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

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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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 inspect the transmission line, but the safe obstacle avoidance flight path established during the inspection process rarely considers the sudden encounter of the flying robot in harsh environments (storms, etc.) when working in the air. ) and dynamic obstacles (such as the sudden appearance of some birds, etc.), and there is no complete route planning method to solve these emergencies

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