Unmanned aerial vehicle for monitoring overhead power lines and catenary

Abstract

FIELD: aviation.SUBSTANCE: unmanned aerial vehicle of the unmanned aerial complex comprises a telescopic claw-shaped manipulator, fixed inside one of the power rods with an air propeller. The unmanned aerial vehicle of an unmanned aerial complex flies up to a conductive wire (64) from the side. The telescopic rod (59) of the telescopic pincer-shaped manipulator (57) is extended and, using grips (62), the conductive wire (64) is mechanically fixed. The sensor (71) is triggered, the signal from which is fed to the input (72) of the route computing device (15), which generates a control signal of the fifth type, stopping the rotation of the propellers (5) of the electric motors (4). Under the action of gravity, the unmanned aerial vehicle of the unmanned aerial complex rotates in a spherical hinge (60) and is located below the conductive wire (64) in a plane perpendicular to its longitudinal axis. The magnetic flux created by the current flowing through the conductive wire (64) induces an electromotive force in the annular electric winding (48), under the action of which the power battery (36) and the power storage battery (7) are charged.EFFECT: increase in the efficiency of charging on-board batteries of an unmanned aerial vehicle.1 cl, 4 dwg

Description

[0001] The invention relates to the field of aviation technology, namely to unmanned aerial systems for aerial surveillance, and can be used for remote monitoring of man-made and natural objects, etc.

[0002] An unmanned aerial complex is known (EA 042897, B64C 7 / 08, B64C 39 / 02, 31.03.2023), consisting of a mobile control and management console and an unmanned aerial vehicle containing a supporting frame, to the side surface of which rods are rigidly attached by one of their ends, to the other ends of which electric motors with propellers are rigidly fixed, a chassis is rigidly fixed on the lower surface of the supporting frame, on which a power storage battery is located, the output of which is connected through a speed controller to the inputs of the electric motors, a rotary and tilt gyrostabilized suspension is attached to the central part of the lower surface of the supporting frame using a hinge, on which a video surveillance device is located, the output of which is connected to the input of the on-board flight support system, fixed to the upper surface of the supporting frame and covered with a protective upper plate,the on-board flight support system consists of a route computing device, to the first through ninth measuring inputs of which are connected, respectively, a satellite navigation signal receiving and processing unit, an inertial measuring unit including an accelerometer, a magnetometer and a barometer, a tracker, an emergency landing device, a control unit for a rotary and tilt gyrostabilized suspension, a sonar, a video surveillance device, a receiving and transmitting radio system, a video data transmitter, and a power input of the on-board flight support system is connected to a power battery, a mobile control and management console, which consists of a personal computer with a monitor, to three outputs of which are connected, respectively, a receiving and transmitting radio system, a control console for an unmanned aerial vehicle and a mobile individual device for displaying video data, and the output of the personal computer is connected to a video data receiver,a clearance ring is attached to the housings of the electric motors with its inner surface, on the outer surface of which a ring electric winding is placed, the terminals of which are connected to the first power input of the battery charge control device, and its outputs are connected to the power battery of the on-board flight support system and the power storage battery of the electric motors, an indicator of the battery charge level is connected to the indicator input of the battery charge control device, rigidly fixed to the chassis, on which an electric field strength sensor is also rigidly fixed, connected to the tenth measuring input of the route computing device, a solar battery is rigidly fixed to the upper surface of the protective upper plate, the output of which is connected to the second power input of the battery charge control device.

[0003] The disadvantage of this device is the low efficiency of charging the power battery, due to the fact that during the charging of the ring electric winding from the energy of the electromagnetic field created by an external source, for example, the current in the wire of the overhead power line and the contact network of electrified railway transport, the electric motors consume the electrical energy of the power battery.

