection device to move to an equidistant position between the first mobile terminal and the second mobile terminal according to the second communication mobile signal;

[0023] Calculate the terminal moving speed of the second mobile terminal, take half of the terminal moving speed as the device moving speed, generate a third communication mobile signal according to the device moving speed and the moving direction of the second mobile terminal, and send it to the suspension unit, so that the suspension unit controls the inspection device to move according to the third communication mobile signal.

[0024] Further, the communication control unit also includes a position matrix unit;

[0025] The position matrix unit is used to obtain a parameter matrix according to the two rotation angles, and perform an inner product between the parameter matrix and the vertical height to obtain a position matrix;

[0026] The parameter matrix is ​​represented by the following formula:

[0027]

[0028] Wherein, θ1 and θ2 represent the rotation angles of the antenna feed sources at the first mobile terminal side and the second mobile terminal side, respectively;

[0029] The position matrix is ​​expressed by the following formula:

[0030]

[0031] Where H represents the vertical height.

[0032] Furthermore, the communication control unit also includes a moving speed calculation module;

[0033] The moving speed calculation module is used to obtain the terminal moving speed of the second mobile terminal according to the rotation angle of the antenna feed source on the second mobile terminal side at different times;

[0034] The terminal moving speed is expressed by the following formula:

[0035]

[0036] In the formula, θ3 represents the rotation angle of the antenna feed source on the second mobile terminal side at time t3, θ4 represents the rotation angle of the antenna feed source on the second mobile terminal side at time t4, and H represents the vertical height.

[0037] Further, the suspension unit includes a supporting unit, a moving unit and an inspection unit;

[0038] The support unit includes a concave support member, an L-shaped connecting rod and a guard plate, the mobile unit includes an auxiliary wheel, a power wheel and a driving unit, and the inspection unit includes a wedge rod, an arc-shaped clamp and a cable detection unit;

[0039] Wherein, the L-shaped connecting rod is arranged on both sides of the concave supporting member, and the guard plate is arranged above the L-shaped connecting rod;

[0040] The auxiliary wheel is arranged on the L-shaped connecting rod, the power wheel is connected to the top of the concave support member through a wedge block, and the driving unit connected to the power wheel is arranged on the inner wall of the concave support member;

[0041] The wedge-shaped rod is arranged on the inner wall of the concave support member, the arc-shaped clamp is connected to one end of the wedge-shaped rod, the cable detection unit is connected to the other end of the wedge-shaped rod, and the arc-shaped clamp is connected to the cable detection unit;

[0042] A third connecting member is arranged on the bottom surface of the concave supporting member, and the third connecting member is connected to the main control unit.

[0043] Furthermore, there are four L-shaped connecting rods, which are respectively arranged on both sides of the concave support member, and the L-shaped connecting rods are spring L-shaped connecting rods;

[0044] The extended end of each L-shaped connecting rod is fixedly connected to the auxiliary wheel through a bearing, and the auxiliary wheel has two groups, each group of the auxiliary wheels includes a front auxiliary wheel and a rear auxiliary wheel, and the front auxiliary wheel and the rear auxiliary wheel abut against each other;

[0045] There are two groups of power wheels, each group of power wheels includes a front power wheel and a rear power wheel, and the front power wheel and the rear power wheel abut against each other;

[0046] The wedge-shaped rod is a telescopic wedge-shaped rod, the arc-shaped clamp is connected to the fixed end of the wedge-shaped rod, and the cable detection unit is connected to the extended end of the wedge-shaped rod.

[0047] Furthermore, the inspection device further comprises solar panels, the solar panels are arranged on both sides of the guard plate, and the satellite communication unit is arranged in the middle of the guard plate;

[0048] The solar cell panel is connected to a power supply unit inside the main control unit, and the power supply unit is used to supply power to the inspection device.

[0049] Furthermore, the satellite communication unit is a Ku-band phased array antenna.

[0050] The present invention provides a high-voltage power transmission line inspection device based on a Luneburg antenna. Through the device, the present invention can realize long-distance inspection and control of high-voltage power transmission lines through medium and low-orbit satellites. The present invention also improves the Luneburg antenna, and through a movable feed source and a mobile control logic algorithm, it can enhance the gain of the signal below the device, ensure the communication stability between the mobile terminal and the control center, and thus improve the work efficiency of line inspection. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] Figure 1 It is a structural cross-sectional view of a high-voltage transmission line inspection device according to an embodiment of the present invention;

[0052] Figure 2is another structural cross-sectional view of the high-voltage transmission line inspection device in an embodiment of the present invention;

[0053] Figure 3 is a top view of a high-voltage transmission line inspection device according to an embodiment of the present invention;

[0054] Figure 4 is a schematic structural diagram of a radio frequency communication unit in an embodiment of the present invention;

[0055] Figure 5 is a schematic diagram of the propagation path of light in a gradient refractive index medium in an embodiment of the present invention;

[0056] Figure 6 is a schematic diagram of the feed radiation direction of a conventional antenna in an embodiment of the present invention;

