CN112306078A - Method and system for unmanned aerial vehicle to automatically avoid obstacle conducting wire - Google Patents
Method and system for unmanned aerial vehicle to automatically avoid obstacle conducting wire Download PDFInfo
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Abstract
The invention relates to the technical field of transmission line operation, in particular to a method for automatically avoiding an obstacle conducting wire by an unmanned aerial vehicle, which comprises the following steps: setting a safety distance threshold value between the lead 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, simultaneously separating the point cloud data of the wire and the ground reference object, and calculating the actual distance d between the wire and the ground reference object; simultaneously reading a prestored space 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; and judging the relation between the actual linear distance A of the unmanned aerial vehicle and the wire and the safe distance threshold value, and further realizing obstacle avoidance flight of the unmanned aerial vehicle. The method and the system for the unmanned aerial vehicle to automatically avoid the obstacle conducting wire effectively guarantee the safety of the unmanned aerial vehicle line patrol system and the power transmission line, and greatly improve the reliability of line patrol operation.
Description
Technical Field
The invention relates to the technical field of transmission line operation, in particular to a method and a system for an unmanned aerial vehicle to automatically avoid an obstacle conducting wire.
Background
An Unmanned Aerial Vehicle (UAV), also called an Unmanned Aerial Vehicle for short, is an Unmanned Aerial Vehicle that is controlled by a radio remote control and an onboard program controller, unlike a conventional manned aircraft. It appeared in the 20 th century for the first time, and was only used as a target in military training, and gradually turned to various multipurpose fields such as detection and attack after the development of the last hundred years. Compared with a manned airplane, the unmanned airplane has the advantages of low cost, strong viability, no casualty risk, convenient use and the like, so that the unmanned airplane can play an important role in military affairs.
The power transmission line (wire) has large scale, wide coverage range and complex passing terrain environment, and the line needs to be detected and evaluated regularly. Therefore, with the continuous development of the unmanned aerial vehicle radar technology, the technology for detecting and improving the wire obstacle avoidance operation through the three-dimensional point cloud data obtained by scanning is more and more extensive, and chinese patent CN109032182A discloses an unmanned aerial vehicle obstacle avoidance system and a control method based on a millimeter wave radar.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention provides the method and the system for automatically avoiding the obstacle of the unmanned aerial vehicle, which can effectively improve the reliability of wire inspection and the obstacle avoidance accuracy.
In order to solve the technical problems, the invention provides the following technical scheme:
in a first aspect, the invention provides a method for an unmanned aerial vehicle to automatically avoid an obstacle conducting wire, which comprises the following steps:
step S100: setting a safety distance threshold value between the lead and the unmanned aerial vehicle;
step S200: the unmanned aerial vehicle acquires the space coordinate position of the wire to be inspected, and inspects the wire to be inspected;
step S300: scanning by a three-dimensional laser radar to obtain laser point cloud data of the wire;
step S400: analyzing the laser point cloud data of the wire, identifying three-dimensional point cloud data between the wire and a ground reference object, simultaneously separating the point cloud data of the wire and the ground reference object, and calculating the actual distance d between the wire and the ground reference object; simultaneously reading a prestored space 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;
step S500: judging the relation between the actual linear distance A between the unmanned aerial vehicle and the lead and a safety distance threshold; the safe distance threshold comprises a first safe distance threshold C and a second safe distance threshold epsilon, and the first safe distance threshold C is smaller than the second safe distance threshold epsilon; if the actual straight line distance A is smaller than or equal to C, judging that the distance between the posture of the unmanned aerial vehicle and the lead is too short, and sending a control instruction far away from the lead to a flight control system; if the actual straight line distance A is larger than or equal to epsilon, judging that the distance between the posture of the unmanned aerial vehicle and the lead is too far, and sending a control instruction close to the lead to a flight control system; if the actual linear distance A is in the range smaller than epsilon and larger than C, judging that the distance between the posture of the unmanned aerial vehicle and the lead is normal, and flying according to the space coordinates of each flying node on the current initial routing inspection path; the ground reference is the ground reference point below which the wire is projected straight ahead.
