Power inspection tour flying robot air route planning method based on three-dimensional digital map

A flying robot, three-dimensional digital technology, applied in three-dimensional position/channel control and other directions, can solve problems such as less consideration of dynamic obstacles in harsh environments and no route planning method.

Active Publication Date: 2015-10-07
NORTH CHINA ELECTRIC POWER UNIV (BAODING)
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Problems solved by technology

But at the same time, due to harsh environmental factors such as terrain, ground objects, and weather near the power line, as well as the impact of unexpected situations encountered by the flying robot itself, the inspection flying robot needs to carry out path planning and emergency avoidance.
[0003] The current overhead transmission line inspection flying robot can better inspec

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  • Power inspection tour flying robot air route planning method based on three-dimensional digital map
  • Power inspection tour flying robot air route planning method based on three-dimensional digital map
  • Power inspection tour flying robot air route planning method based on three-dimensional digital map

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[0024] The method proposed by the present invention will be further described below in conjunction with the drawings and embodiments.

[0025] Such as figure 1 Shown is the flow chart of route planning of the inspection flying robot based on the three-dimensional digital map of the present invention; the specific steps of the method are:

[0026] 1) Collect the three-dimensional data information of the terrain and ground features near the power line through laser scanning technology, and construct the corresponding three-dimensional digital map;

[0027] 2) Obstacle maps are generated according to the three-dimensional digital map, and the global environment map is generated using the high-frequency probability 3D mapping framework based on the octree. In addition, the specific semantic model according to the task requirements is automatically established through the airborne omni-directional sensor, so as to use the local multiple A path planning method combining resolution obstacl...

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Abstract

The invention discloses a power inspection tour flying robot air route planning method based on a three-dimensional digital map in the technical field of power transmission line inspection tour flying robot air route planning method research. The method comprises: acquiring three-dimensional data information of terrain and surface features near a power line by using laser scanning technology and constructing a corresponding three-dimensional digital map; generating a barrier map according to the three-dimensional digital map and establishing a safe flight path for the inspection tour flying robot; if a weather condition which is not beneficial to flying robot inspection tour happens, immediately making an emergency landing in order to enable the flying robot safely land as near as possible, and reclaiming the flying robot after the emergency situation finishes; if no special weather condition happens, enabling the flying robot to determine whether an inspection tour task is completed after performing inspection tour for a certain time; if the inspection tour task is completed, enabling the flying robot to return along the original safe flight path; and if the inspection tour task is not completed, enabling the flying robot to perform autonomous risk avoiding according to the established safe flight path.

Description

technical field [0001] The invention belongs to the technical field of research on route planning methods for power transmission line inspection flying robots, and in particular relates to a route planning method for power inspection flying robots based on three-dimensional digital maps. Background technique [0002] With the advancement of science and technology, the inspection of transmission lines has been gradually replaced by flying robot inspection from the initial human inspection. In this way, the work risk of the staff is greatly reduced. But at the same time, due to harsh environmental factors such as terrain, ground objects, and weather near the power line, as well as the impact of unexpected situations encountered by the flying robot itself, the inspection flying robot needs to carry out path planning and emergency avoidance. [0003] The current overhead transmission line inspection flying robot can better inspect the transmission line, but the safe obstacle av...

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Application Information

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IPC IPC(8): G05D1/10
Inventor 杨国田吴华王毅磊王晓彤柳长安刘春阳
Owner NORTH CHINA ELECTRIC POWER UNIV (BAODING)
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