[0057] Figure 7 is another structural schematic diagram of a radio frequency communication unit in an embodiment of the present invention;

[0058] Figure 8 is a schematic diagram of the radiation direction of the feed source of the radio frequency communication unit in an embodiment of the present invention;

[0059] Fig. 9 is a schematic diagram of the feed radiation direction after the feed of the radio frequency communication unit in an embodiment of the present invention is moved;

[0060] Fig.10 is a schematic diagram of the positional relationship between the inspection device and the mobile terminal in an embodiment of the present invention;

[0061] Fig.11 is another schematic diagram of the position relationship between the inspection device and the mobile terminal in an embodiment of the present invention;

[0062] Fig.12 It is a communication schematic diagram of the high-voltage transmission line inspection device in an embodiment of the present invention. DETAILED DESCRIPTION

[0063] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0064] See also Figure 1A first embodiment of the present invention proposes a high-voltage transmission line inspection device based on a Luneburg antenna, comprising a main control unit 1, a suspension unit 2 and a communication unit 3, wherein the main control unit 1 is connected to the bottom of the suspension unit 2, the communication unit 3 comprises a satellite communication unit 31 and a radio frequency communication unit 32, the satellite communication unit 31 is arranged above the suspension unit 2, the radio frequency communication unit 32 is arranged on the outside of the main control unit 1, and the suspension unit 2, the satellite communication unit 31 and the radio frequency communication unit 32 are respectively connected to the main control unit 1 for communication; the satellite communication unit 31 is used to receive satellite signals from an external control center through a medium and low orbit satellite and send them to the main control unit 1, and send the received satellite signals from the main control unit 1 to the external control center, and the radio frequency communication unit 32 is used to receive the radio frequency signal from the main control unit 1 and send it to the external mobile terminal, and to receive the radio frequency signal from the external mobile terminal and send it to the main control unit 1; the main control unit 1 is used to convert the satellite signal received from the satellite communication unit 31 into a radio frequency signal and send it to the radio frequency communication unit 32, and convert the radio frequency signal received from the radio frequency communication unit 32 into a satellite signal and send it to the satellite communication unit 31, and generate a motion control signal according to the received satellite signal and the received radio frequency signal, and send it to the suspension unit 2; the suspension unit 2 is installed on the high-voltage transmission line, and is used to perform cable detection on the high-voltage transmission line, and to move according to the received motion control signal to realize motion control of the inspection device.

[0065] The inspection device provided by the present invention is used for inspecting high-voltage transmission lines and serving as a signal transfer station to provide communication signals for mobile devices of maintenance personnel. It should be noted that: Figure 1 This is a cross-sectional view of the device along the cable line direction. Figure 2 This is a cross-sectional view of the device along the cable line direction. Figure 1 and Figure 2 , the structure of this device is described in detail:

[0066] The device adopts a suspension-type and drive wheel-assisted movement structure, and the device is suspended on the high-voltage transmission line to be inspected through a suspension unit 2. The suspension unit 2 includes a support unit 21, a mobile unit 22 and an inspection unit 23, wherein the support unit 21 includes a concave support member 211, an L-shaped connecting rod 212 and a guard plate 213, the mobile unit 22 includes an auxiliary wheel 221, a power wheel 222 and a drive unit 223, and the inspection unit 23 includes a wedge rod 231, an arc-shaped clamp 232 and a cable detection unit 233.

[0067] In this embodiment, the L-shaped connecting rod 212 is arranged on both sides of the concave support 211, the guard plate 213 is arranged above the L-shaped connecting rod 212, the auxiliary wheel 221 is arranged on the L-shaped connecting rod 212, the power wheel 222 is connected to the top of the concave support 211 through the wedge block 224, and the driving unit 223 connected to the power wheel 222 is arranged on the inner wall of the concave support 211; the wedge rod 231 is arranged on the inner wall of the concave support 211, the arc clamp 232 is connected to one end of the wedge rod 231, and the cable detection unit 233 is connected to the other end of the wedge rod 231, and the arc clamp is connected to the cable detection unit 233. A third connecting member 214 is arranged on the bottom surface of the concave support 211, and the other end of the third connecting member 214 is connected to the main control unit 1, and a satellite communication unit 31 is installed on the top surface of the guard plate 213.

[0068] In a preferred embodiment, there are four L-shaped connecting rods 212, which are respectively arranged on both sides of the concave support member 211, and the L-shaped connecting rods 212 are spring L-shaped connecting rods, and the extended ends of the spring L-shaped connecting rods are fixedly connected to the auxiliary wheels 221 through bearings. The auxiliary wheels 221 have two groups, each group includes a front auxiliary wheel and a rear auxiliary wheel, and the front auxiliary wheel and the rear auxiliary wheel are respectively connected to the two opposite L-shaped connecting rods 212, and the front and rear auxiliary wheels abut against each other, mainly used to assist the power wheel 222 in the device to move the device. The power wheel 222 is also set to two groups, each group includes a front power wheel and a rear power wheel, and the front auxiliary wheel and the rear auxiliary wheel are respectively connected to the two sides of the inner wall of the concave support member 211 through wedge blocks 224, and the front and rear power wheels abut against each other, and the driving unit 223 of the power wheel 222 is set on the inner side of the concave support member 211, and the driving unit 223 is controlled by the main control unit 1 suspended below.

