CN109782802A - A kind of unmanned plane line walking barrier-avoiding method and system based on electric-field sensor - Google Patents
A kind of unmanned plane line walking barrier-avoiding method and system based on electric-field sensor Download PDFInfo
- Publication number
- CN109782802A CN109782802A CN201910089397.9A CN201910089397A CN109782802A CN 109782802 A CN109782802 A CN 109782802A CN 201910089397 A CN201910089397 A CN 201910089397A CN 109782802 A CN109782802 A CN 109782802A
- Authority
- CN
- China
- Prior art keywords
- unmanned plane
- electric
- electrostatic field
- avoidance
- field value
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The embodiment of the present application shows a kind of unmanned plane line walking barrier-avoiding method based on electric-field sensor.When unmanned plane carries out line walking, the electric field information at electric field obstacle avoidance module real-time measurement scene.By the collected electrostatic field information of microprocessor processes, the electric field change rate of each electrostatic field sensor is calculated, judges whether electrostatic field value is stable.If it was found that electric field value measured by a certain electric-field sensor is no longer stable, then it is assumed that there are barriers for the direction where the electric-field sensor in electric field obstacle avoidance module.At this point, determining that avoidance instructs according to the size of each electric-field sensor electric field change rate.After microprocessor issues avoidance instruction, Attitude Controller controls unmanned plane selection avoidance direction and avoidance movement, carries out the pose adjustment of unmanned plane.The present invention shows a kind of unmanned plane line walking obstacle avoidance system based on electric-field sensor, can be improved the safety of unmanned plane line walking, enhances the efficiency of unmanned plane avoidance, improves the flexibility of unmanned plane line walking.
Description
Technical field
The present invention relates to electric power field work technical field, especially a kind of unmanned plane line walking based on electric-field sensor is kept away
Hinder method and system.
Background technique
Unmanned plane is the not manned aircraft using radio robot and the presetting apparatus provided for oneself manipulation.Nothing on machine
Cockpit, but the equipment such as automatic pilot, presetting apparatus are installed.On ground, naval vessels or machine tool remote control station personnel pass through
The equipment such as radar track it, are positioned, are remotely controlled, telemetering and Digital Transmission.
Unmanned plane line walking has become one of popular means of line walking now, in order to ensure the high efficiency and peace of unmanned plane line walking
Quan Xing, research unmanned plane line walking obstacle avoidance system are particularly critical.How the accurate measurement of unmanned plane and barrier between distance is realized
It is to complete the one of the prerequisite of barrier avoiding function, therefore select suitable sensor for the exploitation general obstacle avoidance module of unmanned plane
It is most important, and the selection of sensor must satisfy small in size, light-weight, precision high condition.
Common obstacle avoidance sensor is mostly range sensor, such as laser radar, infrared distance measuring, imaging sensor, ultrasound
Wave sensor etc..Laser sensor is at high cost, size and weight are big, installation accuracy requires high, wide range laser radar
The problems such as consumption fever is more serious.Imaging sensor can obtain most information, but its algorithm is complicated, it is affected by environment compared with
Greatly, so difficulty is larger in practical application.That is, most of range sensor is applied and is all existed in unmanned plane avoidance
Certain defect.
Summary of the invention
The purpose of the present invention is to provide a kind of unmanned plane line walking barrier-avoiding method and system based on electric-field sensor, with solution
Scheme shown in the prior art.
The embodiment of the present application shows a kind of unmanned plane line walking barrier-avoiding method based on electric-field sensor, the identification line walking side
Method includes:
The electrostatic field value of measure field；
Handle the electrostatic field value；
Judge whether the electrostatic field value is stable；
If the electrostatic field value is stablized, horizontal flight instruction, carrying out horizontal flight operation are issued；
If the electrostatic field value is unstable, avoidance instruction is issued, avoidance operation is implemented.
Selectable, the step of processing electrostatic field value includes: the change rate for calculating each electrostatic field value.
It is selectable, if the step for judging whether the electrostatic field value is stable includes: the change of the electrostatic field value
Rate is zero, then the electrostatic field value is stablized；If the change rate of the electrostatic field value is not zero, the electrostatic field value is unstable
It is fixed.
Selectable, the avoidance instruction includes: the instruction of avoidance direction, and, avoidance action command.
Selectable, the avoidance direction is the smallest locality of change rate of the electrostatic field value.