[0004] An unmanned aerial complex is known (RU 2836414. B64U 20 / 00, B64U 101 / 31, B64C 27 / 08. 14.03.25), consisting of a mobile control and management console and an unmanned aerial vehicle containing a supporting frame, to the side surface of which rods are rigidly attached by one of their ends, to the other ends of which electric motors with propellers are rigidly attached, a chassis is rigidly attached to the lower surface of the supporting frame, on which a power storage battery is located, the output of which is connected through a speed controller to the inputs of the electric motors, a rotary and tilt gyrostabilized suspension is attached to the central part of the lower surface of the supporting frame using a hinge, on which a video surveillance device is located, the output of which is connected to the input of an on-board flight support system, fixed to the upper surface of the supporting frame and covered with a protective top cover,the on-board flight support system consists of a route computing device, to the first through ninth measuring inputs of which are connected, respectively, a satellite navigation signal receiving and processing unit, an inertial measuring unit including an accelerometer, a magnetometer and a barometer, a tracker, an emergency landing device, a control unit for a rotary and tilt gyrostabilized suspension, a sonar, a video surveillance device, a receiving and transmitting radio system, a video data transmitter, and a power input of the on-board flight support system is connected to a power battery, a mobile control and management console, which consists of a personal computer with a monitor, to three outputs of which are connected, respectively, a receiving and transmitting radio system, a control console for an unmanned aerial vehicle and a mobile individual device for displaying video data, and the output of the personal computer is connected to a video data receiver,a clearance ring is attached to the housings of the electric motors with its inner surface, on the outer surface of which a ring electric winding is placed, the terminals of which are connected to the first power input of the battery charge control device, and its outputs are connected to the power battery of the on-board flight support system and the power battery of the electric motors, an indicator of the battery charge level is connected to the indicator input of the battery charge control device, rigidly attached to the chassis, on which an electric field strength sensor is also rigidly attached, connected to the tenth measuring input of the route computing device, a telescopic pincer-shaped manipulator is rigidly attached to the upper surface of the supporting frame, consisting of an electric drive for a telescopic rod, at one end of which grippers are installed, with the help of which a mechanical grip of the landing object is carried out,the input of the electric drive is connected to the output of the contactor, the power input of which is connected to the power battery, and the control input is connected to the output of the route computing device; at the point where the grippers are attached to the telescopic rod, a sensor is attached, connected to the input of the route computing device.

[0005] A drawback of this prototype is that when the current-carrying wire—the wire of an active power line or the overhead contact system of an electrified railway—is mechanically secured, a negligible electromotive force is induced in the unmanned aerial vehicle's annular winding. This is because the annular winding hangs in a position where its center and the unmanned aerial vehicle's attachment point are aligned vertically, perpendicular to the plane in which the annular winding is located. This leads to low charging efficiency for the onboard batteries.

[0006] The objective of the invention is to increase the efficiency of charging on-board batteries by increasing the magnetic flux created by the current flowing through the conductive wire and penetrating the cross-section of the circular electrical winding.

[0007] The technical result is achieved in that in an unmanned aerial complex containing a mobile control and management console and an unmanned aerial vehicle containing a supporting frame, to the side surface of which power rods are rigidly attached with one of their ends, to the other ends of which electric motors with propellers are rigidly attached, on the lower surface of the supporting frame a chassis is rigidly fixed, on which a power storage battery is located, the output of which is connected through a speed controller to the inputs of the electric motors, to the central part of the lower surface of the supporting frame a rotary and tilt gyrostabilized suspension is attached by means of a hinge, on which a video surveillance device is located, the output of which is connected to the input of the route computing device of the on-board flight support system, fixed on the upper surface of the supporting frame and covered with a protective top cover,to the first through ninth measuring inputs of which are connected, respectively, a satellite navigation signal receiving and processing unit, an inertial measuring unit including an accelerometer, a magnetometer and a barometer, a tracker, an emergency landing device, a control unit for a rotary and tilt gyrostabilized suspension, a sonar, a video surveillance device, a receiving and transmitting radio system, a video data transmitter, and to the power input of the onboard flight support system a power battery is connected, a mobile control and management console, which consists of a personal computer with a monitor, to the three outputs of which a receiving and transmitting radio system, a control console for an unmanned aerial vehicle and a mobile individual video data display device are connected, respectively, and the output of the personal computer is connected to the video data receiver, a clearance ring is attached to the housings of the electric motors with its inner surface,on the outer surface of which a ring electric winding is placed, the terminals of which are connected to the first power input of the battery charge control device, and its outputs are connected to the power battery of the on-board flight support system and the power battery of the electric motors, an indicator of the battery charge level is connected to the indicator input of the battery charge control device, rigidly fixed to the chassis, on which an electric field strength sensor is also rigidly fixed, connected to the tenth measuring input of the route computing device, a telescopic pincer-shaped manipulator is located on the unmanned aerial vehicle, consisting of a telescopic rod and its electric drive, at one end of which grippers are installed, with the help of which a mechanical grip of the conductive wire is carried out, the input of the electric drive is connected to the output of the contactor,the power input of which is connected to a power storage battery, and the control input is connected to the output of the route computing device, at the place where the grippers are attached to the telescopic rod, a sensor is fixed, connected to the input of the route computing device, the telescopic pincer-shaped manipulator is rigidly fixed inside one of the power rods, wherein the longitudinal axis of the telescopic rod coincides with the longitudinal power axis of the power rod, and the grippers, on the jaws of which dielectric pads are rigidly fixed, are installed on a platform, which is fixed to the end of the power rod with the help of a spherical hinge.

