Integrated control system for electric power inspection unmanned aerial vehicle and unmanned aerial vehicle thereof

Abstract

The utility model discloses an integrated control system for an electric power inspection unmanned aerial vehicle and the unmanned aerial vehicle thereof. The integrated control system comprises an integrated box body, a computer, a multi-source positioning module and a self-adaptive adjusting mechanism. According to the technical scheme of the utility model, through cooperation of multiple sensors and dynamic attitude adjustment, the inspection efficiency of the power transmission line is significantly improved; an anti-interference design and a redundancy mechanism ensure stable operation in a complex environment; dynamic power management and solar energy supplement reduce energy waste and meet the requirement of green operation; standardized mechanical components are easy to replace, and operation and maintenance cost is reduced.

Description

TECHNICAL FIELD

[0001] The utility model relates to, especially, a kind of integrated control system for power inspection unmanned aerial vehicle and unmanned aerial vehicle thereof. BACKGROUND

[0002] At present, the application of unmanned aerial vehicle technology in transmission line inspection is remarkable, it is not limited by topography, especially suitable for dangerous mountainous area, under the line inspection work of many river topography.Unmanned aerial vehicle inspection in prior art can exist problems, including: stability is insufficient under complex environment, data processing delay, multi-sensor coordination efficiency is low etc..Therefore, it is necessary to develop a kind of integrated control system for power inspection unmanned aerial vehicle and unmanned aerial vehicle thereof, by searching, no discovery with the technical scheme of the utility model box. INNOVATION

[0003] The utility model mainly solves the technical problem to provide a kind of integrated control system for power inspection unmanned aerial vehicle and unmanned aerial vehicle thereof, solve one or more of the above prior art problems.

[0004] To solve the above technical problem, the utility model adopts one technical scheme: a kind of integrated control system for power inspection unmanned aerial vehicle, its innovation point is: including integrated box, computer, multi-source positioning module and self-adapting adjustment mechanism;

[0005] The integrated box is connected with unmanned aerial vehicle body by the self-adapting adjustment mechanism, and the self-adapting adjustment mechanism includes double-shaft adjusting assembly and angle sensor;

[0006] The multi-source positioning module is located in integrated box interior, and it includes GPS unit, Beidou unit and inertial navigation unit, and the computer is integrated multi-source positioning information in real time by data fusion algorithm, and outputs corrected space coordinates;

[0007] Laser scanner and millimeter wave radar are equipped outside the integrated box;

[0008] The computer is also connected with dynamic power management module, and the dynamic power management module switches the power supply state of sensor according to task mode.

[0009] In some embodiments, the dual-axis adjustment assembly comprises a first shaft frame mounted on the belly of the unmanned aerial vehicle, a pitch shaft is assembled on the first shaft frame, a first servo motor for driving the pitch shaft to rotate is also assembled on the first shaft frame, a first speed reducer is arranged between the output end of the first servo motor and the pitch shaft, first connecting rods are arranged at the two ends of the pitch shaft, the dual-axis adjustment assembly further comprises a second shaft frame fixedly arranged on the first connecting rods, a roll shaft is assembled on the second shaft frame, a second servo motor for driving the roll shaft to rotate is also assembled on the second shaft frame, a second speed reducer is arranged between the output end of the second servo motor and the roll shaft, second connecting rods are arranged at the two ends of the roll shaft, and the integrated box body is fixedly assembled at the bottom of the second connecting rods.

[0010] In some embodiments, the data fusion algorithm is an improved Kalman filter algorithm, and an angular velocity error compensation term of an inertial navigation unit is introduced into a state equation of the improved Kalman filter algorithm.

[0011] In some embodiments, an electromagnetic shielding layer composed of copper mesh and ferrite composite material is arranged on the inner wall of the integrated box body.

[0012] In some embodiments, the dynamic power management module comprises a super capacitor array and a MOSFET switch circuit, and the super capacitor array provides transient current compensation when the laser scanner is started.