Selectable, the avoidance movement includes: pitching, is gone up and down, yaw.
The embodiment of the present application shows a kind of unmanned plane line walking obstacle avoidance system based on electric-field sensor, described to be passed based on electric field
The unmanned plane line walking obstacle avoidance system of sensor includes: unmanned plane, electric field obstacle avoidance module, Attitude Controller；
Wherein, electric field obstacle avoidance module includes: electrostatic field sensor, and, microprocessor；
The electrostatic field sensor is used for the electrostatic field value of measure field；
The microprocessor calculates the change rate of each electrostatic field value for handling the electrostatic field value；Judge institute
Whether stable state electrostatic field value；Issue flight directive；Issue avoidance instruction；
The Attitude Controller is used to control the flight attitude of the unmanned plane；
The unmanned plane is touring for transmission line of electricity.
Selectable, the electrostatic field sensor is set as multiple.
The embodiment of the present application shows a kind of unmanned plane line walking barrier-avoiding method based on electric-field sensor.The electrostatic field avoidance
Module carries the light electrostatic field sensor, and the microprocessor is placed in inside the obstacle avoidance module.When unmanned plane starts
When carrying out line walking to a certain high-tension line, the unmanned plane passes through the electricity at the electric field obstacle avoidance module real-time measurement scene carried
Field information.By the collected electrostatic field information of the microprocessor processes, the electric field change of each electrostatic field sensor is calculated
Rate.If the change rate of the electrostatic field value is zero, the electrostatic field value is stablized.This just illustrates in front of unmanned plane during flying without barrier
Hinder object, the microprocessor issues the instruction of horizontal flight at this time, and the Attitude Controller controls the unmanned plane during flying
Posture is constant, continues on the horizontal flight of line walking direction.If it was found that electric field value measured by a certain electric-field sensor is no longer stable,
There are barriers in direction where thinking the electric-field sensor in electric field obstacle avoidance module.At this point, according to each electric-field sensor electricity
The size of field change rate determines the avoidance instruction.After the microprocessor issues avoidance instruction, the Attitude Controller
The unmanned plane selection avoidance direction and avoidance movement are controlled, the pose adjustment of unmanned plane, such as pitching is carried out, hovers, lifting,
Yaw etc..The present invention shows a kind of unmanned plane line walking obstacle avoidance system based on electric-field sensor, can be improved unmanned plane line walking
Safety enhances the efficiency of unmanned plane avoidance, improves the flexibility of unmanned plane line walking.
Detailed description of the invention
Fig. 1 is that a kind of unmanned plane avoidance voltage class based on electric-field sensor exemplified is preferably implemented according to one to identify
The flow chart of patrolling method；
Fig. 2 is the structural schematic diagram that a kind of electric field obstacle avoidance module exemplified is preferably implemented according to one.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Whole description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Laser sensor is at high cost, size and weight are big, installation accuracy requires high, wide range laser radar consumption to send out
The problems such as heat is more serious.Imaging sensor can obtain most information, but its algorithm is complicated, affected by environment larger,
So difficulty is larger in practical application.That is, most of range sensor is applied and all has one in unmanned plane avoidance
Fixed defect.Therefore, the present invention proposes a kind of unmanned plane line walking obstacle avoidance system based on electric-field sensor, can enhance nobody
The efficiency of machine avoidance improves the flexibility of unmanned plane line walking.
Referring to Fig. 1, the embodiment of the present application shows a kind of unmanned plane line walking barrier-avoiding method based on electric-field sensor, it is described
Identify that patrolling method includes:
Step S1: the electrostatic field value of measure field；The measuring device of the electrostatic field value is electrostatic field sensor.Work as medium
With one timing of voltage class, the electric field that electrical body generates in space is only related with the space length from electrical body, therefore, electric field
Intensity can be obtained by electric-field sensor measurement.
Step S2: the electrostatic field value is handled；The electrostatic field value is by the microprocessor processes.
Step S3: judge whether the electrostatic field value is stable；
Step S4: if the electrostatic field value is stablized, horizontal flight instruction, carrying out horizontal flight operation are issued；
Step S5: if the electrostatic field value is unstable, avoidance instruction is issued, avoidance operation is implemented.
Selectable, the step of processing electrostatic field value includes: the change rate for calculating each electrostatic field value.
