Method and system for unmanned aerial vehicle to automatically avoid wires

Abstract

The invention relates to the technical field of power transmission line operation, in particular to a method for an unmanned aerial vehicle to automatically avoid a wire, which comprises the followingsteps: setting a safe distance threshold between the wire and the unmanned aerial vehicle; scanning by a three-dimensional laser radar to obtain laser point cloud data of the wire; analyzing the laser point cloud data of the wire, identifying three-dimensional point cloud data between the wire and a ground reference object, separating the point cloud data of the wire from the point cloud data ofthe ground reference object, and calculating an actual distance d between the wire and the ground reference object; reading a pre-stored spatial distance D between the unmanned aerial vehicle and a ground reference object, and further calculating to obtain an actual linear distance A between the unmanned aerial vehicle and the wire; judging the relationship between the actual linear distance A between the unmanned aerial vehicle and the wire and a safety distance threshold value, thereby realizing obstacle avoidance flight of the unmanned aerial vehicle. According to the method and the systemfor the unmanned aerial vehicle to automatically avoid the wire, the safety of an unmanned aerial vehicle line patrol system and a power transmission line is effectively guaranteed, and the reliability of line patrol operation is greatly improved.

Description

technical field [0001] The invention relates to the technical field of transmission line operation, in particular to a method and system for automatic obstacle avoidance wires of an unmanned aerial vehicle. Background technique [0002] Unmanned Aerial Vehicle (UAV), also referred to as UAV, is different from traditional manned aircraft. It is an unmanned aircraft controlled by radio remote control and onboard program controller. It first appeared in the 1920s, and was only used as a target drone in military training. After nearly a hundred years of continuous development, it gradually turned to various multi-purpose fields such as reconnaissance and attack. Compared with manned aircraft, it has the advantages of low cost, strong survivability, no risk of casualties, and easy use, so it can not only play an important role in the military. [0003] Transmission lines (conductors) are large in scale, wide in coverage, and pass through complex terrain environments, which requi...

AI Technical Summary

Problems solved by technology

Therefore, with the continuous development of UAV radar technology, the technology of detecting and improving wire obstacle avoidance operation through scanning three-dimensional point cloud data is becoming more and more extensive. Chinese patent CN109032182A discloses an unmanned radar based on millimeter wave Although the robot obstacle avoidance system and control method can realize the obstacle avoidance function, the reliability of the wire obstacle avoidance is poor, the safety distance is not easy to control, and the obstacle avoidance accuracy cannot meet the technical requirements.

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