Line inspection unmanned aerial vehicle obstacle avoidance method based on millimeter wave radar and line inspection unmanned aerial vehicle obstacle avoidance system based on millimeter wave radar

Abstract

The invention discloses a line inspection unmanned aerial vehicle obstacle avoidance method based on millimeter wave radar and a line inspection unmanned aerial vehicle obstacle avoidance system basedon the millimeter wave radar. The method comprises the following steps that the radar signal is transmitted through the millimeter wave radar, receiving of the radar echo signal is judged and the judgment result indicates no obstacle if the judgment result is no; and if the judgment result is yes, the level alarm signal is outputted according to the radar echo signal; and the unmanned aerial vehicle adjusts the flight state according to the alarm signal. According to the unmanned gyroplane line inspection obstacle avoidance method based on the millimeter wave radar and the unmanned gyroplaneline inspection obstacle avoidance system based on the millimeter wave radar, the millimeter wave radar is arranged on the unmanned aerial vehicle and the level alarm signal is set, and the recognition accuracy of the millimeter wave radar can be the lead level so that the problem of insufficient recognition accuracy of the present obstacle detection method using the sensor can be overcome. Different degrees of danger warning is performed by detecting the obstacle of different directions around the unmanned aerial vehicle in real time and the flight speed and direction are automatically adjusted to realize unmanned aerial vehicle obstacle avoidance so that the accident that the unmanned aerial vehicle collides with the lead can be effectively avoided.

Description

technical field [0001] The invention relates to the field of unmanned aerial vehicles, in particular to an obstacle avoidance method for a line inspection unmanned aerial vehicle based on millimeter wave radar. Background technique [0002] As a new type of line inspection equipment, unmanned aerial vehicles have the advantages of convenient portability, unaffected operation by region, and high work efficiency, and have been widely used in the field of power grids. On the UAV body, equipped with visible light, infrared thermal imager and oblique photography device, it can inspect and detect the transmission line from a long distance, from multiple angles, and flexibly, but it is limited by the visual distance of the operator and the Operational precision is prone to accidents where drones collide with wires. Therefore, UAV obstacle avoidance technology is particularly important in the process of line inspection. [0003] In the existing UAV obstacle avoidance technology, s...

AI Technical Summary

Problems solved by technology

However, the sensor-based obstacle detection method has the problem of low sensor recognition accuracy, which is not enough to distinguish the wires; the obstacle recognition method based on the joint measurement and control of millimeter-wave radar and sensors increases the load of the UAV, resulting in the flexibility of the UAV. Insufficient and expensive

Images