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

A technology of millimeter-wave radar and drones, applied in the field of drones, can solve the problems of high cost, not enough to distinguish wires, increase the load of drones, etc., and achieve the effect of avoiding collision wires

Inactive Publication Date: 2018-11-13
WUHAN NARI LIABILITY OF STATE GRID ELECTRIC POWER RES INST
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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 metho

Method used

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  • 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
  • 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
  • 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

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Embodiment 1

[0025] Such as figure 1 The schematic diagram of the obstacle avoidance method for the line inspection UAV based on the millimeter-wave radar provided by the embodiment of the present invention is shown. The method provided by the embodiment of the present invention includes the following steps:

[0026] The radar signal is transmitted by the millimeter-wave radar, and it is judged whether the radar echo signal is received, and if not, it is judged that there is no obstacle; if so, the level warning signal is output according to the radar echo signal; Adjust the flight status according to the above warning signal.

[0027] That is, by transmitting and receiving radar signals to judge the presence or absence of obstacles and measure the distance between the UAV and obstacles. If there is no radar echo signal after transmitting the radar signal, that is, the received radar signal is 0, it is judged that there is no obstacle or the distance between the obstacle and the UAV is to...

Embodiment 2

[0053] The second part of the present invention provides a line inspection UAV obstacle avoidance system based on millimeter wave radar. The UAV obstacle avoidance system includes a millimeter wave radar, an alarm level module and a flight adjustment module; the millimeter wave radar is used for The radar signal is transmitted and the radar echo signal is received; the warning level module is used to output a level warning signal according to the radar echo signal; the flight adjustment module is used to adjust the flight state according to the warning signal.

[0054] As an optional solution, the UAV is provided with millimeter-wave radars in four directions: forward, backward, left, and right, and the flight adjustment module is used to adjust the flight state according to the warning signal. :

[0055] A. If there is only one direction to output the alarm signal, slow down the flight speed of the alarm direction. If the alarm level is red, then move in parallel to the oppos...

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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...

Claims

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Application Information

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IPC IPC(8): G05D1/10G01S13/93
CPCG01S13/933G05D1/101
Inventor 严碧武王海涛谷山强赵淳李健梁文勇吴大伟刘辉涂洁洪骁焦方俞
Owner WUHAN NARI LIABILITY OF STATE GRID ELECTRIC POWER RES INST
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