[0069] The entire device can be fixed on the high-voltage transmission line to be inspected by the auxiliary wheel 221 and the power wheel 222 that abut against each other. The power wheel 222 moves under the drive of the driving unit 223, thereby driving the movement of the entire device. At the same time, the auxiliary wheel 221 performs auxiliary movement to further ensure the stability of the equipment suspension and movement.

[0070] In this embodiment, the wedge rod 231 in the inspection unit 23 is a telescopic wedge rod, the arc-shaped clamp 232 is connected to the fixed end of the telescopic wedge rod, and the cable detection unit 233 is connected to the extended end of the telescopic wedge rod. The wedge rod 231 is installed in the middle of the inner wall of the concave support 211, and the high-voltage transmission line to be inspected is clamped in the middle part of the device through the left and right walls of the arc-shaped clamp 232. The stability of the suspension of the device is ensured by this locking function. At the same time, the arc-shaped clamp 232 is also connected to the cable detection unit 233. The cable detection unit 233 can detect the cable passing through the arc-shaped clamp 232, and the detection result will be fed back to the main control unit 1.

[0071] The device can be suspended on the high-voltage transmission line to be inspected through the suspension unit 2, and the movement of the device is controlled by the main control unit 1 installed under the suspension unit 2. When conducting line inspection, the main control unit 1 receives instructions from the external control center through the communication unit 3 and controls the movement state of the suspension unit 2 according to the instructions.

[0072] The main control unit 1 of the device is mainly used to identify the movement state of the device on the high-voltage transmission line, process the satellite signal instructions of the communication signal and control the movement state of the device according to the instructions, identify and process the satellite signal and convert the satellite signal into the radio frequency signal, and control the dynamic rotation of the antenna of the radio frequency communication unit according to the external mobile terminal of the maintenance personnel, so as to control the antenna beam to perform real-time beam coverage and tracking of the maintenance personnel's mobile terminal.

[0073] In a preferred embodiment, the main control unit 1 mainly includes a main controller, a low noise amplifier, an up converter, a power amplifier, a down converter, a modem, a baseband processing device (BBU), a frequency and time synchronization device, a signal exchange and routing device, and a power supply unit, etc. The specific internal structure thereof can refer to a conventional main control device, and its internal structure will not be introduced in detail here.

[0074] For the communication unit 3, in this embodiment, the communication unit 3 includes a satellite communication unit 31 and a radio frequency communication unit 32, wherein the satellite communication unit 31 is mainly used for receiving and sending satellite signals through medium and low orbit satellites, so as to realize the control of the main control unit 1 by the external control center, and the radio frequency communication unit 32 adopts an improved Luneburg antenna, and together with the satellite communication unit 31, serves as a communication relay base station to realize the communication between the external control center and the mobile terminal of the on-site maintenance personnel.

[0075] See also Figure 3In a preferred embodiment, in order to ensure the power demand of the device, solar panels 4 are installed on both sides of the guard plate 213. The power converted by the solar panels 4 will be stored in the power supply unit in the main control unit 1, so as to be used to power the entire device. A satellite communication unit 31 is installed in the middle position of the guard plate 213, that is, between the solar panels 4 on both sides. Since most of the existing inspection devices currently use high-orbit satellites as communication links to ensure communication, the high relative height between the high-orbit satellites and the ground causes many problems in the communication link. Therefore, the satellite communication unit 31 in this embodiment uses medium and low-orbit satellites for signal transmission and reception, wherein the satellite communication unit 31 uses the Ku-band phased array antenna as the main device for signal transmission and reception.

[0076] The array antenna in this embodiment is composed of N*N microstrip antenna elements 311. The antenna beam directivity is controlled by controlling the feeding phase of each antenna element to match the characteristics of the high relative speed between the medium and low orbit satellites and the ground and the high difficulty of star chasing. At the same time, the Chebyshev array can achieve the characteristics of high radiation efficiency, high signal-to-noise ratio and high directivity. The Dolph-Chebyshev synthesis method is used to form an antenna array. The vibration state of each antenna element in the array is slightly different from that of the adjacent elements, so that the main lobe direction is mainly pointed in a certain direction, and there are smaller side lobes in other directions.

[0077] Taking a 5*5 array antenna composed of 25 microstrip antenna elements as an example, assuming that the normalized current amplitudes of the five-element linear array antenna elements are calculated to be: 0.332, 0.688, 1.000, 0.688 and 0.332, this result is extended to the normalized current amplitudes of the two-dimensional planar array antenna elements as shown in Table 1 below.