It is selectable, if the step for judging whether the electrostatic field value is stable includes: the change of the electrostatic field value
Rate is zero, then the electrostatic field value is stablized；If the change rate of the electrostatic field value is not zero, the electrostatic field value is unstable
It is fixed.Wherein, the change rate of the electrostatic field value can pass through filtered curve by electric-field sensor data collected
Find out.
Selectable, the avoidance instruction includes: the instruction of avoidance direction, and, avoidance action command.
Selectable, the avoidance direction is the smallest locality of change rate of the electrostatic field value.Avoidance direction root
Different directions according to electric field value change rate are also different, particularly may be divided into: rising (decline) avoidance, left drift (right avertence boat) avoidance,
Nose-up (underriding is downward) avoidance.
Selectable, the avoidance movement includes: pitching, is gone up and down, yaw.The avoidance movement of unmanned plane can be according to scene not
Same electric field value variation, selects different flight attitudes to change, to achieve the effect that avoidance.
The embodiment of the present application shows a kind of unmanned plane line walking obstacle avoidance system based on electric-field sensor, described to be passed based on electric field
The unmanned plane line walking obstacle avoidance system of sensor includes: unmanned plane, electric field obstacle avoidance module, Attitude Controller；
Referring to Fig. 2, electric field obstacle avoidance module includes: electrostatic field sensor, and, microprocessor；
The electric field obstacle avoidance module is placed in immediately below the unmanned machine base.The electric field obstacle avoidance module is a sphere,
Spherome surface carries 4 electric-field sensors.4 electric-field sensors are installed at different angles.Micro- place
Reason device is placed in ball interior, and is connected with the Attitude Controller.The microprocessor is for calculating each electrostatic field value
Change rate, and in this, as unmanned plane avoidance foundation.The structural schematic diagram of electric field obstacle avoidance module as shown in Fig. 2, 01 be in figure
Upper front side electric-field sensor, 02 is left side electric-field sensor, and 03 is right side electric-field sensor, and 04 is lower front side electric-field sensor.
During the unmanned plane line walking, the electrostatic field value at four electric-field sensor real-time measurement scenes, the microprocessor
Collected electric field value information is handled, and avoidance instruction is issued to the Attitude Controller.The Attitude Controller
It for controlling the flight attitude of unmanned plane, such as yaws, lifting, pitching, horizontal flight etc..
The electrostatic field sensor is used for the electrostatic field value of measure field；When one timing of medium and voltage class, electrical body
The electric field generated in space is only related with the space length from electrical body, and electric field strength can be obtained by electric-field sensor measurement.
The microprocessor calculates the change rate of each electrostatic field value for handling the electrostatic field value；It is described micro-
Processor is for judging whether the electrostatic field value is stable；The microprocessor is for issuing flight directive；The microprocessor
For issuing avoidance instruction.
The Attitude Controller is used to control the flight attitude of the unmanned plane；The flight attitude of the unmanned plane can
To be divided into: yaw (left drift, right avertence boat), pitching (nose-high, head are downward), lifting etc..
The unmanned plane is touring for transmission line of electricity.
Selectable, the electrostatic field sensor is set as multiple.The multiple electrostatic field sensor should be with different angles
Degree is installed.
The unmanned plane line walking obstacle avoidance system based on electric-field sensor shown in the present invention can be improved the peace of unmanned plane line walking
Quan Xing enhances the efficiency of unmanned plane avoidance, improves the flexibility of unmanned plane line walking.
When unmanned plane during flying to certain altitude, when carrying out line walking along a certain high-tension line, the electrostatic field sensor is real
When measure field electrostatic field value calculate each electrostatic field and by the collected electrostatic field information of the microprocessor processes
The electric field change rate of sensor.If the change rate of the electrostatic field value is zero, the electrostatic field value is stablized；If described quiet
The change rate of electric field value is not zero, then the electrostatic field value is unstable.If in front of unmanned plane during flying when clear, the electrostatic
Field value keeps relative stability, and the microprocessor issues the instruction of horizontal flight, and the Attitude Controller controls the nothing
Man-machine flight attitude is constant, continues on the horizontal flight of line walking direction.If it was found that electric field value measured by a certain electric-field sensor is not
It is stable again, then it is assumed that there are barriers for the direction where the electric-field sensor in electric field obstacle avoidance module.At this point, according to each electric field
The size of sensor electric field change rate, determines the avoidance instruction, and the Attitude Controller controls the unmanned plane selection
Avoidance direction and avoidance movement.
