Unmanned aerial vehicle obstacle avoidance method based on magnetic field intensity detection

Abstract

The invention discloses an unmanned aerial vehicle obstacle avoidance method based on magnetic field intensity detection. The method comprises the steps that a magnetic field intensity detection module detects the magnetic field intensity of a power transmission line, and forms monitoring data; the monitoring data are transmitted to a flight control module and a ground receiving system on the unmanned aerial vehicle; when the monitoring data are critical to the magnetic field intensity which can be borne by the unmanned aerial vehicle and is not interfered by flight control, the ground receiving system sends out an alarm signal; the unmanned aerial vehicle is away from the power transmission line through automatic driving; after the unmanned aerial vehicle is away from the power transmission line, hovering the aerial safety area, and waiting for an operator to receive the unmanned aerial vehicle control right; and the operator receives the unmanned aerial vehicle control right. Compared with a traditional obstacle avoidance method, the obstacle avoidance method has the advantages that the working field of the unmanned aerial vehicle can be expanded to the maximum extent, an obstacle avoidance module is arranged on the unmanned aerial vehicle, the probability of out-of-control accidents caused by magnetic field interference of the unmanned aerial vehicle is reduced, the safety of the unmanned aerial vehicle and the power transmission line is protected, and the inspection efficiency of the power transmission line is remarkably improved.

Description

technical field [0001] The invention relates to an obstacle avoidance method based on an onboard magnetic field strength detection module of an unmanned aerial vehicle, in particular to an obstacle avoidance method for an unmanned aerial vehicle based on magnetic field strength detection, and belongs to the technical field of power transmission and transformation equipment. Background technique [0002] The transmission line is exposed to the outside for a long time, not only to bear the carrying pressure brought by the electric load, but also to be damaged by external forces such as lightning flashover, pollution and corrosion, wind and rain for a long time. Therefore, there will be potential failures such as insulator wear and loss, conductor strand breakage and shockproof hammer loss in transmission lines. If these potential failures cannot be discovered in time, it will seriously threaten the safe operation of power transmission and power grid. [0003] Damaged power tr...

AI Technical Summary

Problems solved by technology

Commonly used detection methods in the prior art: 1) Manual line inspection. On the one hand, the manual inspection method leads to a heavy workload for the inspection personnel, coupled with the long transmission line and responsible terrain, which makes it difficult to detect the transmission line; on the other hand, manual inspection The inspection is from the ground observation, the inspection of the transmission line can not be accurate, there are errors

2) UAV line inspection, the traditional UAV line inspection requires the UAV equipment to be as close as possible to the power transmission equipment to check the details; however, the electromagnetic environment of the power transmission and transformation equipment, especially the substation is complex, and the UAV is inevitable. It will be interfered by the electromagnetic field of the power equipment, which will cause the flight control of the UAV to be interfered, causing the UAV to fail to work normally, ranging from damage to the aircraft, to damage the power equipment and causing casualties, which is extremely harmful

However, the current in the power transmission line is changing and will generate a magnetic field. The existence of the magnetic field will interfere with the magnetometer of the UAV, thereby disrupting the normal operation of the UAV.

Images