[0078] Table 1 Normalized current amplitude table of two-dimensional planar array antenna unit

[0079]

[0080] Through the satellite communication unit 31, the device can receive the inspection satellite signal from the external control center, and the signal is transmitted to the main control unit 1. In the present embodiment, the main control unit 1 also includes a motion control unit 11, and the motion control unit 11 further includes a patrol control unit 111 and a communication control unit 112, wherein the patrol control unit 111 is used to generate a patrol mobile signal according to the patrol satellite signal received from the satellite communication unit 31, and send it to the suspension unit 2, so as to realize the patrol device to patrol the high-voltage transmission line; the communication control unit 112 is used to judge the terminal number and motion status of the external mobile terminal according to the radio frequency signal received from the radio frequency communication unit 32, and generate a communication mobile signal according to the terminal number and motion status, and send it to the suspension unit 2, so as to realize the communication between the external control center and the external mobile terminal.

[0081] Based on the above structure, the received inspection satellite signal will be transmitted to the inspection control unit 111. The inspection control unit 111 will generate a corresponding inspection mobile signal based on the received inspection satellite signal and send it to the suspension unit 2. The driving unit 223 of the suspension unit 2 drives the power wheel 222 to rotate according to the inspection mobile signal. The inspection result of the cable detection unit 233 will be sent to the external control center through the main control unit 1 and the satellite communication unit 31, thereby realizing the inspection function of the inspection device on the high-voltage transmission line.

[0082] In terms of assisting the mobile terminal to perform satellite communication, the device assists the satellite communication unit 31 through the radio frequency communication unit 32 to achieve communication between the external control center and the mobile terminal of the on-site maintenance personnel. Figure 4 In a preferred embodiment, the RF communication unit 32 adopts an improved Luneburg antenna. There are at least two RF communication units 32, which are respectively installed on both sides of the main control unit 1. Each RF communication unit 32 includes a Luneburg antenna body 321 and an antenna housing 322.

[0083] Conventional Luneberg antennas are lens antennas, and their principle is that they can converge incident electromagnetic waves of a specific wavelength to a certain point on the spherical surface, or they can reflect the electromagnetic waves back along the original direction. In this embodiment, the principle of the Luneberg antenna is used to set the Luneberg antenna body 321 to be a dielectric disk made of several layers of materials with different dielectric constants. This structure can make the electromagnetic waves irradiated around the disk be focused on the inner surface of the metal reflective surface through the dielectric disk, and after reflection, the reflected waves are returned to the direction of the emission source through the lens. The propagation path of light in a gradient refractive index medium can be described by the ray tracing method, such as Figure 5 As shown, s is the path that the light passes through, is the radial vector, is the unit vector of the tangent direction of the light, is the light curvature vector, which only represents the relationship between the rotation angle of the light tangent vector and the path, and is Orthogonal. The differential equation for the ray trajectory can be expressed as:

[0084]

[0085] Where n represents the refractive index, Represents the refractive index gradient distribution of the gradient refractive index medium.

[0086] The radial non-uniform relative permittivity distribution of the Luneburg lens is:

[0087]

[0088] Here r is the radial distance from the center of the lens, R is the radius of the lens, and F is the distance from the center of the lens to the focus. From this deduction, the relationship between the dielectric constant of the dielectric disk of the main body of the Luneburg antenna in this embodiment and the radius can be obtained.

[0089] Taking the working state of the antenna under the transmission signal as an example, the calculation formula of its isotropic radiated power is as follows:

[0090]

[0091] Among them, P t is the output power of the transmitter in watts (W); G t is the antenna gain in dBi; L is the feed line and other losses in dB.

[0092] From the above formula, we can get that increasing the antenna gain G T It can effectively increase signal strength and improve communication quality. However, in general, the antenna feed source is deployed on the cylindrical arc surface of the Luneburg antenna, and the signal usually radiates spherically to the entire space in an ideal space, that is, Figure 6 As shown, it can be seen that in the conventional design, the signal radiated from the feed source on the cylindrical arc surface of the Luneburg antenna is radiated to the entire space, and only a small part at the bottom enters the antenna body, while all the electromagnetic signals in the upper part are wasted. However, in the application scenario of the present device, personnel entering the site for maintenance are often below or at a close distance from the high-voltage transmission line, and will not appear above the device. Therefore, the signal on the upper part of the feed source has no effect during use. In order to increase the signal gain of the antenna in a specific direction, an antenna housing 322 is added to the Luneburg antenna in this embodiment to achieve the purpose of reflecting the electromagnetic signal in the upper part.

[0093] See also Figure 7 In this embodiment, the antenna housing 322 is a semicircular structure, and a second connector 3221 is provided at the center of both sides of the antenna housing 322. At the same time, a first connector 3211 is provided at the center of the Luneburg antenna body 321. The first connector 3211 is a T-shaped structure, and the second connector 3221 is a two-cylinder structure, and a through hole matching the first connector 3211 is provided at the center of the cylinder. The second connector 3221 is sleeved on the first connector 3211 through the through hole, thereby realizing the installation of the antenna housing 322. In addition, the first connector 3211 also serves as a connector between the RF communication unit 32 and the main control unit 1, fixing the Luneburg antenna body 321 on the outside of the main control unit 1.