Wherein, unmanned plane selects the arranged direction of the smallest electric-field sensor of electric field change rate as avoidance direction.Avoidance
Direction is also different according to the different directions of electric field value change rate, particularly may be divided into: unmanned plane rises (decline) avoidance, and unmanned plane is left
Yaw (right avertence boat) avoidance, unmanned plane nose-up (underriding is downward) flight avoidance.The avoidance movement of unmanned plane can be according to scene
Different electric field value variations, selects different flight attitudes to change, to achieve the effect that avoidance.According to the flight appearance of unmanned plane
State, avoidance movement can divide are as follows: yaw (left drift, right avertence boat), pitching (nose-high, head are downward), lifting etc..
For example, unmanned plane, during patrol flight, the collected electric field value change rate of lower front side electric-field sensor is
Minimum value in four electric-field sensors then issues the instruction that unmanned plane goes up and down this flight attitude, declines unmanned plane, with this
Achieve the effect that avoidance.Other directions and flight attitude are identical reason.
From the above technical scheme, the unmanned plane line walking avoidance side based on electric-field sensor shown in the embodiment of the present application
Method and system have the advantage that the electrostatic field obstacle avoidance module carries the light electrostatic field sensor, micro- place
Reason device is placed in inside the obstacle avoidance module.When unmanned plane starts to carry out line walking to a certain high-tension line, the unmanned plane passes through
The electric field information at the electric field obstacle avoidance module real-time measurement scene carried.Pass through the collected electrostatic of the microprocessor processes
Field information, calculates the electric field change rate of each electrostatic field sensor.If the change rate of the electrostatic field value is zero, described quiet
Electric field value is stablized.This just illustrates clear in front of unmanned plane during flying, and the microprocessor issues the instruction of horizontal flight at this time,
The Attitude Controller control unmanned plane during flying posture is constant, continues on the horizontal flight of line walking direction.If it was found that
Electric field value measured by a certain electric-field sensor is no longer stable, then it is assumed that the direction where the electric-field sensor in electric field obstacle avoidance module
There are barriers.At this point, determining the avoidance instruction according to the size of each electric-field sensor electric field change rate.Micro- place
After managing device sending avoidance instruction, the Attitude Controller controls the unmanned plane selection avoidance direction and avoidance movement,
The pose adjustment of unmanned plane is carried out, such as pitching is hovered, lifting, yaw etc..Nobody based on electric-field sensor shown in the present invention
Machine line walking obstacle avoidance system can be improved the safety of unmanned plane line walking, enhance the efficiency of unmanned plane avoidance, improve unmanned plane line walking
Flexibility.
Those skilled in the art after considering the specification and implementing the invention disclosed here, will readily occur to of the invention its
Its embodiment.This application is intended to cover any variations, uses, or adaptations of the invention, these modifications, purposes or
Person's adaptive change follows general principle of the invention and including the undocumented common knowledge in the art of the present invention
Or conventional techniques.The description and examples are only to be considered as illustrative, and true scope and spirit of the invention are by following
Claim is pointed out.
It should be understood that the present invention is not limited to the precise structure already described above and shown in the accompanying drawings, and
And various modifications and changes may be made without departing from the scope thereof.The scope of the present invention is limited only by the attached claims.
Claims (8)
1. a kind of unmanned plane line walking barrier-avoiding method based on electric-field sensor, which is characterized in that the identification patrolling method includes:
The electrostatic field value of measure field；
Handle the electrostatic field value；
Judge whether the electrostatic field value is stable；
If the electrostatic field value is stablized, horizontal flight instruction, carrying out horizontal flight operation are issued；
If the electrostatic field value is unstable, avoidance instruction is issued, avoidance operation is implemented.
2. barrier-avoiding method according to claim 1, which is characterized in that the step of processing electrostatic field value includes:
Calculate the change rate of each electrostatic field value.
3. barrier-avoiding method according to claim 2, which is characterized in that the step for judging whether the electrostatic field value is stable
If the change rate for suddenly including: the electrostatic field value is zero, the electrostatic field value is stablized；If the variation of the electrostatic field value
Rate is not zero, then the electrostatic field value is unstable.
4. barrier-avoiding method according to claim 3, which is characterized in that the avoidance instruction includes: the instruction of avoidance direction, with
And avoidance action command.