[0008] The unmanned aerial complex is explained by drawings, where Fig. 1 shows a top view of the structural diagram of the unmanned aerial vehicle of the unmanned aerial complex in flight mode, Fig. 2 is a side view of the unmanned aerial vehicle of the unmanned aerial complex, Fig. 3 is a block diagram of the unmanned aerial complex, and Fig. 4 is a view of the unmanned aerial vehicle of the unmanned aerial complex after mechanical fixation of the conductive wire.

[0009] In the center of the unmanned aerial vehicle of the unmanned aerial complex there is a supporting frame 1 (Fig. 1), to the side surface of which rods 2 are rigidly attached by some of their ends. At the other ends of rods 2, with the help of fasteners 3, for example, clamps, electric motors 4 are rigidly fixed, for example, AXI 2814 / 22, 037 or Racerstar Racing Edition 2306 2700KV or Readytosky 2205-2300 2300KV or Racerstar Racing Edition 2205 2300KV, with propellers 5 (Fig. 2). On the lower surface of the supporting frame 1, a chassis 6 is rigidly fixed, made, for example, of carbon fiber reinforced plastics or carbon fiber reinforced plastics or carbon fiber reinforced plastics. Floats, which are not shown in the drawing, can be attached to the chassis 6. On the chassis 6 there is a power battery 7 for powering the electric motors 4, for example, LiPo 4S1300 mAh or 1500 mAh, the output 8 of which is connected to the electric motors 4 through the speed controller 9.A rotary-tilt gyrostabilized suspension 11 is attached to the central part of the lower surface of the supporting frame 1 by means of a hinge 10. The suspension 11 carries a video surveillance device 12, the output 13 (Fig. 3) of which is connected to the input 14 of the route computing device 15 of the on-board flight support system 16, fixed to the upper surface of the supporting frame 1 (Fig. 2) and covered with a protective upper cover 17. The route computing device 15 can be made, for example, from a microprocessor, buffer registers, memory devices, interface circuits. Nine measuring inputs 18-26 of the route computing device 15 (Fig.3) a satellite navigation signal receiving and processing unit 27, an inertial measuring unit 28, including an accelerometer, for example, an XL335B accelerometer, a magnetometer and a barometer (not shown), a tracker 29, for example, an RF-V16 GPS tracker, a GPS or TK 106 tracker, an emergency landing device 30, a control unit for a rotary-tilt gyrostabilized suspension 31, a sonar 32, a video surveillance device 12, which can operate in the visible and infrared spectrum, a receiving and transmitting radio system 33 and a video data transmitter 34 are connected respectively.

[0010] A power battery 36 is connected to the power input 35 of the on-board flight support system 16. The on-board flight support system 16 includes a video surveillance device 12, a route computing device 15, a satellite navigation signal receiving and processing unit 27, an inertial measuring unit 28, a tracker 29, an emergency landing device 30, a control unit for a rotary-tilt gyrostabilized suspension 31, a sonar 32, and a receiving and transmitting radio system 33.

