| The transmission lines of our country have wide coverage,high voltage/UHV transmission lines long,and the environment,climate and geography across the area are very complex.Civil and industrial UAVs have made great progress in recent years,and all kinds of power enterprises at home and abroad have launched the research and application of unmanned aerial vehicles in the operation and maintenance of transmission lines.Unmanned aerial vehicle(UAV)is not limited by topography and terrain in the operation and maintenance of transmission lines,and has good cost performance,and there is no such problem as casualties in the case of UAV accidents.At present,UAVs are mainly operated by unmanned aircraft drivers in the field of power maintenance,which requires highly skilled pilots.At the same time,due to the impact of perspective and distance and other factors,the driver is easy to misjudgment of UAV and obstacles,patrol the distance relationship between objects,this event will lead to the UAV flight attitude imbalance,target positioning errors,it will cause a great impact on the maintenance work,and even lead to error control of UAV on the transmission line,causing serious safety accidents.At the same time,the UAV airborne equipment and electronic equipment are generally weak,affected by strong electromagnetic field of high voltage transmission wire around the will in the process near the high voltage transmission line,interfere with the normal work of UAV and airborne equipment,often zero drift of uav.Based on the application of unmanned aerial vehicle(UAV)in power maintenance,this paper proposes an obstacle avoidance scheme for UAVs based on the electromagnetic field distributed around the power line.According to the electromagnetic field sensed by UAV in the electromagnetic environment,the scheme can evaluate the safety of UAV flight operation by mapping the space position relative to the transmission line.In this paper,the mathematical model of the electric field around the EHV transmission line of different phase sequence is established by using the charge simulation method,the electric field and electric field changes in the model were compared and analyzed;the numerical calculation method of the magnetic field around the transmission line,the mathematical model of magnetic field around the transmission lines established by this method,and the magnetic field the model of different phase sequence arrangement of transmission lines are analyzed;use embedded system design of a UAV obstacle avoidance system based on electric power overhaul of the electromagnetic field,hardware and software components of the system are designed in detail;verified the obstacle avoidance scheme in the laboratory and a high voltage power transmission line.The design of sensor module in the field of obstacle avoidance system of hardware in the design of capacitive sensor sensor probe,the probe is the six capacitive sensors are placed in the six sides of hexahedron can be detected,so that electric field strength in all directions;using the Holzer sensor in the design of magnetic sensor module in the design of the sensor probe hexahedron,layout and electric field sensor probe sensor similar to Holzer.The STM32F103 produced by STMicroelectronics is chosen as the central control processor,and the AS62-T30 module is adopted for the wireless transceiver module and the wireless transceiver module at the ground terminal.The embedded system directly uses the airborne power supply as the power supply of the system,and makes full use of the UAV body resources.The obstacle avoidance scheme is safe and reliable,and can effectively detect the high-voltage transmission line,and can control the UAV real-time obstacle avoidance in case of emergency,the UAV flight information is sent to the ground segment for staff to check,ensure the safe operation of the electric power overhaul of UAV flight operations,is of great significance to the application in in the electric power industry machine. |
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