CN106896414B - A kind of passive type array magnetic induction antenna assembly - Google Patents

Abstract

The invention discloses a passive array magnetic induction antenna device, which includes a substrate, on which a drive circuit, a voltage stabilizing circuit, a resonant sampling circuit and a plurality of magnetic induction subunits are arranged. The circuit includes a total row driving circuit, M row driving circuits, N column driving circuits and M*N AND gate circuits, and the magnetic induction sub-units are in one-to-one correspondence with the AND gate circuits. In the present invention, each pair of coils is composed of two orthogonally distributed 10mH inductances connected in series to form a matrix array, and the coils are fixed on the substrate by welding two wire ends. In this way, it can be installed in front of the UAV, and the existence of the power line can be sensed in real time through the passive array inductive coil, and the distance information and position angle information of the aircraft relative to the power line can be further sensed, which can provide a basis for subsequent signal processing circuits.

Description

A passive array magnetic induction antenna device

technical field

The invention relates to the technical field of automatic detection of aircraft line inspection in the power transmission and distribution industry of a power system, in particular to a passive array magnetic induction antenna device.

Background technique

At present, the maintenance, inspection and emergency repair of transmission lines by power companies are still basically divided into sections, relying on manual on-site inspections of line inspections. The timeliness and accuracy of line defect discovery depend on the professional ability and responsibility of line inspectors and the implementation of inspection and inspection by team managers, and the occurrence of various accidents caused by insufficient inspection cannot be eliminated. At the same time, some transmission lines are erected in deep forests, wetlands, and high mountain areas. The arrival of personnel is slow, difficult, and inefficient. It is impossible to perform regular inspections and maintenance. Inspections under harsh natural conditions such as ice and snow, earthquakes, and floods are even more difficult.

At present, the main method to replace manual line inspection is to use drone inspection operations, including remote control inspection flight and autonomous obstacle avoidance tracking inspection flight. Both operation methods require the aircraft to maintain a reasonable distance from the transmission line and Relative position, convenient line tracking, obstacle avoidance technology, etc., and the most important thing is how to set up the magnetic induction antenna to carry the drone to detect the power transmission circuit. Existing technologies cannot meet this requirement.

Contents of the invention

The purpose of the present invention is to provide a passive array magnetic induction antenna device, which can realize the detection of the magnitude and distribution of the magnetic field intensity, with high sensitivity and high precision;

Furthermore, it can meet the needs of unmanned aerial vehicles for line identification, position measurement, obstacle avoidance, and tracking during the line inspection process.

The present invention adopts following technical scheme:

A passive array magnetic induction antenna device, including a substrate, on which a drive circuit, a voltage stabilizing circuit, a resonant sampling circuit and a plurality of magnetic induction subunits are arranged, and the arrays of the plurality of electromagnetic induction subunits are evenly arranged, and are recorded as M*N columns matrix, the drive circuit includes a total row drive circuit, M road drive circuits, N road column drive circuits and M*N AND gate circuits, and the magnetic induction subunits correspond to the AND gate circuits one by one; the total row drive circuit, Both the M-way row drive circuit and the N-way drive circuit are NPN transistors. The electromagnetic induction subunit of each row corresponds to a row NPN transistor for driving, and the electromagnetic induction subunit of each column corresponds to a column NPN transistor for driving. The circuit is a row total drive NPN transistor;

The electromagnetic induction sub-unit includes a pair of inductance coils, a first low on-resistance switch tube and a second low on-resistance switch tube, and the pair of inductance coils is composed of two orthogonally distributed inductances connected in series, so One end of the pair of inductance coils is connected to the collector of the second low on-resistance switch tube, and the emitter of the first low on-resistance switch tube is simultaneously connected to the emitter of the second low on-resistance switch tube;

The emitter of any one of the second low on-resistance switch tubes in the same row of electromagnetic induction subunits is connected to the collector of the corresponding row of NPN transistors in the row; wherein the emitters of M-1 rows of NPN transistors are all connected to The collectors of the total row driving NPN transistors are connected, the emitters of the remaining row NPN transistors are connected with the emitters of the row total driving NPN transistors, the emitters of the row total driving NPN transistors are connected to ground, and the M rows of NPN transistors and The bases of the row total drive NPN transistors are the input terminals of the drive circuit;

