Routing inspection flying robot and overhead power line distance prediction and maintaining method

A flying robot and power line technology, applied in three-dimensional position/channel control and other directions, can solve the problems of not fully considering the safety of flying robots, and unable to obtain and use efficiently and accurately

Inactive Publication Date: 2014-08-13
NORTH CHINA ELECTRIC POWER UNIV (BAODING)
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  • Application Information

AI Technical Summary

Problems solved by technology

This method cannot efficiently and accurately acquire and utilize information such as the current power line status and spatial location, and does not fully consider the safety of flying robots.

Method used

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  • Routing inspection flying robot and overhead power line distance prediction and maintaining method
  • Routing inspection flying robot and overhead power line distance prediction and maintaining method
  • Routing inspection flying robot and overhead power line distance prediction and maintaining method

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Embodiment Construction

[0024] The method of the present invention will be further described below in conjunction with the accompanying drawings.

[0025] figure 1 It is a flowchart of the method of the present invention, the method includes a distance prediction method and a distance maintenance method, and the distance prediction method is:

[0026] First, the geographic location coordinates of the current flying robot are determined: the geographic location coordinates are obtained from the geospatial coordinate data of the flying robot provided by the onboard Global Positioning System (GPS) antenna and the ground GPS base station.

[0027] Then, set the three-dimensional coordinate system XYZ of the three-dimensional corridor model, map the geographic location coordinates of the current flying robot to the existing three-dimensional corridor model, and obtain the coordinates PF(x 0 ,y 0 ,z 0 ), the schematic diagram of the 3D corridor model is shown in figure 2 shown.

[0028] Finally, in t...

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Abstract

The invention discloses a routing inspection flying robot and overhead power line distance prediction and maintaining method, and belongs to the technical field of power line detection. The distance prediction method and the distance maintaining method are included, wherein the distance prediction method includes the steps that geographical position coordinates of a current flying robot are determined, and the actual distance between the flying robot and an overhead power line is calculated; the distance maintaining method includes the steps that (1) real-time fault detection is carried out on the overhead power line by means of a line fault module, and the distance maintaining method is determined intelligently; (2) safety conditions of the flying robot are taken into consideration, and the current safety condition of the flying robot is judged through a safety assessment model; (3) safety self-adaptive dynamic path planning is carried out. According to the method, sensor data are combined with three-dimensional corridor model data, and the distance between the flying robot and the overhead power line is figured out precisely; all kinds of safety factors are considered, and security of the flying robot is assessed; in terms of routing inspection standards of the overhead power line, flying routing inspection paths are planned in real time, and the distance between the flying robot and the overhead power line is maintained.

Description

technical field [0001] The invention belongs to the technical field of electric power inspection, and in particular relates to a method for predicting and maintaining the distance between an inspection flying robot and an overhead power line. Background technique [0002] When flying robots inspect power lines in remote areas, they will face two major problems: inspection efficiency and the safety of flying robots. If the distance between the inspection flying robot and the overhead power line is too far, it will lead to problems such as long inspection time and low accuracy, and if it is too close, it will pose a serious threat to the safety of the flying robot itself. [0003] At present, the existing distance prediction and maintenance technology can be roughly divided into the following three aspects, all of which have serious deficiencies [0004] 1. The method of manual prediction and control. The effect of this method depends on the skill and experience of the drive...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/10
Inventor 吴华柳长安张晟杨国田刘春阳
Owner NORTH CHINA ELECTRIC POWER UNIV (BAODING)
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