Three dimensional electric field difference obstacle avoidance method for patrolling charged transmission line by unmanned helicopter

Abstract

The invention discloses a three dimensional electric field difference obstacle avoidance method for patrolling charged transmission lines by an unmanned helicopter, and the method comprises the steps of installing three electric field sensors on the unmanned helicopter in the patrol line; electric field intensity values measured by the three electric field sensors are collected to a data acquisition processor; the data acquisition processor comprises a DSP module; the electric field sensors and a signal acquisition processing unit enter into the DSP data processing module; the DSP data processing module outputs the values to the unmanned helicopter flight control system; an instruction is sent from inside the DSP data processor based on a certain algorithm and a strategy to avoid lead through the airborne flight control system to adjust the flight height and direction of the unmanned helicopter; obstacle avoidance to high tension transmission lines by the unmanned helicopter can be realized; the unmanned helicopter can be prevented from deviating a predetermined course and bumping into transmission lines while patrolling the charged transmission lines; and the safety of the unmanned helicopter patrol system and the transmission lines can be guaranteed.

Description

technical field [0001] The invention relates to an unmanned helicopter obstacle avoidance method, in particular to a three-dimensional electric field differential obstacle avoidance method for an unmanned helicopter to inspect live transmission lines. Background technique [0002] With the gradual expansion of the construction scale of high-voltage, ultra-high-voltage and ultra-high-voltage power grids in my country, the total distance of high-voltage transmission lines is also increasing. The inspection of transmission lines is becoming more and more important to the safety of power transmission. Safe and stable operation is very important. With the increase of voltage level, the height of line towers is getting higher and higher, and the inspection work of transmission lines needs to be carried out quickly and efficiently. The current line inspection method is more advanced to use unmanned helicopters for line inspection. When the current unmanned helicopter patrols the lin...

AI Technical Summary

Problems solved by technology

In the detection process, the patent "CN201210222437" uses the change rate of the difference between the two electric field strengths of the cross-section of the transmission line. When the UAV is flying on the transmission line, the UAV is required to fly parallel to the transmission line. A horizontal line, so the results obtained by this detection method have limitations on the flight safety of UAVs

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