The emitters of any one of the first low on-resistance switch tubes in the same row of electromagnetic induction subunits are connected to the emitters of the NPN transistors in the corresponding row of the row, and at the same time from bottom to top, one of the lower electromagnetic induction subunits The other end of the pair of inductance coils is connected to the emitter of the second low on-resistance switch tube in the upper electromagnetic induction subunit adjacent to it, and the other end of the pair of inductance coils in the uppermost electromagnetic induction subunit of the same row is connected to the The emitters of the corresponding columns of NPN transistors are connected;

The base of the NPN transistor in any row is simultaneously connected to the base of the first low on-resistance switch tube in any electromagnetic induction subunit in the row and the first input terminal of any AND gate circuit in the row; The base of any one of the NPN transistors in the column is respectively connected to the second input terminal of any AND gate circuit in the column, and the output terminal of any AND gate circuit is connected to the second lowest conduction in the electromagnetic induction subunit corresponding to it. The bases of the resistance switch tubes are connected;

The collectors of the N columns of NPN transistors are connected to each other and then respectively connected to the output end of the voltage stabilizing circuit and the input end of the sampling circuit.

The resonant sampling circuit includes a plurality of capacitors and low-impedance switches, wherein one end of the first capacitor is connected to the output end of the regulated power supply, and the other end is grounded, and one end of the other capacitors is also connected to the output end of the regulated power supply, and the other ends of the remaining capacitors are connected through Low impedance switch to ground.

The low-resistance switch adopts a dual-channel low on-resistance analog switch device MAX4608.

The capacitor in the resonant sampling circuit is a monolithic capacitor.

The inductance coil is a toroidal inductance coil.

A socket is also included, and the socket is arranged on one side of the substrate, and each wiring of the resonant sampling circuit is connected to the socket.

The present invention adopts 100 pairs of inductance coils (each pair of coils are composed of two orthogonally distributed 10mH inductances connected in series) to form a 10×10 matrix array, and the coils are fixed on the bottom plate (i.e. the substrate) by welding two wire ends, and the bottom plate is both a coil The fixed plate of each coil is converged and connected to the socket, so that it can be installed in front of the drone, and the existence of the power line can be sensed in real time through the passive array inductive coil, and the distance information and the distance information of the aircraft relative to the power line can be further sensed. The position angle information provides a basis for discrimination for subsequent signal processing circuits. The invention is equipped with an unmanned aerial vehicle that can automatically identify the spatial position of the transmission line, and then provide the aircraft with an air tracking sensor device for navigation, tracking, and control signals, so as to realize the aircraft's obstacle avoidance, automatic tracking and line inspection flight functions, and has a very broad market prospect.

Description of drawings

Fig. 1 is a schematic circuit diagram of the present invention;

Fig. 2 is the partial wiring diagram of single electromagnetic induction sub-unit described in the present invention;

FIG. 3 is a schematic diagram of the resonant sampling circuit and the equivalent circuit of the present invention.

Detailed ways

As shown in Figures 1, 2 and 3, a passive array magnetic induction antenna device includes a substrate on which a drive circuit, a voltage stabilizing circuit, a resonant sampling circuit and a plurality of magnetic induction subunits are arranged, and the plurality of electromagnetic induction subunits The unit array is evenly arranged, recorded as an M*N column matrix, and the driving circuit includes a total row driving circuit, M row driving circuits, N column driving circuits, and M*N AND gate circuits, and the magnetic induction subunit and AND gate circuits are integrated One-to-one correspondence; the row total driving circuit, the M road driving circuit and the N road driving circuit are all NPN triodes, and the electromagnetic induction sub-unit of each row is correspondingly driven by a row NPN triode, and the electromagnetic induction sub-unit of each column is Corresponding to a column NPN transistor for driving, the row total drive circuit is a row total drive NPN transistor;

The electromagnetic induction sub-unit includes a pair of inductance coils, a first low on-resistance switch tube and a second low on-resistance switch tube, and the pair of inductance coils is composed of two orthogonally distributed inductances connected in series, so One end of the pair of inductance coils is connected to the collector of the second low on-resistance switch tube, and the emitter of the first low on-resistance switch tube is simultaneously connected to the emitter of the second low on-resistance switch tube; the inductance coil adopts Toroidal inductor coil.

