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System and method for transmission line UAV inspection and obstacle avoidance

A technology for transmission lines and unmanned aerial vehicles, applied in two-dimensional position/channel control and other directions, can solve problems such as inability to avoid unknown obstacles and hidden dangers

Active Publication Date: 2018-02-13
ELECTRIC POWER RESEARCH INSTITUTE, CHINA SOUTHERN POWER GRID CO LTD +1
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AI Technical Summary

Problems solved by technology

[0004] Based on this, it is necessary to provide a transmission line UAV inspection and obstacle avoidance system and method to realize Effective obstacle avoidance for unknown obstacles during UAV inspection of transmission lines

Method used

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  • System and method for transmission line UAV inspection and obstacle avoidance
  • System and method for transmission line UAV inspection and obstacle avoidance
  • System and method for transmission line UAV inspection and obstacle avoidance

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Embodiment Construction

[0018] Such as figure 1 As shown, an unmanned aerial vehicle inspection and obstacle avoidance system for transmission lines includes an interconnected environment perception module 100 and an obstacle avoidance master control terminal 200;

[0019] The environmental perception module 100 acquires the environmental information data around the drone in real time, and sends the environmental information data to the obstacle avoidance main control terminal 200, and the obstacle avoidance main control terminal 200 performs fusion processing on the environmental information data, and performs The SLAM operation updates the UAV trajectory planning according to the SLAM operation result and the preset UAV trajectory planning, wherein the environmental information data includes obstacle position information data.

[0020] The environmental perception module 100 is used for real-time acquisition of environmental information data around the drone. Specifically, the environmental percept...

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Abstract

The invention provides a system and method for unmanned aerial vehicle inspection and obstacle avoidance of power transmission lines. The system includes an interconnected environment perception module and an obstacle avoidance main control terminal. The information data is sent to the obstacle avoidance main control terminal, and the obstacle avoidance main control terminal performs fusion processing on the environmental information data, performs SLAM calculation according to the fused data, and updates the drone according to the SLAM calculation result and the preset drone track planning Track planning. The whole system can sense the position of obstacles around the UAV, perform SLAM calculations based on the fused data, and update the UAV trajectory planning based on the SLAM calculation results and the preset UAV trajectory planning, which can effectively target unknown obstacles Avoid obstacles.

Description

technical field [0001] The invention relates to the technical field of unmanned aerial vehicle inspection, in particular to a system and method for inspection and obstacle avoidance of an unmanned aerial vehicle for power transmission lines. Background technique [0002] The inspection of overhead transmission lines is the basic work of daily maintenance of power grid companies. The inspection methods can be divided into manual inspection, helicopter inspection and drone inspection. Although manual inspection is the most traditional inspection method, it is inefficient and restricted by the climate and geographical environment. With the development of aviation and electronic science and technology, the helicopter / UAV power inspection method is being widely researched and applied, especially the UAV inspection has more and more application value because of its safety and high efficiency. [0003] Transmission lines are mostly distributed in mountainous areas far away from ci...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02
Inventor 张巍左鹏飞杨鹤猛吴新桥张贵峰陈晓陈艳芳赵克张拯宁罗敏李东武
Owner ELECTRIC POWER RESEARCH INSTITUTE, CHINA SOUTHERN POWER GRID CO LTD
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