Further, the actual straight line distance A is equal to the difference between the space distance D between the unmanned aerial vehicle and the ground reference object and the actual distance D between the lead and the ground reference object.
Further, in step S500, a PID controller is used to calculate a control distance parameter, and then the embedded unit sends the control distance parameter to a flight control system, and the flight control system performs evasive flight according to the control instruction.
Further, the flight control system performs evasive flight according to the control instruction, and the specific operation steps are as follows: the flight control system acquires the control instruction and analyzes the control signal according to the control instruction to execute flight control operation.
Further, in step S500, calculating a control distance parameter by using a PID controller specifically includes the following steps:
step S510: acquiring current position description information of the tracked conductor, wherein the current position description information represents the current relative position relationship between the tracked conductor and the unmanned aerial vehicle;
step S520: and outputting corresponding control information according to the difference between the current position description information and the reference position description information, and controlling the position and/or the attitude of the unmanned aerial vehicle according to the control information so as to keep the position relation between the unmanned aerial vehicle and the tracked lead in a relative position relation that the actual straight-line distance A is within a range of less than epsilon and more than C.
Further, the PID controller further includes a corresponding flight control operation action by acquiring the current flight parameter, and specifically includes the following operation steps:
step S530: dynamically adjusting a control coefficient of a PID controller for PID control operation based on flight airspeed and flight attack angle to obtain a target attitude angle required to be adjusted;
step S540: determining an attitude angle deviation value according to the adjusted target attitude angle and the current actual attitude angle;
step S550: and inputting the attitude angle deviation value to the PID controller so that the PID controller performs PID control operation according to the attitude angle deviation value and adjusts the attitude angle of the unmanned aerial vehicle to the target attitude angle.
Further, the target attitude angle includes a pitch angle, a roll angle, and a heading angle.
Further, the PID controller further comprises a deviation pre-warning processing operation for the heading angle, which specifically comprises the following operation steps:
step S600: the direction of the main beam of the unmanned aerial vehicle is aligned to be consistent with that of the main beam in the length direction;
step S700: scanning longitudinal axes on an airborne reference rod and a ground reference object through laser radar equipment to obtain laser point cloud data of the two items, then comparing the point cloud data of the airborne reference rod and the ground reference object, and obtaining a standard axial deflection angle of the longitudinal axes of the reference rod and the ground reference object through an image recognition algorithm;
step S800: meanwhile, a course angle measured by a sensor is obtained, and the course angle is converted into an axial deviation angle between the unmanned aerial vehicle and a longitudinal axis of the reference object; and when the actual axial deviation angle-the standard axial deviation angle is larger than the standard threshold value, determining that the course angle detection deviation of the current unmanned aerial vehicle is larger and needing alarm adjustment.
Furthermore, a plurality of markers which are convenient for the laser radar equipment to identify are arranged on the surface of the reference rod at intervals along the length direction of the reference rod; the marker includes a laser reflecting plate.
On the other hand, the invention also provides a system for the unmanned aerial vehicle to automatically avoid the obstacle conducting wire, which comprises a parameter setting module, an initial routing inspection module, a scanning module, a point cloud data acquisition module, an analysis operation module and an obstacle avoidance flight control module which are sequentially connected;
the parameter setting module is used for setting a safety distance threshold value between the lead and the unmanned aerial vehicle;
the initial routing inspection module is used for acquiring the space coordinate position of the wire to be inspected through the unmanned aerial vehicle, navigating and flying to the position of the wire to be inspected and starting inspection;
the point cloud data acquisition module is used for acquiring laser point cloud data of the conducting wire obtained by scanning of the three-dimensional laser radar;
the analysis operation module is used for analyzing the laser point cloud data of the wire, identifying three-dimensional point cloud data between the wire and the ground reference object, separating the point cloud data of the wire and the ground reference object simultaneously, and calculating the actual distance d between the wire and the ground reference object; simultaneously reading a prestored space 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;
the obstacle avoidance flight control module is used for judging the relation between the actual linear distance A between the unmanned aerial vehicle and the lead and a safety distance threshold value; the safe distance threshold comprises a first safe distance threshold C and a second safe distance threshold epsilon, wherein the first safe distance threshold C is smaller than the second safe distance threshold epsilon; if the actual straight line distance A is smaller than or equal to C, judging that the distance between the posture of the unmanned aerial vehicle and the lead is too short, and sending a control instruction far away from the lead to a flight control system; if the actual straight line distance A is larger than or equal to epsilon, judging that the distance between the posture of the unmanned aerial vehicle and the lead is too far, and sending a control instruction close to the lead to a flight control system; if the actual linear distance A is within the range of less than epsilon and more than C, judging that the distance between the posture of the unmanned aerial vehicle and the lead is normal, and flying according to the space coordinates of each flying node on the current initial routing inspection path; the ground reference is the ground reference point below which the wire is projected straight ahead.
