Unmanned aerial vehicle patrolling line corridor method and device based on millimeter-wave radar

Abstract

The invention discloses an unmanned aerial vehicle patrolling line corridor method and device based on a millimeter-wave radar. The device comprises a patrolling unmanned helicopter, wherein an airborne millimeter-wave radar device and a high-definition camera detection device are arranged on the unmanned helicopter; the airborne millimeter-wave radar device comprises an airborne antenna, and a millimeter-wave transmitting / receiving module, an analog / digital conversion unit, a clutter processor, a signal accumulator, a fast Fourier transform (FFT) module and a signal processing unit which are connected with one another in sequence; and an input end of the signal processing unit is connected with an airborne flight control system. The invention also discloses an unmanned aerial vehicle patrolling line corridor method which is based on the millimeter-wave radar and is implemented by using the device. By the device and the method, as a monitoring means, whether the line operation environment is in danger and has hidden troubles for line safe operation is known and mastered in time, and a basis is provided for effectively making decisions; and the conventional method manually using an altazimuth for measurement is avoided, so that the working efficiency is improved, and the device and the method have great practical significance for the safety of electric transmission lines and unmanned aerial vehicle patrolling.

Description

technical field [0001] The present invention relates to a method and a device for inspecting a corridor by an unmanned aerial vehicle, in particular to a method and a device for inspecting a corridor by an unmanned aerial vehicle based on a millimeter wave radar. Background technique [0002] In recent years, the sustained and rapid development of my country's national economy has put forward higher and higher requirements for my country's electric power industry. In order to provide safe and reliable power supply, the automation and modernization of inspection line maintenance has increasingly shown its urgency. The use of unmanned aerial vehicles to inspect line corridors and towers can overcome the disadvantages of using manned helicopters to inspect lines, such as expensive maintenance costs and prominent safety issues. However, due to my country's vast territory, complex terrain and weather, transmission lines The terrain and environment are also varied. Designing a thr...

AI Technical Summary

Problems solved by technology

[0010] (1) The size of the antenna is large; since the millimeter-wave radar in this patent adopts the working method of combining the medium-range large emission angle with the long-distance small emission angle, the large antenna size is limited by the emission angle, and its radius cannot be reduced;

[0011] (2) The method of combining the two detection distances is not applicable in 3D map drawing; when the two detection distances are used in combination, due to the different detection ranges, the distance between detection points and the accuracy of the obtained data are different, which is not conducive to rapid Data calculation and get 3D map;

[0012] (3) There is no module in this patent that can discriminate the attributes of detected objects, so the distance between power crossing lines cannot be calculated, and the distance between power crossing lines is one of the important factors for judging whether there are potential safety hazards in power lines;

[0013] (4) The multi-mode millimeter-wave radar for drones mentioned in this patent does not have a fast calculation module, which cannot meet the requirements for real-time generation of simple three-dimensional maps;

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