The emitter of any one of the second low on-resistance switch tubes in the same row of electromagnetic induction subunits is connected to the collector of the corresponding row of NPN transistors in the row; wherein the emitters of M-1 rows of NPN transistors are all connected to The collectors of the total row driving NPN transistors are connected, the emitters of the remaining row NPN transistors are connected with the emitters of the row total driving NPN transistors, the emitters of the row total driving NPN transistors are connected to ground, and the M rows of NPN transistors and The bases of the row total drive NPN transistors are the input terminals of the drive circuit;

The emitters of any one of the first low on-resistance switch tubes in the same row of electromagnetic induction subunits are connected to the emitters of the NPN transistors in the corresponding row of the row, and at the same time from bottom to top, one of the lower electromagnetic induction subunits The other end of the pair of inductance coils is connected to the emitter of the second low on-resistance switch tube in the upper electromagnetic induction subunit adjacent to it, and the other end of the pair of inductance coils in the uppermost electromagnetic induction subunit of the same row is connected to the The emitters of the corresponding columns of NPN transistors are connected;

The base of the NPN transistor in any row is simultaneously connected to the base of the first low on-resistance switch tube in any electromagnetic induction subunit in the row and the first input terminal of any AND gate circuit in the row; The base of any one of the NPN transistors in the column is respectively connected to the second input terminal of any AND gate circuit in the column, and the output terminal of any AND gate circuit is connected to the second lowest conduction in the electromagnetic induction subunit corresponding to it. The base of the resistance switch tube is connected;

The collectors of the N columns of NPN transistors are connected to each other and respectively connected to the output end of the voltage stabilizing circuit and the input end of the sampling circuit; the resonant sampling circuit includes a plurality of capacitors and low-impedance switches, wherein the first end It is connected to the output end of the regulated power supply, and the other end is grounded. One end of the remaining capacitors is also connected to the output end of the regulated power supply, and the other end of the remaining capacitors is grounded through a low-impedance switch. The capacitor in the resonant sampling circuit is a monolithic capacitor. The resonant sampling circuit is composed of a plurality of parallel capacitors that are controllably connected. In different scanning acquisition working modes, the corresponding capacitance values of the resonant sampling equivalent capacitors are different to match different resonant equivalent inductances. As shown in Figure 3, in the embodiment of the present invention, the resonant sampling circuit includes a plurality of capacitors and low-impedance switches, wherein one end of the capacitor C3 is connected to the output end _of the regulated power supply, and the other end is grounded, and one end of the capacitors _C4 and _C5 is also connected to the The output ends of the regulated power supply are connected, and the other end is grounded through a low-impedance switch. The data group acquired by the resonant sampling circuit is passed through the array scanning and acquisition controller, and the amplitude discrimination processing and storage are carried out according to the designed algorithm, so that the amplitude sampling time of each single cycle of the 50H _Z AC signal can be shortened to less than 5ms. After a certain unit (or a certain column, or a certain row) is strobed, sampled, and the amplitude discrimination processing and storage are performed, the repeated operation of the next unit (the next column, the next row) is performed sequentially until the operation of all units is completed. This is a Complete scan sampling period. Under the control of the array scanning and acquisition controller, the sensing array components continue to work repeatedly in accordance with the above-mentioned process. In the further equivalent circuit, the equivalent capacitance C depends on the resonant capacitance selection controls D ₁₂ and D ₁₃ , and different combinations of D ₁₂ and D ₁₃ correspond to the array scanning working mode, as shown in Table 1 below.

Table 1

The low-resistance switch mentioned above adopts a dual-channel low on-resistance analog switch device MAX4608; C ₃ , C ₄ ,

C ₅ capacitors use monolithic capacitors.

For the power frequency signal of 50H _Z , it can be known from the calculation formula of the resonant frequency

Where f ₀ =50H _Z , then there is

In the application example, select L=100MH, put it into the above formula to calculate

C=101.32pF

Take C=100pF, according to different scanning working modes, corresponding to the above table and circuit diagram, you can calculate C ₃ , C ₄ and C ₅ .

As the detection and detection link of magnetic field information around the transmission line, the sensor array device is controlled by the scanning acquisition control link to realize the collection of magnetic field distribution status and intensity information, and then the subsequent data signal processing link calculates the detected target (high voltage transmission line) location, distance, etc.

A socket is included, and the socket is arranged on one side of the substrate, and each wiring of the resonant sampling circuit is connected with the socket. The socket has 24 wires, among which 10 wires of the column driving circuit, 11 wires of the row driving circuit, 1 ground wire, 1 power supply wire, and 1 signal output wire are connected.

