摘要
基于无人机技术在输电线路巡检中的广泛应用,重点研究如何实现多旋翼无人机自主避障功能。若无人机在飞行过程中对遇到的各类障碍物能够提前预判,并能自动规避,将大幅度提高无人机在线路巡检的安全性。设计在无人机信号输入端与飞控模块之间增加自动避障模块,功能为实时检测无人机与障碍物间的距离并将相关信息反馈给飞行控制模块,系统根据测距结果重构出飞行控制信号,在不改变无人机软硬件的情况下,达到精准避障的效果。研究的自动避障技术从Arduino平台、超声波测距、电源模块、Arduino UNO与飞控接口等方面入手,降低无人机避障模块的开发成本与设计风险,相较于其他避障方式减少了测量和判断时间,实时避障性能较好,具备功耗低、价格低廉、距离信息感知效果好的优点。
Based on the extensive application of the unmanned aerial vehicle(UAV)technology in power transmission line inspection,this paper focuses on how to realize the autonomous obstacle avoidance function of the multi-rotor UAV.The main goal of this research is to improve safety of the route inspection by developing automatic obstacles prediction and avoidance mechanism.In this design,an automatic obstacle avoidance module is added between the UAV signal input terminal and the flight control module,whose function is to detect the distance between the UAV and the obstacles in real time.The distance is fed back to the flight control module and the system recalculate the flight route according to the distance measurement result.Thus accurate obstacle avoidance can be achieved without significant change of the UAV hardware.In this paper,the author studies on automatic obstacle avoidance technology from the Arduino platform,ultrasonic ranging,power supply module,the Arduino UNO and flight control interface and other aspects,so as to reduce the development cost of UAV obstacle avoidance module and design risk,compared with other obstacle avoidance method can reduce the time of measurement,judgment,a realtime obstacle avoidance performance is good,with low power consumption,low cost,distance information perception advantages with good effect.
作者
方远征
刘洪伟
刘霄
胡春生
王伟
FANG Yuanzheng;LIU Hongwei;LIU Xiao;HU Chunsheng;WANG Wei(State Grid Shandong Electric Power Maintenance Company,Jinan 250118,China)
出处
《山东电力技术》
2019年第2期10-13,共4页
Shandong Electric Power
关键词
输电线路
无人机
自动避障技术
超声波测距
transmission line
UAV
automatic avoidance technology
ultrasonic ranging
作者简介
方远征(1990),男,工程师,从事500kV输电线路运检技术工作;刘洪伟(1976),男,工程师,从事500kV输电线路运检技术工作;刘霄(1994),男,从事500kV输电线路运检技术工作;胡春生(1987),男,工程师,从事500kV输电线路运检技术工作;王伟(1989),男,工程师,从事500kV输电线路运检技术工作。