5. barrier-avoiding method according to claim 4, which is characterized in that the avoidance direction is the variation of the electrostatic field value
The smallest locality of rate.
6. barrier-avoiding method according to claim 5, which is characterized in that the avoidance movement includes: pitching, is gone up and down, yaw.
7. a kind of unmanned plane line walking obstacle avoidance system based on electric-field sensor, which is characterized in that described based on electric-field sensor
Unmanned plane line walking obstacle avoidance system includes: unmanned plane, electric field obstacle avoidance module, Attitude Controller；
Wherein, electric field obstacle avoidance module includes: electrostatic field sensor, and, microprocessor；
The electrostatic field sensor is used for the electrostatic field value of measure field；
The microprocessor calculates the change rate of each electrostatic field value for handling the electrostatic field value；Judge described quiet
Whether electric field value is stable；Issue flight directive；Issue avoidance instruction；
The Attitude Controller is used to control the flight attitude of the unmanned plane；
The unmanned plane is touring for transmission line of electricity.
8. obstacle avoidance system according to claim 7, which is characterized in that the electrostatic field sensor is set as multiple.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910089397.9A CN109782802A (en) | 2019-01-30 | 2019-01-30 | A kind of unmanned plane line walking barrier-avoiding method and system based on electric-field sensor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910089397.9A CN109782802A (en) | 2019-01-30 | 2019-01-30 | A kind of unmanned plane line walking barrier-avoiding method and system based on electric-field sensor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109782802A true CN109782802A (en) | 2019-05-21 |
Family
ID=66503657
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910089397.9A Pending CN109782802A (en) | 2019-01-30 | 2019-01-30 | A kind of unmanned plane line walking barrier-avoiding method and system based on electric-field sensor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109782802A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115792417A (en) * | 2022-11-29 | 2023-03-14 | 国网北京市电力公司 | Near-electricity detection method and system for aerial work equipment |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20060009887A1 (en) * | 2001-12-10 | 2006-01-12 | Bae Systems Information | Method and apparatus for avoidance of power lines or trip wires by fixed and rotary winged aircraft |
| CN102722178A (en) * | 2012-06-29 | 2012-10-10 | 山东电力集团公司电力科学研究院 | Electric field measuring obstacle avoidance system and method for live wire routing inspection of unmanned aerial vehicle |
| CN102736632A (en) * | 2012-06-29 | 2012-10-17 | 山东电力集团公司电力科学研究院 | Differential evadible system of electric field for unmanned aerial vehicle polling live wires and method |
| CN104977930A (en) * | 2015-05-15 | 2015-10-14 | 国家电网公司 | High-voltage double circuit transmission line unmanned aerial vehicle tour inspection and obstacle avoidance method based on electric field intensity change rate |
| CN105159316A (en) * | 2015-09-14 | 2015-12-16 | 国网福建省电力有限公司 | Three dimensional electric field difference obstacle avoidance method for patrolling charged transmission line by unmanned helicopter |
| CN105182996A (en) * | 2015-09-14 | 2015-12-23 | 国网福建省电力有限公司 | Unmanned helicopter obstacle avoidance method for routing inspection of live power transmission line on slope |
| CA2975103A1 (en) * | 2015-01-28 | 2016-08-04 | Stephen M. SEKELSKY | In-situ power charging |
| CN106370940A (en) * | 2016-08-17 | 2017-02-01 | 云南电网有限责任公司电力科学研究院 | Method and system for detecting the average electric field in atmosphere |
| CN207232270U (en) * | 2017-09-06 | 2018-04-13 | 天津飞眼无人机科技有限公司 | A kind of unmanned plane measuring device and wireless network for being used to measure electric field strength |
| CN108614579A (en) * | 2018-06-12 | 2018-10-02 | 重庆大学 | The method for early warning of AC power circuit is maked somebody a mere figurehead in a kind of unmanned plane collision avoidance |
-
2019
- 2019-01-30 CN CN201910089397.9A patent/CN109782802A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20060009887A1 (en) * | 2001-12-10 | 2006-01-12 | Bae Systems Information | Method and apparatus for avoidance of power lines or trip wires by fixed and rotary winged aircraft |