[0011] The mobile control and monitoring console 37 consists of a personal computer 38 with a monitor, to its three outputs 39-41 are connected, respectively, a receiving and transmitting radio system 42, a control panel 43 of an unmanned aerial complex and a mobile individual device for displaying video data 44, and the input 45 of the personal computer 38 is connected to a video data receiver 46. To the housings (Fig. 1) of the electric motors 4, an overall ring 47 is attached with its inner surface, on the outer surface of which an annular electric winding 48 is placed, made of copper or aluminum. The ring electric winding 48 is connected to the first power input 49 (Fig. 3) of the battery charge control device 50, and its outputs 51 and 52 are connected to the power battery 36 of the on-board flight support system 16 and the power storage battery 7 for supplying the electric motors 4.Connected to the indicator input 53 of the battery charge control device 50 is a battery charge level indicator 54, rigidly attached to the chassis 6 (Fig. 2). An electric field strength sensor 55, for example, of the EPIC or RaE 8 / 00-15 type, is rigidly attached to the lower part of the chassis 6 and is connected to the measuring input 56 (Fig. 3) of the route computing device 15.

[0012] Inside one of the power rods 2 (in Figs. 1 and 4 the rod is shown in section) of the unmanned aerial vehicle of the unmanned aerial complex, a telescopic pincer-shaped manipulator 57 is rigidly fixed, consisting of an electric drive 58 of a telescopic rod 59. The longitudinal axis of the telescopic rod 59 coincides with the longitudinal power axis of the power rod 2. At one end of the power rod 2 (Fig. 1), a platform 61 is fixed by means of a spherical hinge 60, on which grippers 62 are mounted, and dielectric pads 63 (Fig. 4) are rigidly fixed to the jaws of the grippers. The grippers 62 mechanically grip a conductive wire 64, for example, a live wire of an active power transmission line or a contact network of electrified railway transport.

[0013] Input 65 (Fig. 3) of electric drive 58 of telescopic rod 59 is connected to output 66 of contactor 67, the power input 68 of which is connected to power storage battery 7, and control input 69 of contactor 67 is connected to output 70 of route computing device 15. At the place where platform 61 (Fig. 4) is attached to telescopic rod 59, sensor 71 is secured, connected to input 72 (Fig. 3) of route computing device 15.

[0014] The unmanned aerial vehicle (UAV) operates as follows. Power from the power battery 7 is fed through the speed controller 9 to the electric motors 4, causing the propellers 5 (Fig. 2) to begin rotating. The UAV of the UAV takes off.

[0015] The unmanned aerial system has two possible operating modes: “manual” and “autonomous”.

[0016] In the "manual" mode, the route computing device 15 (Fig. 3) performs the following functions: it sends a control signal to the electric motors 4 and, based on the signals from the inertial measuring unit 28, ensures the horizontal position of the unmanned aerial vehicle of the unmanned aerial complex; based on the signals from the satellite navigation signal receiving and processing unit 27, it determines the coordinates of the unmanned aerial vehicle of the unmanned aerial complex and transmits them to the mobile control and monitoring panel 37. Upon receipt of response telemetry signals from the mobile control and monitoring panel 37, the route computing device 15 generates control signals that are sent to the electric motors 4 and change the rotation speed of the propellers 5 (Fig. 2). As a result, the unmanned aerial vehicle of the unmanned aerial complex changes its course and flight altitude.

[0017] In the “autonomous” mode, the route computing device 15 (Fig. 3) operates according to the program embedded in it, and, based on the coordinates of the GPS / GLONASS satellite navigation system, automatically carries out a flight mission with a return to the takeoff pad.

[0018] In both modes, visual control of the flight is carried out using video data signals from the video surveillance device 12, which are received by the video data transmitter 34 and transmitted to the video data receiver 46 of the mobile control and management point 37, where they are processed and transmitted to the personal computer 38; here, the information from the signals is processed and displayed on a monitor, which is not shown in the drawing.

[0019] In the "manual" mode, the personal computer 38 sends a signal to the radio transceiver system 42, which emits a control signal received by the radio transceiver system 33, which generates a signal arriving through the input 25 to the route computer 15, where the signal is processed and analyzed. As a result, the route computer 15 generates a control signal of the first type, which arrives at the electric motors 4, the latter correspondingly change the rotation frequencies of their propellers 5 (Fig. 2), and, consequently, change the orientation and position of the unmanned aerial vehicle of the unmanned aerial complex. The route computer 15 (Fig. 3) also generates control signals of the second type arriving at the control unit of the rotary-tilt gyrostabilized suspension 31, as a result of which the video surveillance device 12 changes its orientation.

