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Archimedes spiral line-based power inspection path calculation method of unmanned aerial vehicle

An Archimedes spiral and path calculation technology, applied in non-electric variable control, vehicle position/route/height control, instruments, etc., can solve problems such as control strategy and algorithm complexity, to ensure flight control parameters and obtain lift Effect

Active Publication Date: 2018-12-18
LIAONING DONGKE ELECTRIC POWER
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Problems solved by technology

[0004] In view of the above problems, the present invention proposes a method for calculating the UAV power inspection path based on the Archimedes spiral, which makes up for the existing manual / semi-automatic UAV power inspection path planning method, resulting in control strategies and Insufficient aspects such as algorithm complexity

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  • Archimedes spiral line-based power inspection path calculation method of unmanned aerial vehicle
  • Archimedes spiral line-based power inspection path calculation method of unmanned aerial vehicle
  • Archimedes spiral line-based power inspection path calculation method of unmanned aerial vehicle

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Embodiment 1

[0037] Such as figure 1 As shown, the target coordinate database is used as the basic data of the inspection operation, that is, the minimum turning radius of the drone, the coordinate point of the power tower, the safe flight distance of the drone, the tower height and the type of the power tower when setting the mission path Parameters such as the number of camera points, etc. are input into the UAV main control core with Nvidia TK1 as the core, which comprehensively includes the image processing board and the main control board. Using the DJI M600 multi-rotor UAV as the flying platform, inspect the 200kv double-circuit suspension tower, input the coordinate parameters of the power tower, set the safe flight distance of the UAV to 15m, the height of the tower to 40m, and the type of suspension tower. The number of photographing points is 8, and the number of photographing points is set as the equal point of the total length of the Archimedes spiral path. Since the eighth pho...

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Abstract

An Archimedes spiral line-based power inspection path calculation method of an unmanned aerial vehicle comprises the following steps of determining information of a target coordinate point; performingimage processing tower profile and cable wiring extraction envelop by an onboard end; building an Archimedes spiral line lifting spiral safety flight path conforming to aerodynamics of the unmanned aerial vehicle according to safety flight distance of the unmanned aerial vehicle on the tower envelop to achieve automatic obstacle-avoidance and tower-passing flight inspection. With the adoption ofthe method, a set of complete and high-efficiency automatic power inspection path planning method of the unmanned aerial vehicle is provided for automatic power inspection of the unmanned aerial vehicle, so that the automation of power inspection operation of the unmanned aerial vehicle is effectively improved, and the operation efficiency and the image acquisition quality are improved.

Description

technical field [0001] The invention relates to a method for calculating an unmanned aerial vehicle power inspection path based on an Archimedes spiral, and belongs to the technical field of electric power inspection. Background technique [0002] At present, the path planning method based on the UAV's automatic planning path to realize the power inspection only involves the flight safety flight envelope planned by the UAV along the connection between the power towers. In the algorithm of the man-machine flight path, a certain electric tower or a certain line of electric tower is used, and the UAV establishes a safe flight on both sides or above the electric tower according to the angle position of the target point of view to be photographed and the safe distance of the photograph. Channel, flying directly from the current position to the position of the aerial photography point, its flight path is a straight line segment between two aerial photography points or a multi-poin...

Claims

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Application Information

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IPC IPC(8): G05D1/10
CPCG05D1/101
Inventor 韩德斌李天懿王建新赵菁
Owner LIAONING DONGKE ELECTRIC POWER
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