Intelligent return route control method for unmanned helicopter power line patrol

Abstract

The invention discloses an intelligent return route control method for an unmanned helicopter power line patrol. Before a power line patrol flight of an unmanned helicopter, three return routes are preset, namely a complete return route, a return back route, and an efficient return route. After the return routes are preset, the state of the unmanned helicopter can be monitored through telemetric return reports; the default return route in the unmanned helicopter flight control system is the efficient return route; the return route can be preset according to terrain environment characteristics in the line patrol flight area; when a fault such as data chain disconnection or flight over-distance occurs during a normal line patrol flight of the unmanned helicopter, the unmanned helicopter automatically exits from the line patrol task during flight and returns according to the preset return route; when the unmanned helicopter is in a normal line patrol flight, an operator on the ground can send return route commands at any moment through a remote controller and instruct the unmanned helicopter to exit from the line patrol task during flight and return according to the preset return route. For execution of power line patrol tasks, the intelligent return route control method is convenient to safeguard, safe and reliable, and high in environmental suitability.

Description

technical field [0001] The invention relates to an intelligent return path control method for unmanned helicopter power line inspection, which is mainly applied to the field of unmanned helicopter power line inspection in mountainous areas, forests, plains and other areas. Background technique [0002] Generally, the automatic return of unmanned helicopter power line patrol missions adopts the optimal path method. When the return is manually commanded or faulty, the unmanned helicopter returns along the straight line from the current point to the take-off point. The advantage is that the design is simple, and its The disadvantage is also very obvious: when the helicopter is flying in the mountainous area, there may be dangerous obstacles such as mountains, trees, high-voltage line towers, etc. in the straight path of the return flight. huge loss. Therefore, this return path, which can only be flown in a straight line, cannot meet the complex terrain and high requirements fo...

AI Technical Summary

Problems solved by technology

[0002] Generally, the automatic return of unmanned helicopter power line patrol missions adopts the optimal path method. When the return is manually commanded or faulty, the unmanned helicopter returns along the straight line from the current point to the take-off point. The advantage is that the design is simple, and its The disadvantage is also very obvious: when the helicopter is flying in the mountainous area, there may be dangerous obstacles such as mountains, trees, high-voltage line towers, etc. in the straight path of the return flight. huge loss

Therefore, this return path, which can only fly in a straight line, cannot meet the complex terrain and high requirements for safety and reliability in the line patrol area.

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