The embodiment of the invention has the following beneficial effects:
the method and the system for the unmanned aerial vehicle to automatically avoid the obstacle conducting wire effectively guarantee the safety of the unmanned aerial vehicle line patrol system and the power transmission line and improve the reliability of line patrol operation. By the obstacle avoidance method, the problem of too close collision between the unmanned aerial vehicle and the power transmission line can be avoided, the influence on the image shooting effect caused by too far distance between the unmanned aerial vehicle and the power transmission line can be avoided, and the obstacle avoidance accuracy is improved; in addition, the PID controller is used for calculating the control distance parameter, and meanwhile, the operations such as deviation early warning processing and the like of the course angle are also included, so that the flight control precision and the working efficiency are remarkably improved.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without inventive exercise.
Fig. 1 is a main operation flow chart of a method for an unmanned aerial vehicle to automatically avoid an obstacle conducting wire according to the invention;
fig. 2 is a flow chart of a preceding local control operation in the method for an unmanned aerial vehicle to automatically avoid an obstacle conductor according to the present invention;
fig. 3 is a flow chart of subsequent local control operation in the method for an unmanned aerial vehicle to automatically avoid an obstacle guide line according to the present invention;
fig. 4 is a flow chart of the deviation pre-warning processing operation of the course angle in the method for the unmanned aerial vehicle to automatically avoid the obstacle conducting wire according to the invention;
fig. 5 is a schematic view of a system structure of the unmanned aerial vehicle automatic obstacle avoidance conductive wire of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The first embodiment is as follows:
the invention provides a method for automatically avoiding an obstacle wire by an unmanned aerial vehicle, which can be applied to a server and is used for controlling the safe distance between the wire and the unmanned aerial vehicle and ensuring that the safest and most reliable flight path is obtained.
The method for automatically avoiding the obstacle of the unmanned aerial vehicle according to the present invention will be described in detail with reference to the following specific embodiments, as shown in fig. 1, the specific steps are as follows:
step S100: setting a safety distance threshold value between the lead and the unmanned aerial vehicle;
step S200: the unmanned aerial vehicle acquires the space coordinate position of the wire to be inspected, navigates to the position of the wire to be inspected and starts to inspect;
step S300: scanning by a three-dimensional laser radar to obtain laser point cloud data of the wire;
step S400: analyzing the laser point cloud data of the wire, identifying three-dimensional point cloud data between the wire and a ground reference object, simultaneously separating the point cloud data of the wire and the ground reference object, and calculating the actual distance d between the wire and the ground reference object; simultaneously reading a prestored space 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;
step S500: judging the relation between the actual linear distance A between the unmanned aerial vehicle and the lead and a safety distance threshold; the safe distance threshold comprises a first safe distance threshold C and a second safe distance threshold epsilon, and the first safe distance threshold C is smaller than the second safe distance threshold epsilon; if the actual straight line distance A is smaller than or equal to C, judging that the distance between the posture of the unmanned aerial vehicle and the lead is too short, and sending a control instruction far away from the lead to a flight control system; if the actual straight line distance A is larger than or equal to epsilon, judging that the distance between the posture of the unmanned aerial vehicle and the lead is too far, and sending a control instruction close to the lead to a flight control system; if the actual linear distance A is in the range smaller than epsilon and larger than C, judging that the distance between the posture of the unmanned aerial vehicle and the lead is normal, and flying according to the space coordinates of each flying node on the current initial routing inspection path; the ground reference is the ground reference point below which the wire is projected straight ahead.
