A route planning method for power inspection flying robot based on 3D digital map
A flying robot, three-dimensional digital technology, applied in three-dimensional position/channel control and other directions, can solve the problems of no route planning method and less consideration of dynamic obstacles in harsh environments
Inactive Publication Date: 2017-11-28
NORTH CHINA ELECTRIC POWER UNIV (BAODING)
View PDF3 Cites 0 Cited by
- Summary
- Abstract
- Description
- Claims
- Application Information
AI Technical Summary
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
Method used
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View moreImage
Smart Image Click on the blue labels to locate them in the text.
Smart ImageViewing Examples
Examples
Experimental program
Comparison scheme
Effect test
Embodiment Construction
[0024] The method proposed by the present invention will be further described below in conjunction with the accompanying drawings and embodiments.
[0025] Such as figure 1 Shown is the flow chart of the route planning of the inspection flight 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 features near the power line through laser scanning technology, and construct the corresponding three-dimensional digital map;
[0027] 2) Generate obstacle maps based on 3D digital maps, and use octree-based high-frequency probabilistic 3D mapping frameworks to generate global environment maps. In addition, through airborne omni-directional sensors, a specific semantic model according to task requirements is automatically established, thereby utilizing local multiple A path planning method combining resolution obstacle avoidance and layered archite...
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More PUM
Login to View More Abstract
The invention discloses a three-dimensional digital map-based flight route planning method for a flying robot for power inspection in the technical field of research on route planning methods for a flying robot for inspection of power transmission lines. Including collecting three-dimensional data information of terrain and features near the power line through laser scanning technology, and constructing corresponding three-dimensional digital maps; generating obstacle maps based on three-dimensional digital maps, and establishing safe flight paths for patrolling flying robots; If there is no special meteorological condition, the inspection robot will make an emergency landing immediately so that the flying robot can land safely nearby, and wait for the recovery after the emergency is over; Complete; if the inspection task is completed, return to the original safe flight route; if the inspection task is not completed, follow the established safe flight path for autonomous risk avoidance.
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...
Claims
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More Application Information
Patent Timeline
Login to View More Patent Type & Authority Patents(China)
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)