[0094] There is space inside the cylindrical structure of the second connecting member 3221, in which a micro motor, a rotating bearing and a feed line are arranged. The micro motor and the rotating bearing are assembled as a power source for driving the antenna housing 322. A waveguide 3222 close to the inner wall is provided on the inner wall of the antenna housing 322, and a coaxial line 3223 is also attached to the center point of the edge of the inner wall of the antenna housing 322. The coaxial line 3223 is connected to the feed line inside the second connecting member 3221 through the waveguide 3222, and together they serve as a feed source for the antenna. When the Luneburg antenna body 321 and the antenna housing 322 are combined, the coaxial line 3223 is in contact with the dielectric disk of the Luneburg antenna body 321, thereby forming a complete antenna structure. In addition, the antenna's feeder structure, the control line for controlling the rotation of the shell, and the power supply line of the micro motor can be connected to the Luneburg antenna body 321 from the first connector 3211, and these lines are connected to the main control unit 1 to enable the main control unit 1 to send and receive antenna signals and control the rotation of the antenna shell.

[0095] Through the multi-layer disc-shaped antenna body and the antenna shell that can rotate around the disc axis in this embodiment, the omnidirectional electromagnetic waves are refracted layer by layer, so that the omnidirectional spherical electromagnetic waves are converted into plane waves, which greatly increases the gain of the signal in a certain area below the device. Preferably, in this embodiment, the shell is made of Rogers 4350B material, and the shell properties of this material are close to those of an ideal conductor, which can reflect most of the electromagnetic waves, so that the electromagnetic waves in the upper part of the feed source are almost all reflected to the lower part, which greatly increases the antenna gain in the lower part of the device. Figure 8 The figure shows the feed radiation direction of the antenna after the antenna housing is added.

[0096] See also Fig. 9 Since the antenna signal feed source is installed on the Rogers 4350B material shell, and the Rogers 4350B material shell can rotate around the axis of the multi-layer disc, the beam control unit 12 in the main control unit 1 can control the rotation of the micro motor according to the actual situation to drive the shell to rotate, thereby controlling the direction of the beam. In a preferred embodiment, the device periodically searches for surrounding signal sources, controls the rotation of the shell according to the connected signal source, changes the rotation angle of the antenna feed source, and maximizes the antenna gain in the direction of the connected signal source. As the shell rotates, feeding at different points around the lens can also radiate electromagnetic waves in different directions, thereby achieving the purpose of controlling the beam coverage direction. When personnel enter the site for maintenance, they can change the beam directivity in a targeted manner to achieve the effect that the beam follows the movement of the maintenance personnel.

[0097] The radio frequency communication unit 32 of this device is mainly used to cooperate with the satellite communication unit 31 to realize the communication between the external control center and the mobile terminal in the hands of the on-site maintenance personnel. At the same time, the mobile control of this device is realized through the above-mentioned communication control unit 112, so that the device can move to the corresponding position following the movement of the maintenance personnel, so as to ensure smooth communication between the maintenance personnel and the control center.

[0098] In a preferred embodiment, the communication control unit 112 is further configured to generate a first communication mobile signal and send it to the suspension unit when it is determined that the number of the terminals is one and the motion state is a stationary state, so that the suspension unit controls the inspection device to move to directly above the external mobile terminal according to the first communication mobile signal;

[0099] When it is determined that there are at least two terminals, the two external mobile terminals farthest away are respectively used as the first mobile terminal and the second mobile terminal, the vertical height of the inspection device from the ground and the rotation angle of the antenna feed source of the radio frequency communication unit on both sides of the main control unit are obtained, and the position matrix is ​​obtained according to the vertical height and the two rotation angles;

[0100] The position matrix is ​​updated in real time according to the motion states of the first mobile terminal and the second mobile terminal, a second communication mobile signal is generated according to the updated position matrix, and the second communication mobile signal is sent to the suspension unit, so that the suspension unit controls the inspection device to move to an equidistant position between the first mobile terminal and the second mobile terminal according to the second communication mobile signal;

[0101] Calculate the terminal moving speed of the second mobile terminal, take half of the terminal moving speed as the device moving speed, generate a third communication mobile signal according to the device moving speed and the moving direction of the second mobile terminal, and send it to the suspension unit, so that the suspension unit controls the inspection device to move according to the third communication mobile signal.

[0102] In this embodiment, the mobile logic control algorithm in the communication control unit 112 generates corresponding mobile signals according to the number and running status of the mobile terminals connected to the inspection device. Specifically, when in the time t0 state, there is only one mobile terminal connected to the device, and the mobile terminal is in a stationary state. At this time, it is only necessary to generate a mobile signal to control the inspection device to move directly above the mobile terminal. In fact, in most application scenarios, there are more than one mobile terminals connected to the device, and most of them are in a moving state along the cable direction. At this time, the mobile control of the communication control unit 112 needs to consider the number and movement state of the connected terminals. When multiple mobile terminals are connected, in order to ensure the communication quality of all mobile terminals, the state of the two farthest mobile terminals needs to be used as a reference. Assuming that the two farthest terminals are the first mobile terminal and the second mobile terminal, regardless of whether the moving speed and moving direction of the two terminals are consistent, according to the relative position and relative speed, it can be finally converted into a certain terminal being in a stationary state and the other terminal being in a stationary or moving state. Therefore, in this embodiment, the communication control of this device is described with the first mobile terminal A being in a stationary state and the second mobile terminal B being in a moving state.