In this embodiment, the actual linear distance a is equal to the difference between the spatial distance D between the drone and the ground reference and the actual distance D between the wire and the ground reference.
In this embodiment, in step S500, a PID controller is used to calculate a control distance parameter, and then the embedded unit sends a corresponding control instruction to the flight control system, and the flight control system performs evasive flight according to the control instruction.
It should be noted that, in the specific technical solution of the embodiment of the present invention, calculating the control distance parameter by using the PID controller is a first step of calculation operation, and then the embedded unit sends the control distance parameter to a corresponding control instruction of the flight control system, so that the flight control system performs avoidance flight according to the control instruction, thereby implementing avoidance operation of the unmanned aerial vehicle, and certainly the control distance parameter relates to distance information and the like.
In this embodiment, the flight control system performs evasive flight according to a control instruction, and the specific operation steps are as follows: the flight control system acquires the control instruction and analyzes the control signal according to the control instruction to execute flight control operation.
It should be noted that, in the specific technical solution of the embodiment of the present invention, the flight control system obtains the control instruction and analyzes the control signal according to the control instruction to execute the flight control operation, so that the flight control system is a final execution control system and realizes the control operation on the information of the unmanned aerial vehicle, such as the heading, the flight altitude, and the flight speed.
As shown in fig. 2, in step S500, calculating a control distance parameter by using a PID controller specifically includes the following steps:
step S510: acquiring current position description information of the tracked conductor, wherein the current position description information represents the current relative position relationship between the tracked conductor and the unmanned aerial vehicle;
step S520: and outputting corresponding control information according to the difference between the current position description information and the reference position description information, and controlling the position and/or the attitude of the unmanned aerial vehicle according to the control information so as to keep the position relation between the unmanned aerial vehicle and the tracked lead in a relative position relation that the actual straight-line distance A is within a range of less than epsilon and more than C.
As shown in fig. 3, the PID controller further includes a corresponding flight control operation action by acquiring the current flight parameter, and specifically includes the following operation steps:
step S530: dynamically adjusting a control coefficient of a PID controller for PID control operation based on flight airspeed and flight attack angle to obtain a target attitude angle required to be adjusted;
step S540: determining an attitude angle deviation value according to the adjusted target attitude angle and the current actual attitude angle;
step S550: and inputting the attitude angle deviation value to the PID controller so that the PID controller performs PID control operation according to the attitude angle deviation value and adjusts the attitude angle of the unmanned aerial vehicle to the target attitude angle.
Further, the target attitude angle includes a pitch angle, a roll angle, and a heading angle.
As shown in fig. 4, the PID controller further includes a deviation pre-warning processing operation for the heading angle, which specifically includes the following steps:
step S600: the direction of the main beam of the unmanned aerial vehicle is aligned to be consistent with that of the main beam in the length direction;
step S700: scanning longitudinal axes on an airborne reference rod and a ground reference object through laser radar equipment to obtain laser point cloud data of the two items, then comparing the point cloud data of the airborne reference rod and the ground reference object, and obtaining a standard axial deflection angle of the longitudinal axes of the reference rod and the ground reference object through an image recognition algorithm;
step S800: meanwhile, a course angle measured by a sensor is obtained, and the course angle is converted into an axial deviation angle between the unmanned aerial vehicle and a longitudinal axis of the reference object; and when the actual axial deviation angle-the standard axial deviation angle is larger than the standard threshold value, determining that the course angle detection deviation of the current unmanned aerial vehicle is larger and needing alarm adjustment.
In addition, it should be noted that the reference rod adopted in the embodiment of the present invention is a reference marker with high-definition laser scanning parameter value, and a plurality of markers convenient for laser radar equipment to identify are arranged on the surface of the reference rod at intervals along the length direction of the reference rod; the marker includes a laser reflecting plate.