[0013] In some embodiments, an expandable solar thin film battery is arranged on the top of the integrated box body, and the solar thin film battery is connected in parallel with the power supply of the unmanned aerial vehicle.

[0014] In some embodiments, an edge computing unit is arranged in the computer, and the edge computing unit is implemented by an FPGA to realize real-time rasterization processing of laser point cloud data.

[0015] In some embodiments, the working frequency band of the millimeter wave radar is 77GHz, and the adjustable range of the beam width is ±15° to ±60°.

[0016] The technical scheme has the following beneficial effects: the technical scheme significantly improves the transmission line inspection efficiency (compared with the traditional manual inspection efficiency, the transmission line inspection efficiency is improved by more than 5 times) through the cooperation of multiple sensors and dynamic attitude adjustment; the anti-interference design (electromagnetic shielding, multi-source positioning) and the redundancy mechanism (dual-axis adjustment + super capacitor) ensure stable operation in complex environments; the dynamic power management + solar power supply reduces energy waste and meets the requirements of green operation; the standardized mechanical components (such as servo motors and reducers) are easy to replace, thereby reducing operation and maintenance costs. BRIEF DESCRIPTION OF DRAWINGS

[0017] In order to more clearly illustrate the technical scheme in the embodiments of the utility model, the following will briefly introduce the drawings needed to be used in the embodiment description, obviously, the drawings in the following description are only some embodiments of the utility model, and for the ordinary skilled in the art, other drawings can also be obtained from these drawings without creative labor, wherein,

[0018] Fig. 1 It is a structural schematic diagram of the utility model's integrated control system for power inspection unmanned aerial vehicle and unmanned aerial vehicle.

[0019] Fig. 2 It is a flow chart of the utility model's integrated control system for power inspection unmanned aerial vehicle.

[0020] Fig. 3 It is a flow chart of the utility model's integrated control system for power inspection unmanned aerial vehicle. Specific implementation

[0021] The technical scheme in the embodiments of the utility model will be clearly and completely described below, obviously, the described embodiments are only some embodiments of the utility model, rather than all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by the ordinary skilled in the art without creative labor are within the protection scope of the utility model.

[0022] As Figs. 1 to 3 Indicated, the utility model's integrated control system for power inspection unmanned aerial vehicle includes: integrated box body 100, computer, multi-source positioning module and adaptive adjustment mechanism, and the specific structure is as follows:

[0023] Integrated box body 100

[0024] External structure: the box body adopts aluminum alloy material, and the outer surface is sprayed with anticorrosive coating, and the size is 300mmx200mmx150mm; internal components: multi-source positioning module: fixed on the upper layer support inside the box body, including GPS unit, Beidou unit and inertial navigation unit; computer: installed in the middle part of the box body, connected with each sensor through PCIe interface; dynamic power management module: located at the bottom of the box body, including super capacitor array and MOSFET switch circuit.

[0025] External equipment: laser scanner: installed on the front side of the box body, scanning angle ± 60 °, maximum ranging 200m; millimeter wave radar: installed on the rear side of the box body, working frequency band 77GHz, beam width adjustable ± 15 ° to ± 60 °.

[0026] Adaptive adjustment mechanism

[0027] Dual-axis adjustment assembly: fixed on the unmanned aerial vehicle body by bolts, including: the first shaft frame 201: made of 6061-T6 aluminum alloy, connected with the unmanned aerial vehicle body by 4 groups of M6 bolts; the pitch shaft 202: penetrating the first shaft frame 201, both ends supported by deep groove ball bearings; the first servo motor: installed on the side of the first shaft frame 201, the output shaft connected with the worm through a shaft coupling; the first reducer: the worm and gear reduction ratio is 50:1, the worm is keyed connected with the pitch shaft 202; the first connecting rod 203: connecting the pitch shaft 202 and the second shaft frame 204; the roll shaft 205: installed on the second shaft frame 204, the driving mode is the same as the pitch shaft 202, and the reducer is a planetary gear set with a reduction ratio of 120:1; the second connecting rod 206: the end is fixed with the integrated box 100 through a flange.

