Automatic obstacle avoidance type tree obstacle clearing aerial robot and obstacle avoidance method

Abstract

The invention discloses an automatic obstacle avoidance type tree obstacle clearing aerial robot and an obstacle avoidance method. The aerial robot comprises a multi-rotor platform, a body, two longitudinal propellers, a front arm, a rear arm, a tool component, a battery pack, a laser radar, a height-finding radar and cameras. The multi-rotor platform provides flying power for the aerial robot; the body is fixedly connected under the multi-rotor platform; the two longitudinal propellers are arranged below the multi-rotor platform and positioned on two sides of the body; the front arm is parallel to the longitudinal axis of the body and fixedly connected to the front end of the body; the rear arm is parallel to the longitudinal axis of the body and fixedly connected to the rear end of the body; the tool component is fixedly connected to the front end of the front arm; the battery pack is fixedly connected to the rear end of the rear arm; the laser radar is fixedly connected to the upperportion of the multi-rotor platform; the height-finding radar is arranged at the bottom of the body; the cameras are arranged on the front side and two lateral sides of the multi-rotor platform and the rear side of the battery pack. The automatic obstacle avoidance type tree obstacle clearing aerial robot and the obstacle avoidance method realize real-time obstacle monitoring and are beneficial to implementation of high-precision obstacle avoidance control of the aerial robot and suitable for implementation of obstacle clearing in tree obstacle and wire densely-intersected areas.

Description

technical field [0001] The invention relates to an automatic obstacle-avoiding tree-block cleaning aerial robot and an obstacle-avoiding method, belonging to the technical field of power transmission line tree-block cleaning devices. Background technique [0002] Tree barriers are a potential safety hazard in transmission line passages, manifested as the continuous growth of trees in the passages gradually threatening the operation safety of transmission lines. For this reason, the electric power departments at all levels have to invest a lot of manpower, material and financial resources every year to clean up and renovate the channel tree barriers in their jurisdictions. The current tree barrier cleaning mainly relies on manual cleaning, which has the disadvantages of low efficiency and high safety risks. Therefore, there is an urgent need for an aerial robot for automatically cleaning tree barriers in power line channels. [0003] When aerial robots clean up tree barriers...

AI Technical Summary

Problems solved by technology

The current tree barrier cleaning mainly relies on manual cleaning, which has the disadvantages of low efficiency and high safety risks. Therefore, there is an urgent need for an aerial robot for automatically cleaning tree barriers in power line channels

[0003] When aerial robots clean up tree barriers, they are often close to environmental objects such as power lines, buildings, and other trees. Once a collision occurs, it is easy to cause damage to aerial robots and damage to environmental objects, especially power lines, resulting in serious damage. of security incidents

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