It should be noted that the unmanned aerial vehicle adopted in the embodiment of the present invention is preferably a four-axis unmanned aerial vehicle; researches show that the attitude angle of the four-axis unmanned aerial vehicle is usually obtained through a gyroscope sensor or an IMU sensor; then filtering and fusing the attitude data of the attitude sensor in the four-axis unmanned aerial vehicle to obtain current attitude information, wherein the attitude information comprises a current attitude angle; and then, the PID control method controls the four-axis unmanned aerial vehicle, the deviation value of the current attitude information and the target attitude information is used as the input quantity of the angle PID controller, the angular velocity PID controller is input according to the difference value of the current angular velocity and the output quantity of the angle PID controller, and the angular velocity PID controller outputs a control motor until the four-axis unmanned aerial vehicle reaches the target attitude.
However, research personnel find that the traditional course angle detection is easy to have deviation, and the main reason is that the course angle detection only refers to geographical space coordinates, and the detection means is single; in view of the above, one of the important improvements of the embodiment of the present invention is to provide an innovative course angle deviation early warning processing scheme, and the main principle and the main technical means of the scheme are as follows: a reference rod is arranged in front of the unmanned aerial vehicle, and the reference rod is aligned with the main beam in the length direction of the unmanned aerial vehicle; at the moment, the unmanned aerial vehicle can scan longitudinal axes on an airborne reference rod and a ground reference object through laser radar equipment to obtain laser point cloud data of the two items, then the point cloud data of the airborne reference rod and the point cloud data of the ground reference object are compared, and a standard axial deflection angle of the longitudinal axes of the reference rod and the ground reference object is obtained through an image recognition algorithm (such as a neural network deep learning algorithm); the specific technical scheme is that point cloud data containing a ground reference object and a reference rod are obtained simultaneously; identifying point cloud data of a longitudinal axis of the ground reference; the ground reference object is a marker which is preset on the ground where the power transmission line is located, the surface of the ground reference object is a plane where the reference object is located, and the surface of the ground reference object is provided with a longitudinal axis coordinate corrected by the coordinate of a preset reference tower, so that a standard axial deviation angle of the reference rod and the longitudinal axis of the ground reference object can be calculated; meanwhile, a course angle measured by a sensor is obtained, the course angle is converted into an axial deviation angle between the unmanned aerial vehicle and a longitudinal axis of a reference object (the relative coordinate of the unmanned aerial vehicle in a geographic space can be calculated by the course angle, so that the relative coordinate of the unmanned aerial vehicle relative to a preset reference tower can be obtained, and meanwhile, the geographic coordinate of the longitudinal axis of the reference object is known (and the relative coordinate of the unmanned aerial vehicle relative to the preset reference tower can also be calculated), so that the relative coordinate of the unmanned aerial vehicle and the longitudinal axis of the reference object can be calculated, and the axial deviation angle can be obtained through the relative coordinate of the unmanned aerial vehicle and the longitudinal axis of the; when the actual axial deviation angle-the standard axial deviation angle (the standard axial deviation angle obtained by the point cloud data) is larger than the standard threshold, determining that the course angle detection deviation of the current unmanned aerial vehicle is larger, and performing alarm adjustment;
the embodiment of the invention measures and detects the course angle in real time, and alarms and corrects the condition of exceeding the safety angle. The method is easy to realize, high in stability, and capable of improving the measurement efficiency and accuracy of the course angle and adjusting the attitude of the unmanned aerial vehicle with higher precision by monitoring the course angle in real time.