[0103] See also Fig.10 , assuming that at time t0 the first mobile terminal A is stationary, and at time t1 the second mobile terminal B enters the working state, the device is required to provide beam coverage. At this time, after the inspection device detects the second mobile terminal B, the beam control unit 12 can control the movable feed source so that the feed rotation angle of the antenna is adjusted accordingly according to the terminal position. The communication control unit 112 can directly obtain the vertical distance H of the device from the ground, as well as the feed rotation angles θ1 and θ2 of the antennas on both sides of the main control unit 1. In fact, at any time, the relative position trigonometric parameters of the inspection device and the two mobile terminals can be calculated based on the vertical height and the feed rotation angles of the antennas on both sides. The specific calculation steps are:

[0104] First, we get the parameter matrix based on θ1 and θ2:

[0105]

[0106] Then do the inner product of the parameter matrix and the vertical height to get the position matrix:

[0107]

[0108] After determining the position matrix at time t1, the communication control unit 112 quickly controls the mobile unit 32 to start working, so as to move the inspection device to a position equidistant from the mobile terminals A and B in a very short time. However, during the movement of the inspection device, the second mobile terminal B is still in the process of movement. Therefore, the above-mentioned work flow needs to be repeated during the process of the inspection device reaching the specified position to ensure that the communication control unit 112 monitors the real-time position of the mobile terminals A and B in real time until the position matrix calculated by the inspection device is obtained. (That is, the inspection device moves to the same distance as mobile terminals A and B). At this time, the first stage ends and the second stage of control will be carried out.

[0109] In the second stage, the communication control unit 112 no longer updates the position matrix by performing real-time calculation, but instead determines the moving speed of the inspection device itself by calculating the moving speed of the second mobile terminal B, such as Fig.11 As shown, assuming that the rotation angle of the antenna feed source on the second mobile terminal B side is θ3 at time t3 and θ4 at time t4, the horizontal distance between the second mobile terminal B and the inspection device at time t3 can be calculated as:

[0110]

[0111] Similarly, the horizontal distance between the second mobile terminal B and the inspection device at time t4 is:

[0112]

[0113] Therefore, the movement speed of the second mobile terminal B can be obtained as:

[0114]

[0115] At this time, in the second stage, the communication control unit 112 will generate a control signal at half the speed of the second mobile terminal B, so that the inspection device moves at a speed of V / 2 to keep the inspection device and the mobile terminals A and B equidistant. In this way, satellite communication between the mobile terminal on site and the external control center can be achieved and a good communication environment can be maintained, that is, Fig.12 As shown, the satellite communication unit of the device receives instructions from the external control center through medium and low orbit satellites, and after signal conversion by the main control unit, it is sent to the mobile terminal on site by the radio frequency communication unit. At the same time, it can also receive the radio frequency signal of the mobile terminal, and after signal conversion, it is sent to the control center through medium and low orbit satellites, thereby improving the communication quality between the external control center and the mobile terminal on site.

[0116] It should be noted that the above control method is only a preferred method. Other methods can also be used to control the mobile position of the inspection device so that it remains at an equidistant position between the two farthest mobile terminals, thereby providing the function of a communication relay base station for all mobile terminals of the access device. At the same time, for the situation where there are multiple mobile terminals that require beam coverage, antenna units can also be added to achieve the effect of enhancing directional beam coverage. The inspection device provided by this embodiment can not only realize long-distance high-voltage transmission line inspection control, but also effectively help power grid maintenance personnel to complete high-quality communications with the outside world through medium and low-orbit satellites during maintenance projects.

