Electric power circuit detection method by polling flying robot

Abstract

The invention discloses a method for detecting an electric power circuit by a flight inspection robot, and belongs to the technical field of noncontact type detection of the electric powder circuit. The method uses a minitype helicopter as a carrier; firstly, a two-dimensional simulation detection model of the flight inspection robot for the electric power circuit is established; secondly, a mathematical description method is used for establishing a target function, a constraint condition target function and a programming variable for the two-dimensional simulation detection model; and finally, according to a programming flight path designed by the two-dimensional simulation detection model, the flight inspection robot inspects the electric power circuit. The method overcomes the disadvantages that a working mode of manual inspection and manual paper medium recording can not ensure the in-place of inspectors and has inaccurate or irregular defect description, and avoids the problems that the manned helicopter used for inspection has high requirement on technique and experience of workers, the workers are required to wear specific work clothes and manpower and material resources are consumed largely. Though disposable input is large, the quality and efficiency for task completion of the method is far higher than that of the prior other modes.

Description

technical field [0001] The invention belongs to the technical field of non-contact detection of power lines, and in particular relates to a method for detecting power lines by an inspection flying robot. Background technique [0002] At present, there is little research work on flying power line inspection robots, but a lot of work has been done on the research of autonomous micro-helicopters. These autonomous micro-helicopters are mainly used in the military field, and they are mainly used in aerial photography, emergency rescue and disaster relief, terrain mapping and other industries in civilian applications, but they provide many key technologies for the research of flying power line inspection robots. The research work on the flying power line inspection robot mainly includes: ① A Vision-Guided Autonomous Helicopter for Inspection of High-Voltage Power Lines was developed by the University of Politécnica de Madrid in Spain in 2000. ), using a three-dimensional vision s...

AI Technical Summary

Problems solved by technology

Compared with the inspection method of the walking robot, the inspection of these two flying robots has the advantages of good environmental adaptability, convenient operation, and high inspection efficiency, but there are still many shortcomings: in terms of path planning, there is still a level of intelligence low, insufficient consideration of safety, insufficient control accuracy and other shortcomings, specifically reflected in the lack of comprehensive consideration of flight safety and flight distance, the path search is random, and the search results are not optimized, and the flight efficiency is low. Does not take into account the generation of specific flight trajectories, so it cannot avoid obstacles well and achieve efficient inspections

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