Electric field measuring obstacle avoidance system and method for live wire routing inspection of unmanned aerial vehicle
A technology of electric field measurement and live wire, applied in measurement devices, measurement of electrical variables, instruments, etc., can solve problems such as inaccurate results, no application examples, and no practicability, to improve reliability, avoid volume, and ensure safe effect
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Embodiment 1
[0078] The electric field measurement and obstacle avoidance system is mounted on the UAV to detect the actual 220kV line. In order to verify the practicability of the simulation data, the flight route of the UAV is set to be perpendicular to the direction of the transmission line and equal to the side wire. The wire of the item is 70 meters to 16 meters (this distance range is selected to ensure the safety of the drone and to verify whether the alarm signal of the electric field measurement obstacle avoidance system is received at the expected position halfway). In order to reduce the flight error, the flight conditions are selected as follows:
[0079] Weather: sunny and windless;
[0080] Patrol wire: such as Figure 6 The wire in the middle of the straight line tower shown;
[0081] Set C220=29, Δt=0.1s, and conduct flight test.
[0082] In the middle of the flight, the UAV receives the alarm signal from the electric field measurement obstacle avoidance system. After ho...
Embodiment 2
[0085] The electric field measurement and obstacle avoidance system is mounted on the UAV to detect the actual 500kV line. In order to verify the practicability of the simulation data, the flight route of the UAV is set to be perpendicular to the direction of the transmission line, equal to the side wire, and determined by the distance from the side The wire of the item is 70 meters to 20 meters (this distance range is selected to ensure the safety of the drone and to verify whether the alarm signal of the electric field measurement obstacle avoidance system is received at the expected position halfway). In order to reduce the flight error, the flight conditions are selected as follows:
[0086] Weather: sunny and windless;
[0087] Patrol wire: as follows Figure 8 The wire in the middle of the straight line tower shown;
[0088] Set C500=56, Δt=0.1s, and conduct flight test.
[0089] In the middle of the flight, the UAV receives the alarm signal from the electric field me...
Embodiment 3
[0092] The electric field measurement and obstacle avoidance system is mounted on the UAV to detect the actual 750kV line. In order to verify the practicability of the simulation data, the flight route of the UAV is set to be perpendicular to the direction of the transmission line, and the same height as the side wire. The wire of the item is 70 meters to 23 meters (this distance range is selected to ensure the safety of the drone, and to verify whether the alarm signal of the electric field measurement obstacle avoidance system is received at the expected position halfway). In order to reduce the flight error, the flight conditions are selected as follows:
[0093] Weather: sunny and windless;
[0094] Patrol wire: as follows Figure 10 The conductor in the middle of the straight line tower shown;
[0095] Set C750=77, Δt=0.1s, and conduct flight test.
[0096] In the middle of the flight, the UAV receives the alarm signal from the electric field measurement obstacle avoidan...
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