[0117] In summary, an embodiment of the present invention proposes a high-voltage transmission line inspection device based on a Luneburg antenna, comprising: a main control unit, a suspension unit and a communication unit, wherein the main control unit is connected below the suspension unit, the communication unit comprises a satellite communication unit and a radio frequency communication unit, the satellite communication unit is arranged above the suspension unit, the radio frequency communication unit is arranged outside the main control unit, and the suspension unit, the satellite communication unit and the radio frequency communication unit are respectively connected to the main control unit for communication; the satellite communication unit is used to receive satellite signals from an external control center via medium and low orbit satellites and send them to the main control unit, and send the received satellite signals from the main control unit to the external control center, and the radio frequency communication unit is used to receive satellite signals from the main control unit via medium and low orbit satellites and send them to the main control unit, and send the received satellite signals from the main control unit to the external control center, and the radio frequency communication unit is used to receive satellite signals from the main control unit via medium and low orbit satellites and send them to the main control unit, and send the received satellite signals from the main control unit to the external control center. The invention is used to receive the radio frequency signal from the main control unit and send it to the external mobile terminal, and receive the radio frequency signal from the external mobile terminal and send it to the main control unit; the main control unit is used to convert the satellite signal received from the satellite communication unit into a radio frequency signal and send it to the radio frequency communication unit, and convert the radio frequency signal received from the radio frequency communication unit into a satellite signal and send it to the satellite communication unit, and generate a motion control signal according to the received satellite signal and the received radio frequency signal, and send it to the suspension unit; the suspension unit is installed on the high-voltage transmission line, and is used to perform cable detection on the high-voltage transmission line, and to move according to the received motion control signal to realize the motion control of the inspection device. The present invention uses the Ku-band phased array antenna as the antenna feed device for communicating with the satellite, realizes the long-distance inspection control of the high-voltage transmission line through the medium and low orbit satellite, and at the same time combines the improved Luneburg antenna, through the movable feed source and the mobile control logic algorithm, enhances the gain of the signal below the device, ensures the communication stability between the mobile terminal and the control center, and further improves the work efficiency of the line inspection.

[0118] Each embodiment in this specification is described in a progressive manner, and the same or similar parts of each embodiment can be directly referenced to each other, and each embodiment focuses on the differences from other embodiments. It should be noted that the technical features of the above embodiments can be combined arbitrarily. In order to make the description concise, all possible combinations of the technical features in the above embodiments are not described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0119] The above-mentioned embodiments only express several preferred implementation modes of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for ordinary technicians in the technical field, several improvements and substitutions can be made without departing from the technical principles of the present invention, and these improvements and substitutions should also be regarded as the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be based on the protection scope of the claims.

Claims

1. A high-voltage transmission line inspection device based on Luneburg antenna, characterized in that: include: A main control unit, a suspension unit and a communication unit, wherein the main control unit is connected below the suspension unit, the communication unit comprises a satellite communication unit and a radio frequency communication unit, the satellite communication unit is arranged above the suspension unit, the radio frequency communication unit is arranged outside the main control unit, and the suspension unit, the satellite communication unit and the radio frequency communication unit are respectively connected to the main control unit for communication; The satellite communication unit is used to receive satellite signals from an external control center through medium and low orbit satellites and send them to the main control unit, and send the satellite signals received from the main control unit to the external control center. The radio frequency communication unit is used to receive radio frequency signals from the main control unit and send them to an external mobile terminal, and receive radio frequency signals from an external mobile terminal and send them to the main control unit. The main control unit is used to convert the satellite signal received from the satellite communication unit into a radio frequency signal and send it to the radio frequency communication unit, and convert the radio frequency signal received from the radio frequency communication unit into a satellite signal and send it to the satellite communication unit, and generate a motion control signal according to the received satellite signal and the received radio frequency signal, and send it to the suspension unit; The suspension unit is installed on the high-voltage transmission line, and is used to perform cable detection on the high-voltage transmission line, and to move according to the received motion control signal to realize motion control of the inspection device; There are at least two radio frequency communication units, which are respectively arranged on both sides of the main control unit; Each of the radio frequency communication units comprises a Luneburg antenna body and an antenna housing; The main body of the Luneburg antenna is a dielectric disk, the antenna housing is a semicircular structure, a first connecting member is provided at the center of the dielectric disk, second connecting members are provided at the center of both sides of the antenna housing, a through hole matching the first connecting member is provided at the center of the second connecting member, the first connecting member and the second connecting member are connected through the through hole, and the first connecting member is fixed to the main control unit; The second connecting member is a cylindrical structure, and a micro motor, a rotating bearing and a feeder are arranged inside the cylindrical structure, the micro motor is connected to the main control unit and the rotating bearing respectively, and the feeder is connected to the main control unit; A coaxial line is arranged at the middle point of the inner semicircular edge of the antenna housing, a waveguide is arranged on the inner wall of the antenna housing, the coaxial line is connected to the feed line through the waveguide, and the coaxial line is in contact with the dielectric disk.

2. The high-voltage transmission line inspection device based on Luneburg antenna according to claim 1 is characterized in that: The main control unit also includes a beam control unit and a motion control unit; The beam control unit is used to control the micro motor to drive the antenna housing to rotate according to the radio frequency signal received by the radio frequency communication unit from the external mobile terminal, so as to control the coverage direction of the antenna beam of the radio frequency communication unit; The motion control unit includes an inspection control unit and a communication control unit; The inspection control unit is used to generate an inspection mobile signal according to the inspection satellite signal received from the satellite communication unit, and send it to the suspension unit to realize the inspection of the high-voltage transmission line by the inspection device; The communication control unit is used to determine the terminal quantity and movement status of the external mobile terminal based on the radio frequency signal received from the radio frequency communication unit, generate a communication mobile signal based on the terminal quantity and the movement status, and send it to the suspension unit to realize communication between the external control center and the external mobile terminal.

