CN109782802A - A method and system for unmanned aerial vehicle patrol line obstacle avoidance based on electric field sensor - Google Patents
A method and system for unmanned aerial vehicle patrol line obstacle avoidance based on electric field sensor Download PDFInfo
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Abstract
本申请实施例示出一种基于电场传感器的无人机巡线避障方法。当无人机进行巡线时，电场避障模块实时测量现场的电场信息。通过微处理器处理采集到的静电场信息，计算各个静电场传感器的电场变化率，判断静电场值是否稳定。若发现某一电场传感器所测得电场值不再稳定，则认为该电场传感器所在电场避障模块上的方向存在障碍物。此时，根据各个电场传感器电场变化率的大小，确定避障指令。微处理器发出避障指令后，飞行姿态控制器控制无人机选择避障方向以及避障动作，进行无人机的姿态调整。本发明示出一种基于电场传感器的无人机巡线避障系统，能够提高无人机巡线的安全性，增强无人机避障的效率，改善无人机巡线的灵活性。
The embodiment of the present application shows a method for obstacle avoidance of unmanned aerial vehicles based on electric field sensors. When the UAV is patrolling the line, the electric field obstacle avoidance module measures the electric field information on site in real time. The microprocessor processes the collected electrostatic field information, calculates the electric field change rate of each electrostatic field sensor, and judges whether the electrostatic field value is stable. If it is found that the electric field value measured by a certain electric field sensor is no longer stable, it is considered that there is an obstacle in the direction of the electric field obstacle avoidance module where the electric field sensor is located. At this time, the obstacle avoidance command is determined according to the magnitude of the electric field change rate of each electric field sensor. After the microprocessor sends out the obstacle avoidance command, the flight attitude controller controls the UAV to select the obstacle avoidance direction and the obstacle avoidance action to adjust the attitude of the UAV. The invention shows a UAV line inspection obstacle avoidance system based on an electric field sensor, which can improve the safety of UAV line inspection, enhance the UAV obstacle avoidance efficiency, and improve the UAV line inspection flexibility.
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)
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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 |
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