[0028] Angle sensor:

[0029] Pitch shaft 202 encoder: installed at the end of the pitch shaft 202, resolution 0.01°, data transmission through CAN bus;

[0030] Roll shaft 205 encoder: installed at the end of the roll shaft 205, the function is the same as the pitch shaft 202 encoder.

[0031] Integrated box 100 and unmanned aerial vehicle: fixed by the second connecting rod 206 of the dual-axis adjustment assembly, the box can rotate around the pitch shaft 202 ± 25° and the roll shaft 205 ± 15°; sensors and computers: laser scanner and millimeter wave radar connected with computer through RS485 interface; GPS, Beidou and INS unit of multi-source positioning module communicate with computer through SPI bus; encoder signal of angle sensor is transmitted to computer through CAN bus.

[0032] Control logic

[0033] Data fusion: the computer runs the improved Kalman filter algorithm, and the state equation is as follows:

[0034] Among them, the angular velocity error of the inertial navigation unit is input as a compensation term;

[0035] Attitude adjustment:

[0036] The computer receives the real-time attitude data of the unmanned aerial vehicle INS system, including pitch angle and roll angle; combined with the actual angle of the box feedback by the angle sensor, the target adjustment amount is calculated; the servo motor control signal is generated through the PID algorithm to drive the dual-axis adjustment assembly to adjust the angle of the box.

[0037] Power management and dynamic switching:

[0038] Cruise mode: only GPS and INS units are enabled, laser scanner is dormant; Inspection mode: laser scanner and millimeter wave radar are activated, super capacitor array provides transient current compensation;

[0039] Solar supplement: deployable solar thin film cells on the top of the box charge the UAV power supply under light conditions.

[0040] Working principle: after the UAV takes off, the multi-source positioning module synchronously acquires GPS, Beidou satellite signals and inertial navigation data; the computer outputs corrected spatial coordinates through data fusion algorithm, with accuracy better than 0.1m.

[0041] Obstacle identification during inspection operation: the laser scanner scans the power transmission line at a frequency of 10Hz, generating three-dimensional point cloud data; the millimeter wave radar assists in detecting obstacles in rain and fog environment, with maximum detection distance of 150m; dynamic adjustment:

[0042] When the UAV attitude deviates due to air flow, the computer controls the servo motor to drive the pitch shaft 202 and roll shaft 205 to rotate according to the feedback of the angle sensor, so that the laser scanner always points to the power transmission line; the self-locking property of the worm gear reducer ensures that the box attitude is stable after adjustment.

[0043] Emergency handling

[0044] If strong electromagnetic interference such as high-voltage electric field is detected, the electromagnetic shielding layer of copper mesh + ferrite suppresses signal noise; the dynamic power management module automatically switches to super capacitor power supply to ensure continuous operation of key sensors.

[0045] Detailed description of key components

[0046] Dual-axis adjustment assembly

[0047] Pitch shaft drive chain: first servo motor → worm gear → worm wheel → pitch shaft 202 → first connecting rod 203 → second shaft frame 204;

[0048] Roll shaft 205 drive chain: second servo motor → planetary gear set → roll shaft 205 → second connecting rod 206 → integrated box 100;

[0049] Limit protection: hard aluminum stopper is set at the end of the pitch shaft 202 and roll shaft 205, and silicone buffer pad is pasted on the contact surface to prevent over-shooting damage.

[0050] Electromagnetic shielding layer

[0051] Structure: the inner wall of the box is covered with 0.2mm thick copper mesh with coverage rate ≥95%, and the outer layer is compounded with 1mm thick ferrite sheet;

[0052] Performance: shielding effectiveness ≥60dB in the frequency band of 10MHz-1GHz.