As shown in fig. 5, based on the same technical concept, the invention also provides a system for an unmanned aerial vehicle to automatically avoid an obstacle guide line, which comprises a parameter setting module, an initial routing inspection module, a scanning module, a point cloud data acquisition module, an analysis operation module and an obstacle avoidance flight control module, which are connected in sequence;
the parameter setting module is used for setting a safety distance threshold value between the lead and the unmanned aerial vehicle;
the initial routing inspection module is used for acquiring the space coordinate position of the wire to be inspected through the unmanned aerial vehicle, navigating and flying to the position of the wire to be inspected and starting inspection;
the point cloud data acquisition module is used for acquiring laser point cloud data of the conducting wire obtained by scanning of the three-dimensional laser radar;
the analysis operation module is used for analyzing the laser point cloud data of the wire, identifying three-dimensional point cloud data between the wire and the ground reference object, separating the point cloud data of the wire and the ground reference object simultaneously, and calculating the actual distance d between the wire and the ground reference object; simultaneously reading a prestored space 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;
the obstacle avoidance flight control module is used for judging the relation between the actual linear distance A between the unmanned aerial vehicle and the lead and a safety distance threshold value; the safe distance threshold comprises a first safe distance threshold C and a second safe distance threshold epsilon, wherein the first safe distance threshold C is smaller than the second safe distance threshold epsilon; if the actual straight line distance A is smaller than or equal to C, judging that the distance between the posture of the unmanned aerial vehicle and the lead is too short, and sending a control instruction far away from the lead to a flight control system; if the actual straight line distance A is larger than or equal to epsilon, judging that the distance between the posture of the unmanned aerial vehicle and the lead is too far, and sending a control instruction close to the lead to a flight control system; if the actual linear distance A is within the range of less than epsilon and more than C, judging that the distance between the posture of the unmanned aerial vehicle and the lead is normal, and flying according to the space coordinates of each flying node on the current initial routing inspection path; the ground reference is the ground reference point below which the wire is projected straight ahead.
In an embodiment provided by the present invention, a computer-readable storage medium is also provided, in which a computer program is stored, which, when being executed by a processor, realizes the steps of any one of the above methods. In a further embodiment provided by the present invention, there is also provided a computer program product containing instructions which, when run on a computer, cause the computer to perform any of the methods of the above embodiments.
In the above embodiments, the implementation may be wholly or partially realized by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. The procedures or functions according to the embodiments of the invention are brought about in whole or in part when the computer program instructions are loaded and executed on a computer. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device. The computer instructions may be stored in a computer readable storage medium or transmitted from one computer readable storage medium to another, for example, the computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center by wire (e.g., coaxial cable, fiber optic, Digital Subscriber Line (DSL)) or wirelessly (e.g., infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device, such as a server, a data center, etc., that incorporates one or more of the available media. The usable medium may be a magnetic medium (e.g., floppy Disk, hard Disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., Solid State Disk (SSD)), among others.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by the present specification, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A method for automatically avoiding an obstacle wire by an unmanned aerial vehicle is characterized by comprising the following steps:
step S100: setting a safety distance threshold value between the lead and the unmanned aerial vehicle;
step S200: the unmanned aerial vehicle acquires the space coordinate position of the wire to be inspected, and inspects the wire to be inspected;
step S300: scanning by a three-dimensional laser radar to obtain laser point cloud data of the wire;
step S400: analyzing the laser point cloud data of the wire, identifying three-dimensional point cloud data between the wire and a ground reference object, simultaneously separating the point cloud data of the wire and the ground reference object, and calculating the actual distance d between the wire and the ground reference object; simultaneously reading a prestored space 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;
step S500: judging the relation between the actual linear distance A between the unmanned aerial vehicle and the lead and a safety distance threshold; the safe distance threshold comprises a first safe distance threshold C and a second safe distance threshold epsilon, and the first safe distance threshold C is smaller than the second safe distance threshold epsilon; if the actual straight line distance A is smaller than or equal to C, judging that the distance between the posture of the unmanned aerial vehicle and the lead is too short, and sending a control instruction far away from the lead to a flight control system; if the actual straight line distance A is larger than or equal to epsilon, judging that the distance between the posture of the unmanned aerial vehicle and the lead is too far, and sending a control instruction close to the lead to a flight control system; if the actual linear distance A is in the range smaller than epsilon and larger than C, judging that the distance between the posture of the unmanned aerial vehicle and the lead is normal, and flying according to the space coordinates of each flying node on the current initial routing inspection path; the ground reference is the ground reference point below which the wire is projected straight ahead.
