The invention discloses a multiple obstacle-avoidance control method of an unmanned plane used for
electric wire inspection. The multiple obstacle-avoidance control method of the unmanned plane used for the
electric wire inspection comprises an unmanned plane subsystem and a
ground station subsystem. The unmanned plane subsystem comprises an embedded flight control device, a position detection module, an
information processing module and an airborne terminal of a
wireless data chain. The position detection module comprises a global navigation
satellite system (GNSS)
receiver, an
electromagnetic field sensor and ultrasonic
ranging sensors, wherein the ultrasonic
ranging sensors are symmetrically arranged on the periphery of a
machine body of the unmanned plane. The
ground station subsystem comprises a ground terminal of the
wireless data chain and an embedded
supervisory control computer. The embedded
supervisory control computer is loaded with a data base, wherein the data base contains an electric
transmission line electromagnetic field distribution model and an electric
transmission line space three-dimensional model. According to the multiple obstacle-avoidance control method of the unmanned plane used for the
electric wire inspection, a security constraint area for the operation of the unmanned plane is built, the
information processing module is adopted for integration of unmanned plane position information provided by an information detection module, relative distance between the unmanned plane and an electric
transmission line is detected, and multiple obstacle-avoidance of the unmanned plane used for the electric wire inspection is achieved.