In the present invention, various scanning and sampling working modes can be set and converted through the array scanning and sampling controller to meet different application requirements. The high-precision voltage stabilizing circuit provides a high-stability DC power supply for the antenna device. The array scanning and acquisition controller controls the column drive circuit and the row drive circuit. Or line by line, or all units, the gated electromagnetic induction coil and the resonance sampling equivalent capacitor form a resonance signal collector, and the collected electromagnetic induction signal is processed by a high-speed analog-to-digital converter after being processed by a filter conditioning circuit. sampling.

The preferred embodiments of the present invention will be described in detail below; it should be understood that the preferred embodiments are only for illustrating the present invention, rather than limiting the protection scope of the present invention.

The 10×10 matrix electromagnetic field sensor array has 100 magnetic induction units distributed in 10 rows and 10 columns,

In the magnetic induction unit of the present invention, each magnetic induction unit is composed of 2 inductance coils and 2 low on-resistance switch tubes, and two coils with inductance L ₁ =L ₂ =50mH and a shape of 9×12mm are installed on the circuit board respectively. The positive and negative sides are in an orthogonal distribution. When the column drive and the row drive are valid (high level), the inductance of the corresponding unit is gated (L ₁ and L ₂ ), and a parallel resonant sampling circuit is formed with the resonant capacitor C, which is scanned and controlled by the low on-resistance switch tube. Different sampling working modes correspond to different values of C, working in the column-by-column scanning acquisition mode C=C ₃ , in the point-by-point scanning acquisition mode C is the parallel connection of C ₃ and C ₄ , in the progressive scanning acquisition mode C is C ₃ and C 3 ₄ and C ₅ are connected in parallel, and the resonant sampling circuit collects the magnetic induction signal. At the same time, _Q3 is in the cut-off state. When the column drive is valid and the row drive is invalid, _Q3 is in the conduction state and short-circuits the inductance of this unit. At this time, it is in the sampling period of other row (not this row) cells in the same column. The unit circuit of row i and column j is shown in FIG. 2 . It should be noted that, in order to facilitate the description of the characteristics and working principles of the unit circuit, the circuits around the unit have been simplified or equivalently processed. In a general description, there are six types and nine places of connection signals between the unit circuit and the outside in the present invention:

Point A is connected to the column control signal _Lj , the high level is effective, Q _Lj is turned on, and the column is selected; otherwise, Q _Lj is turned off.

Points B and C, C is connected to the corresponding column drive tube of the next column, B is connected to the corresponding column drive tube of the previous column until the resonant sampling circuit, and each column is connected in parallel. The BC channel is also called a column selection channel.

Point D is connected to the row control signal H _i , the high level is effective, Q _Hi is turned on, and the row is selected, and the row control tube Q _H10 is grounded (in point-by-point scanning and progressive scanning mode, H ₁₀ is low level , the row control tube Q _H10 is turned on), or grounded through Q _H9 (in the column-by-column scanning and area scanning mode, H ₁₀ is high level, and Q _H10 is off; at this time, H ₁₀ is high level, and Q _H9 conducts pass, the series signal of each column is grounded through Q _H9 ).

Point E, connect the control pipe Q _H10 (except the last line) to the ground. In point-by-point scanning and progressive scanning modes, Q _H10 is turned on; in column-by-column and area scanning modes, Q _H10 is turned off.

At point F, connect the AND gate corresponding to the next row.

Point G, connect to the corresponding inductance in the next row.

Point K is 0 to 9 signals, the number of signals decreases row by row, and each signal is connected to the short-circuit Q' _ij of each unit behind the column.

Point S is connected to the row selection channel of the previous column, and the "on" and "off" of the channel and the ground wire are controlled by the row driving tube Q _Hi .

L, unit inductance, consists of two inductances L ₁ and L ₂ connected in series, take L ₁ =L ₂ , and adopt 9X12-50MH inductance (customized).

The simplified equivalent circuit of the gating unit is an equivalent inductance L.

The scan working mode that the present invention can realize is described as follows:

(1) Point-by-point scanning mode

When a certain row driving signal is valid, a certain column driving signal is valid, and a row control signal is valid, a certain unit is selected. Strobe each unit in turn, such as

(2) Progressive scan mode

If the driving signal of a certain row is valid, the driving signal of all columns is valid, and the control signal of the row is valid, a certain row is selected. Strobe each row in turn, such as

(3) Column-by-column scanning mode

If the driving signal of a certain column is valid, the driving signal of the whole row is valid, and the row control signal is invalid, a certain column is selected. Select each column in turn, such as

(4) Surface scan mode

If the drive signal for all columns is valid, the drive signal for all rows is valid, and the row control signal is invalid, then the entire surface is selected, such as

The present invention can sense whether the transmission line exists in real time through the passive array inductance coil, and further sense the distance information and position angle information of the aircraft relative to the transmission line by combining multiple scanning modes, and provide discrimination basis for the subsequent signal processing circuit. The invention is equipped with an unmanned aerial vehicle that can automatically identify the spatial position of the transmission line, and then provide the aircraft with an air tracking sensor device for navigation, tracking, and control signals, so as to realize the aircraft's obstacle avoidance, automatic tracking and line inspection flight functions, and has a very broad market prospect.