| CN102722178A (en) * | 2012-06-29 | 2012-10-10 | 山东电力集团公司电力科学研究院 | Electric field measuring obstacle avoidance system and method for live wire routing inspection of unmanned aerial vehicle |
| CN102736632A (en) * | 2012-06-29 | 2012-10-17 | 山东电力集团公司电力科学研究院 | Differential evadible system of electric field for unmanned aerial vehicle polling live wires and method |
| CA2975103A1 (en) * | 2015-01-28 | 2016-08-04 | Stephen M. SEKELSKY | In-situ power charging |
| CN104977930A (en) * | 2015-05-15 | 2015-10-14 | 国家电网公司 | High-voltage double circuit transmission line unmanned aerial vehicle tour inspection and obstacle avoidance method based on electric field intensity change rate |
| CN105159316A (en) * | 2015-09-14 | 2015-12-16 | 国网福建省电力有限公司 | Three dimensional electric field difference obstacle avoidance method for patrolling charged transmission line by unmanned helicopter |
| CN105182996A (en) * | 2015-09-14 | 2015-12-23 | 国网福建省电力有限公司 | Unmanned helicopter obstacle avoidance method for routing inspection of live power transmission line on slope |
| CN106370940A (en) * | 2016-08-17 | 2017-02-01 | 云南电网有限责任公司电力科学研究院 | Method and system for detecting the average electric field in atmosphere |
| CN207232270U (en) * | 2017-09-06 | 2018-04-13 | 天津飞眼无人机科技有限公司 | A kind of unmanned plane measuring device and wireless network for being used to measure electric field strength |
| CN108614579A (en) * | 2018-06-12 | 2018-10-02 | 重庆大学 | The method for early warning of AC power circuit is maked somebody a mere figurehead in a kind of unmanned plane collision avoidance |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115792417A (en) * | 2022-11-29 | 2023-03-14 | 国网北京市电力公司 | Near-electricity detection method and system for aerial work equipment |
| CN115792417B (en) * | 2022-11-29 | 2024-02-23 | 国网北京市电力公司 | Near electricity detection method and system for overhead working equipment |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Mirallès et al. | LineDrone Technology: Landing an unmanned aerial vehicle on a power line | |
| AU2022235564B2 (en) | Geo-fiducials for UAV navigation | |
| CN106909167B (en) | Multi-machine multi-station combined three-dimensional task system and method | |
| KR101873783B1 (en) | Rotorcraft and automatic landing system and method therefor | |
| US9964658B2 (en) | Method of autonomous power line detection, avoidance, navigation, and inspection using aerial crafts | |
| CN107531217B (en) | Apparatus and method for identifying or detecting obstacles | |
| EP2885676B1 (en) | Flying camera with string assembly for localization and interaction | |
| Laiacker et al. | Vision aided automatic landing system for fixed wing UAV | |
| CN109885083A (en) | Transmission line of electricity fining inspection flying platform and method for inspecting based on laser radar | |
| CN107272740B (en) | Novel four-rotor unmanned aerial vehicle control system | |
| CN107894779A (en) | It is a kind of based on environmental monitoring system and method in the ore deposit with cable unmanned plane | |
| CN104816829B (en) | Skyeye aircraft applicable to investigation | |
| EP3077760B1 (en) | Payload delivery | |
| CN112236733A (en) | Computerized system for guiding mobile robot to docking station and using method thereof | |
| Wang et al. | Autonomous control for micro-flying robot and small wireless helicopter xrb | |
| CN205920057U (en) | Detect fissured many rotor unmanned aerial vehicle testing platform system in structure surface | |
| CN107943074A (en) | A kind of miniature multi-rotor unmanned aerial vehicle safe spacing of electric inspection process keeps system | |
| CN115202376A (en) | Unmanned aerial vehicle patrols and examines electric power grid management and control platform based on individual soldier removes | |
| CN104316901B (en) | For the aerial intelligent robot of radio monitoring | |
| CN205121348U (en) | Unmanned vehicles safety system of descending fast and remote control equipment and unmanned vehicles thereof | |
| CN107608366B (en) | Multi-wing umbrella unmanned aerial vehicle system based on event trigger | |
| Krämer et al. | Multi-sensor fusion for UAV collision avoidance | |
| CN114527780B (en) | Intelligent landing guiding control method and system for carrier-based helicopter | |
| CN109782802A (en) | A kind of unmanned plane line walking barrier-avoiding method and system based on electric-field sensor | |
| CN102034244B (en) | Insulator real-time target recognizing and tracking device based on motion background |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20190521 |