[0020] During the flight, tracker 29 records the coordinates of the movement of the unmanned aerial vehicle of the unmanned aerial complex at a specified frequency; this information is fed to the route computing device 15.

[0021] If the flight takes place over the water surface, and if it is necessary to determine the presence and coordinates of various transport vehicles located in the water column, sonar 32 operates, transmitting the received information to the route computing device 15.

[0022] If it is necessary to continue the flight without interrupting the latter, and if the power storage battery 7 and the power battery 36 of the on-board flight support system 16 are significantly discharged, the unmanned aerial vehicle approaches the conductive wire 64, the location of which is determined visually by the operator, if the flight is carried out in the "manual" mode, or its coordinates are stored in the program of the route computing device 15. The approach continues until the electric field strength sensor 56 is triggered at the moment when the electric field strength in the zone of the electric field strength sensor 55 approaches 1 kV / cm, which is the breakdown voltage of humid air. The signal from the electric field strength sensor 55 is fed to the tenth measuring input 56 of the route computing device 15, which generates a signal to the electric motors 4.Under the influence of this signal, the rotation frequency of the propellers 5 is recorded (Fig. 2), and the unmanned aerial vehicle of the unmanned aerial complex flies according to signals from the route computing device 15 (Fig. 3).

[0023] When it is necessary to charge the power storage battery 7 and the power battery 36, the personal computer 38 sends a signal to the receiving and transmitting radio system 42, which emits a control signal received by the receiving and transmitting radio system 33, which generates a signal coming through the input 25 to the route computing device 15, where the signal is processed and analyzed. As a result, the route computing device 15 generates a control signal of the third - search type, which comes to the electric motors 4, the latter accordingly change the rotation frequencies of their propellers 5 (Fig. 2), and, consequently, change the orientation and position of the unmanned aerial vehicle of the unmanned aerial complex. The route computing device 15 (Fig.3) also generates control signals of the fourth type, which are sent to the control unit of the rotary-tilt gyrostabilized suspension 31, as a result of which the video surveillance device 12 changes its orientation and begins searching for a nearby conductive wire 64 (Fig. 4), for example, a wire of an overhead power line or a supporting cable of the contact network of an electrified railway transport. After finding the conductive wire 64, the personal computer 38 (Fig. 3) generates a signal to the receiving and transmitting radio system 42, which emits a control signal received by the receiving and transmitting radio system 33, which generates a signal coming through the input 25 to the route computing device 15, where the signal is processed and analyzed.As a result, the route computing device 15 generates a control signal of the third - search type, which comes to the electric motors 4, the latter accordingly change the rotation speed of their propellers 5 (Fig. 2), and the unmanned aerial vehicle of the unmanned aerial complex flies up from the side to the conductive wire 64 (Fig. 4). The route computing device 15 (Fig. 3) generates a signal arriving at the control input 69 of the contactor 67, which connects the electric drive 58 to the power battery 7. The telescopic rod 59 of the telescopic pincer-like manipulator 57 is extended with the help of the electric drive 58 and the mechanical fixation of the conductive wire 64 is carried out with the help of the grippers 62. Dielectric pads 63 on the jaws of the grippers 62 insulate the telescopic rod 59 from the currents flowing through the landing object 64.As a result of the closing of the grippers 62 of the telescopic pincer-like manipulator 57, the sensor 71 is triggered, the signal from which is fed to the input 72 (Fig. 3) of the route computing device 15, which generates a control signal of the fifth type, coming to the electric motors 4, which stop the rotation of their propellers 5 (Fig. 2). Under the action of gravity, the unmanned aerial vehicle of the unmanned aerial complex rotates in the spherical hinge 60 (Fig. 4) and is located below the conductive wire 64 in a plane perpendicular to the longitudinal axis of the conductive wire 64. The magnetic flux created by the current flowing through the conductive wire 64 induces an electromotive force in the annular electric winding 48, under the action of which in two circuits, the first of which consists of the electric winding 48, the battery charge control device 50 (Fig.3) and the power battery 36 of the on-board flight support system 16, and the second - from the annular electric winding 48, the battery charge control device 50 and the power storage battery 7 for supplying the electric motors 4, charging currents begin to flow. In this way, the power battery 36 and the power storage battery 7 are charged. The charging efficiency is also increased due to the possibility of rotating the unmanned aerial vehicle of the unmanned aerial complex in the spherical hinge 60 relative to the vertical axis, which leads to a change in the magnitude of the magnetic flux penetrating the cross-section of the annular electric winding 48. When the power battery 36 and the power storage battery 7 are fully charged, this is recorded by the battery charge level indicator 54, the battery charge control device 50 disconnects the annular electric winding 48, and charging stops.