[0053] Effects of embodiments

[0054] Positioning accuracy: horizontal positioning error <0.5m, height error <1m after multi-source fusion;

[0055] Adjustment response: from attitude change to box compensation completion, delay <50ms;

[0056] Endurance improvement: solar thin film battery can provide additional 20% power for the system on sunny days.

[0057] The above only describes the embodiments of the present application, and does not limit the patent range of the present application, and any equivalent structure or equivalent process transformation using the content of the present application specification, or direct or indirect application in other related technical fields, are also included in the patent protection range of the present application.

Claims

1. An integrated control system for power inspection unmanned aerial vehicle, characterized in that: The integrated box (100), a computer, a multi-source positioning module and an adaptive adjustment mechanism are included. The integrated box (100) is connected with the unmanned aerial vehicle body through the adaptive adjustment mechanism, and the adaptive adjustment mechanism includes a double-axis adjustment assembly and an angle sensor. The multi-source positioning module is arranged inside the integrated box (100) and includes a GPS unit, a Beidou unit and an inertial navigation unit. The integrated box (100) is externally provided with a laser scanner and a millimeter wave radar. The computer is further connected with a dynamic power management module, and the dynamic power management module switches the power supply state of the sensor according to the task mode.

2. The integrated control system for power inspection unmanned aerial vehicle according to claim 1, characterized in that: The double-axis adjustment assembly includes a first shaft frame (201), the first shaft frame (201) is installed on the abdomen of the unmanned aerial vehicle, a pitch shaft (202) is assembled on the first shaft frame (201), a first servo motor for driving the pitch shaft (202) to rotate is also assembled on the first shaft frame (201), a first speed reducer is arranged between the output end of the first servo motor and the pitch shaft (202), first connecting rods (203) are arranged at both ends of the pitch shaft (202), the double-axis adjustment assembly further includes a second shaft frame (204), the second shaft frame (204) is fixedly arranged on the first connecting rods (203), a roll shaft (205) is assembled on the second shaft frame (204), a second servo motor for driving the roll shaft (205) to rotate is also assembled on the second shaft frame (204), a second speed reducer is arranged between the output end of the second servo motor and the roll shaft (205), second connecting rods (206) are arranged at both ends of the roll shaft (205), and the integrated box (100) is fixedly assembled at the bottom of the second connecting rods (206).

3. The integrated control system for power inspection unmanned aerial vehicle according to claim 1, characterized in that: The data fusion algorithm is an improved Kalman filter algorithm, and an angular velocity error compensation term of the inertial navigation unit is introduced in the state equation.

4. The integrated control system for power inspection unmanned aerial vehicle according to claim 1, wherein, An electromagnetic shielding layer is arranged on the inner wall of the integrated box (100), and the electromagnetic shielding layer is composed of a copper mesh and a ferrite composite material.

5. The integrated control system for power inspection unmanned aerial vehicle according to claim 1, wherein The dynamic power management module includes a super capacitor array and a MOSFET switch circuit, and the super capacitor array provides transient current compensation when the laser scanner is started.

6. The integrated control system for power inspection unmanned aerial vehicle according to claim 1, wherein An expandable solar thin film battery is arranged on the top of the integrated box (100), and the solar thin film battery is connected in parallel with the power supply of the unmanned aerial vehicle.

7. The integrated control system for power line inspection drone according to claim 1, wherein, An edge computing unit is arranged in the computer, and the edge computing unit adopts an FPGA to realize real-time rasterization processing of laser point cloud data.

8. The integrated control system for power inspection unmanned aerial vehicle according to claim 1, wherein, The working frequency band of the millimeter wave radar is 77GHz, and the adjustable range of the beam width is ±15° to ±60°.

9. A drone, characterized in that, The integrated control system for the power inspection unmanned aerial vehicle includes the integrated control system according to any one of claims 1-8. The integrated control system for the power inspection unmanned aerial vehicle includes the integrated control system according to any one of claims 1-8.

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