Multiple obstacle-avoidance control method of unmanned plane used for electric wire inspection

Abstract

The invention discloses a multiple obstacle-avoidance control method of an unmanned plane used for electric wire inspection. The multiple obstacle-avoidance control method of the unmanned plane used for the electric wire inspection comprises an unmanned plane subsystem and a ground station subsystem. The unmanned plane subsystem comprises an embedded flight control device, a position detection module, an information processing module and an airborne terminal of a wireless data chain. The position detection module comprises a global navigation satellite system (GNSS) receiver, an electromagnetic field sensor and ultrasonic ranging sensors, wherein the ultrasonic ranging sensors are symmetrically arranged on the periphery of a machine body of the unmanned plane. The ground station subsystem comprises a ground terminal of the wireless data chain and an embedded supervisory control computer. The embedded supervisory control computer is loaded with a data base, wherein the data base contains an electric transmission line electromagnetic field distribution model and an electric transmission line space three-dimensional model. According to the multiple obstacle-avoidance control method of the unmanned plane used for the electric wire inspection, a security constraint area for the operation of the unmanned plane is built, the information processing module is adopted for integration of unmanned plane position information provided by an information detection module, relative distance between the unmanned plane and an electric transmission line is detected, and multiple obstacle-avoidance of the unmanned plane used for the electric wire inspection is achieved.

Description

technical field [0001] The invention belongs to the technical field of control of unmanned aerial vehicles, and in particular relates to a multi-obstacle avoidance control method for unmanned aerial vehicles used in power line inspections, which can be widely used in power inspections, aerial photography, environmental monitoring, forest fire prevention, disaster inspections, prevention Terrorist life-saving, military reconnaissance, battlefield assessment and other fields. Background technique [0002] Research on UAV control technology is one of the hot spots that universities and research institutions at home and abroad are paying attention to. In the past ten years, drones have been widely used in aerial photography, power inspection, environmental monitoring, forest fire prevention, disaster inspection, anti-terrorism lifesaving, military reconnaissance, battlefield assessment and other fields, effectively overcoming the need for manned aircraft to carry out aerial oper...

AI Technical Summary

Problems solved by technology

[0008] To sum up, the existing UAV obstacle avoidance method is not very effective for UAV obstacle avoidance in low-altitude operations, and there are still many problems to be solved

Images