3. The high-voltage transmission line inspection device based on Luneberg antenna according to claim 2 is characterized in that: The communication control unit is further configured to generate a first communication mobile signal and send it to the suspension unit when it is determined that the number of the terminals is one and the motion state is a stationary state, so that the suspension unit controls the inspection device to move to directly above the external mobile terminal according to the first communication mobile signal; When it is determined that there are at least two terminals, the two external mobile terminals farthest away are respectively used as the first mobile terminal and the second mobile terminal, the vertical height of the inspection device from the ground and the rotation angle of the antenna feed source of the radio frequency communication unit on both sides of the main control unit are obtained, and the position matrix is ​​obtained according to the vertical height and the two rotation angles; The position matrix is ​​updated in real time according to the motion states of the first mobile terminal and the second mobile terminal, a second communication mobile signal is generated according to the updated position matrix, and the second communication mobile signal is sent to the suspension unit, so that the suspension unit controls the inspection device to move to an equidistant position between the first mobile terminal and the second mobile terminal according to the second communication mobile signal; Calculate the terminal moving speed of the second mobile terminal, take half of the terminal moving speed as the device moving speed, generate a third communication mobile signal according to the device moving speed and the moving direction of the second mobile terminal, and send it to the suspension unit, so that the suspension unit controls the inspection device to move according to the third communication mobile signal.

4. The high-voltage transmission line inspection device based on Luneberg antenna according to claim 3 is characterized in that: The communication control unit also includes a position matrix unit; The position matrix unit is used to obtain a parameter matrix according to the two rotation angles, and perform an inner product between the parameter matrix and the vertical height to obtain a position matrix; The parameter matrix is ​​represented by the following formula: Wherein, θ1 and θ2 represent the rotation angles of the antenna feed sources at the first mobile terminal side and the second mobile terminal side, respectively; The position matrix is ​​expressed by the following formula: Where H represents the vertical height.

5. The high-voltage transmission line inspection device based on Luneburg antenna according to claim 4 is characterized in that: The communication control unit also includes a moving speed calculation module; The moving speed calculation module is used to obtain the terminal moving speed of the second mobile terminal according to the rotation angle of the antenna feed source on the second mobile terminal side at different times; The terminal moving speed is expressed by the following formula: In the formula, θ3 represents the rotation angle of the antenna feed source on the second mobile terminal side at time t3, θ4 represents the rotation angle of the antenna feed source on the second mobile terminal side at time t4, and H represents the vertical height.

6. The high-voltage transmission line inspection device based on Luneberg antenna according to claim 1 is characterized in that: The suspension unit includes a supporting unit, a moving unit and an inspection unit; The support unit includes a concave support member, an L-shaped connecting rod and a guard plate, the mobile unit includes an auxiliary wheel, a power wheel and a driving unit, and the inspection unit includes a wedge rod, an arc-shaped clamp and a cable detection unit; Wherein, the L-shaped connecting rod is arranged on both sides of the concave supporting member, and the guard plate is arranged above the L-shaped connecting rod; The auxiliary wheel is arranged on the L-shaped connecting rod, the power wheel is connected to the top of the concave support member through a wedge block, and the driving unit connected to the power wheel is arranged on the inner wall of the concave support member; The wedge-shaped rod is arranged on the inner wall of the concave support member, the arc-shaped clamp is connected to one end of the wedge-shaped rod, the cable detection unit is connected to the other end of the wedge-shaped rod, and the arc-shaped clamp is connected to the cable detection unit; A third connecting member is arranged on the bottom surface of the concave supporting member, and the third connecting member is connected to the main control unit.

7. The high-voltage transmission line inspection device based on Luneburg antenna according to claim 6 is characterized in that: There are four L-shaped connecting rods, which are respectively arranged on both sides of the concave support member, and the L-shaped connecting rods are spring L-shaped connecting rods; The extended end of each L-shaped connecting rod is fixedly connected to the auxiliary wheel through a bearing, and the auxiliary wheel has two groups, each group of the auxiliary wheels includes a front auxiliary wheel and a rear auxiliary wheel, and the front auxiliary wheel and the rear auxiliary wheel abut against each other; There are two groups of power wheels, each group of power wheels includes a front power wheel and a rear power wheel, and the front power wheel and the rear power wheel abut against each other; The wedge-shaped rod is a telescopic wedge-shaped rod, the arc-shaped clamp is connected to the fixed end of the wedge-shaped rod, and the cable detection unit is connected to the extended end of the wedge-shaped rod.

8. The high-voltage transmission line inspection device based on Luneberg antenna according to claim 6 is characterized in that: The inspection device further comprises solar panels, which are arranged on both sides of the guard plate, and the satellite communication unit is arranged in the middle of the guard plate; The solar cell panel is connected to a power supply unit inside the main control unit, and the power supply unit is used to supply power to the inspection device.

9. The high-voltage transmission line inspection device based on Luneburg antenna according to claim 1 is characterized in that: The satellite communication unit is a Ku-band phased array antenna.

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