Claims (6)

1. a kind of passive type array magnetic induction antenna assembly, it is characterised in that：Including substrate, be provided on substrate driving circuit, Voltage regulator circuit, resonance sample circuit and multiple electromagnetic induction subelements, the multiple electromagnetic induction subelement array are uniformly arranged, Be denoted as M*N column matrix, then driving circuit include the total driving circuit of row, the road M horizontal drive circuit, the road N column drive circuit and M*N with Gate circuit, electromagnetic induction subelement and AND gate circuit correspond；The total driving circuit of the row, the road M horizontal drive circuit and the road N Driving circuit is NPN triode, and the corresponding row NPN triode of the electromagnetic induction subelement where every a line is driven, The corresponding column NPN triode of electromagnetic induction subelement where each column is driven, and the total driving circuit of row is that a row is total Drive NPN triode；

The electromagnetic induction subelement includes a pair of of inductance coil, the first low on-resistance switching tube and the second low electric conduction Switching tube is hindered, a pair of of inductance coil is composed in series by the inductance of two omnidirectional distributions, and the one of the pair of inductance coil The collector of the second low on-resistance switching tube of end connection, the first low on-resistance switching tube emitter connect second simultaneously and low lead It is powered and hinders the emitter of switching tube；

The emitter of any one second low on-resistance switching tube in same a line electromagnetic induction subelement with place The collector of the corresponding row NPN triode of row is connected；Wherein the emitter of M-1 row NPN triode always drives NPN tri- with row The collector of pole pipe is connected, and the emitter of a remaining row NPN triode is connected with the emitter of the total driving NPN triode of row It connects, the emitter grounding connection of the total driving NPN triode of row, the M row NPN triode and total driving NPN triode of going Base stage is driving circuit input terminal；

The emitter of any one first low on-resistance switching tube in same row electromagnetic induction subelement with place The emitter of column respective column NPN triode is connected, while from bottom to top, a pair of of inductance coil in the electromagnetic induction subelement of lower section The other end be connected with the emitter of the second low on-resistance switching tube in top electromagnetic induction subelement adjacent thereto, it is same Arrange the emitter of the other end of a pair of of inductance coil and column respective column NPN triode in the electromagnetic induction subelement of the top It is connected；

The base stage of any one row NPN triode simultaneously be expert in any one electromagnetic induction subelement it is first low The base stage of conducting resistance switching tube be expert in the first input end of any one AND gate circuit be connected；It is described any one The base stage of column NPN triode is connected with the second input terminal of any one AND gate circuit in column respectively, any one with The output end of gate circuit is connected with the base stage of the second low on-resistance switching tube in corresponding electromagnetic induction subelement；

The collector of N number of column NPN triode is defeated with the output end of voltage regulator circuit and sample circuit respectively after being connected with each other Enter end to be connected.

2. passive type array magnetic induction antenna assembly according to claim 1, it is characterised in that：The resonance samples electricity Road includes multiple capacitors and low-ohmic switches, and wherein first capacitor one end is connected with output end of stabilized voltage supply, other end ground connection, remaining Capacitor one end is also connected with output end of stabilized voltage supply, and the other end of remaining capacitor is grounded by low-ohmic switches.

3. passive type array magnetic induction antenna assembly according to claim 2, it is characterised in that：The low-ohmic switches, Using two-way Analog Switch with Low On-state Resistance device MAX4608.

4. passive type array magnetic induction antenna assembly according to claim 3, it is characterised in that：The resonance samples electricity Capacitor is monolithic capacitor in road.

5. passive type array magnetic induction antenna assembly according to claim 4, it is characterised in that：The inductance coil is adopted With helix tube inductance coil.

6. passive type array magnetic induction antenna assembly according to claim 5, it is characterised in that：It further include having socket, institute The side that substrate is arranged in socket is stated, and each wiring of resonance sample circuit is connected with socket.