[0024] The flight mission is resumed using a signal from the personal computer 38 arriving at the receiving and transmitting radio system 42, which emits a control signal received by the receiving and transmitting radio system 33, which generates a signal arriving through the input 25 to the route computing device 15, where the signal is processed and analyzed. As a result, the route computing device 15 generates control signals to start the electric motors 4 and to open the grippers 62 (Fig. 4) of the telescopic pincer-like manipulator 57.

[0025] In the event of a need to return to the takeoff area, the route computing device 15 (Fig. 3), in accordance with the program embedded in it, in the absence of communication with the mobile control and monitoring console 38, based on the coordinates of the GPS / GLONASS satellite navigation system, carries out a flight mission with a return to the takeoff area in automatic mode using the emergency landing device 30.

[0026] As can be seen, the increase in the magnitude of the magnetic flux created by the current flowing through the conductive wire 64 (Fig. 4) and penetrating the cross-section of the circular electric winding leads to an increase in the magnitude of the electromotive force induced in the circular electric winding 48, which significantly improves the charging efficiency of the on-board batteries 7 and 36 in the claimed device compared to the prototype. The absence of electricity consumption by the electric motors 4 at this time also contributes to the increase in charging efficiency.

Claims

An unmanned aerial complex for monitoring overhead power lines and contact networks, comprising a mobile control and management console and an unmanned aerial vehicle comprising a supporting frame, to the side surface of which power rods are rigidly attached at one end, to the other ends of which electric motors with propellers are rigidly attached, a chassis is rigidly attached to the lower surface of the supporting frame, on which a power storage battery is located, the output of which is connected through a speed controller to the inputs of the electric motors, a rotary and tilt gyrostabilized suspension is attached to the central part of the lower surface of the supporting frame by means of a hinge, on which a video surveillance device is located, the output of which is connected to the input of the route computing device of the on-board flight support system, fixed to the upper surface of the supporting frame and covered with a protective top cover,to the first through ninth measuring inputs of which are connected, respectively, a satellite navigation signal receiving and processing unit, an inertial measuring unit including an accelerometer, a magnetometer and a barometer, a tracker, an emergency landing device, a control unit for a rotary and tilt gyrostabilized suspension, a sonar, a video surveillance device, a receiving and transmitting radio system, a video data transmitter, and to the power input of the onboard flight support system a power battery is connected, a mobile control and management console, which consists of a personal computer with a monitor, to the three outputs of which a receiving and transmitting radio system, a control console for an unmanned aerial vehicle and a mobile individual video data display device are connected, respectively, and the output of the personal computer is connected to the video data receiver, a clearance ring is attached to the housings of the electric motors with its inner surface,on the outer surface of which a ring electric winding is placed, the terminals of which are connected to the first power input of the battery charge control device, and its outputs are connected to the power battery of the on-board flight support system and the power battery of the electric motors, an indicator of the battery charge level is connected to the indicator input of the battery charge control device, rigidly fixed to the chassis, on which an electric field strength sensor is also rigidly fixed, connected to the tenth measuring input of the route computing device, a telescopic pincer-shaped manipulator is located on the unmanned aerial vehicle, consisting of a telescopic rod and its electric drive, at one end of which grippers are installed, with the help of which a mechanical grip of the conductive wire is carried out, the input of the electric drive is connected to the output of the contactor,the power input of which is connected to a power storage battery, and the control input is connected to the output of the route computing device, at the place where the grippers are attached to the telescopic rod, a sensor is fixed, connected to the input of the route computing device, characterized in that the telescopic pincer-shaped manipulator is rigidly fixed inside one of the power rods, and the longitudinal axis of the telescopic rod coincides with the longitudinal power axis of the power rod, and the grippers, on the jaws of which dielectric pads are rigidly fixed, are installed on a platform, which is fixed to the end of the power rod with the help of a spherical hinge.

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