2. The method for the unmanned aerial vehicle to automatically avoid the obstacle and lead the wire according to claim 1, wherein the actual straight distance a is equal to the difference between the space distance D between the unmanned aerial vehicle and the ground reference object and the actual distance D between the wire and the ground reference object.
3. The method for unmanned aerial vehicle to automatically avoid the obstacle guide line according to claim 1, wherein in step S500, the PID controller is used to calculate the control distance parameter, and then the embedded unit sends the control distance parameter to the flight control system according to the control instruction, and the flight control system performs avoiding flight according to the control instruction.
4. The method for the unmanned aerial vehicle to automatically avoid the obstacle guide line according to claim 3, wherein a flight control system performs avoiding flight according to a control instruction, and the specific operation steps are as follows: the flight control system acquires the control instruction and analyzes the control signal according to the control instruction to execute flight control operation.
5. The method for automatically avoiding the obstacle of the unmanned aerial vehicle as claimed in claim 4, wherein in step S500, the PID controller is used to calculate the control distance parameter, and the method specifically comprises the following steps:
step S510: acquiring current position description information of the tracked conductor, wherein the current position description information represents the current relative position relationship between the tracked conductor and the unmanned aerial vehicle;
step S520: and outputting corresponding control information according to the difference between the current position description information and the reference position description information, and controlling the position and/or the attitude of the unmanned aerial vehicle according to the control information so as to keep the position relation between the unmanned aerial vehicle and the tracked lead in a relative position relation that the actual straight-line distance A is within a range of less than epsilon and more than C.
6. The method for the unmanned aerial vehicle to automatically avoid the obstacle conducting wire according to claim 5, wherein the PID controller further comprises a corresponding flight control operation action by acquiring the current flight parameters, and the method specifically comprises the following operation steps:
step S530: dynamically adjusting a control coefficient of a PID controller for PID control operation based on flight airspeed and flight attack angle to obtain a target attitude angle required to be adjusted;
step S540: determining an attitude angle deviation value according to the adjusted target attitude angle and the current actual attitude angle;
step S550: and inputting the attitude angle deviation value to the PID controller so that the PID controller performs PID control operation according to the attitude angle deviation value and adjusts the attitude angle of the unmanned aerial vehicle to the target attitude angle.
7. The method for unmanned aerial vehicle to automatically avoid obstacle conducting wire according to claim 6, wherein the target attitude angle comprises a pitch angle, a roll angle and a heading angle.
8. The method for the unmanned aerial vehicle to automatically avoid the obstacle conducting wire according to claim 7, wherein the PID controller further comprises a deviation pre-warning processing operation for a heading angle, and the method specifically comprises the following operation steps:
step S600: the direction of the main beam of the unmanned aerial vehicle is aligned to be consistent with that of the main beam in the length direction;
step S700: scanning longitudinal axes on an airborne reference rod and a ground reference object through laser radar equipment to obtain laser point cloud data of the two items, then comparing the point cloud data of the airborne reference rod and the ground reference object, and obtaining a standard axial deflection angle of the longitudinal axes of the reference rod and the ground reference object through an image recognition algorithm;
step S800: meanwhile, a course angle measured by a sensor is obtained, and the course angle is converted into an axial deviation angle between the unmanned aerial vehicle and a longitudinal axis of the reference object; and when the actual axial deviation angle-the standard axial deviation angle is larger than the standard threshold value, determining that the course angle detection deviation of the current unmanned aerial vehicle is larger and needing alarm adjustment.
9. The method for the unmanned aerial vehicle to automatically avoid the obstacle conducting wire according to claim 7, wherein a plurality of markers which are convenient for laser radar equipment to identify are arranged on the surface of the reference rod at intervals along the length direction of the reference rod; the marker includes a laser reflecting plate.
10. The utility model provides a system of automatic obstacle-avoiding wire of unmanned aerial vehicle, its characterized in that is including the parameter setting module, the initial route module of patrolling and examining, scanning module, the point cloud data acquisition module, analysis operation module and the obstacle-avoiding flight control module that connect gradually.
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