CN105159297B - Power transmission line unmanned machine inspection obstacle avoidance system and method - Google Patents
Power transmission line unmanned machine inspection obstacle avoidance system and method Download PDFInfo
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- CN105159297B CN105159297B CN201510579421.9A CN201510579421A CN105159297B CN 105159297 B CN105159297 B CN 105159297B CN 201510579421 A CN201510579421 A CN 201510579421A CN 105159297 B CN105159297 B CN 105159297B
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Abstract
The present invention provides a kind of power transmission line unmanned machine inspection obstacle avoidance system and method, system includes the environmental perception module and avoidance main control terminal being connected with each other, environmental perception module obtains the environmental information data around unmanned plane in real time, and environmental information data are sent to avoidance main control terminal, avoidance main control terminal carries out fusion treatment to environmental information data, SLAM computings are carried out according to the data after fusion treatment, according to SLAM operation results and the planning renewal unmanned aerial vehicle flight path planning of default unmanned aerial vehicle flight path.Whole system, unmanned plane surrounding obstacles object location can be perceived, SLAM computings are carried out according to the data after fusion treatment, according to SLAM operation results and the planning renewal unmanned aerial vehicle flight path planning of default unmanned aerial vehicle flight path, effectively can carry out avoidance for unknown barrier.
Description
Technical field
The present invention relates to unmanned plane inspection technical field, more particularly to power transmission line unmanned machine inspection obstacle avoidance system and side
Method.
Background technology
Overhead transmission line inspection is the groundwork of grid company regular maintenance, routine inspection mode can be divided into manual inspection,
There are helicopter people inspection and unmanned plane inspection.It is less efficient and be bullied although manual inspection is most traditional routine inspection mode
Geographical environment is waited to restrict.With aviation, the development in electronic science and technology field, helicopter/unmanned plane electric inspection process mode just quilt
Extensive research and application, especially unmanned plane inspection have increasing application value because of safe and efficient characteristic.
Transmission line of electricity is distributed the mountain area away from cities and towns more, and with a varied topography, trees are various, these factors are all to unmanned plane during flying
Cause potential safety hazard.Unmanned plane can lack artificial dry according to airline operation set in advance during overhead transmission line inspection
In advance, if unknown barrier, which can not be evaded, to collide, it will cause great economic asset to lose.
The content of the invention
Based on this, it is necessary to can not be kept away for existing power transmission line unmanned machine cruising inspection system for unknown barrier
, the problem of larger potential safety hazard be present, there is provided a kind of power transmission line unmanned machine inspection obstacle avoidance system and method, realize power transmission line in barrier
To the effective avoidance of unknown barrier during the unmanned plane inspection of road.
A kind of power transmission line unmanned machine inspection obstacle avoidance system, including the environmental perception module of interconnection and avoidance master control end
End；
Environmental perception module obtains the environmental information data around unmanned plane in real time, and environmental information data are sent to keeping away
Hinder main control terminal, avoidance main control terminal carries out fusion treatment to environmental information data, according to the data after fusion treatment and presets
Unmanned aerial vehicle flight path planning carries out SLAM (simultaneous localization and mapping, positioning and map structuring)
Computing, according to SLAM operation results and the planning renewal unmanned aerial vehicle flight path planning of default unmanned aerial vehicle flight path, wherein, environmental information data
Including obstacle position information data.
A kind of power transmission line unmanned machine inspection barrier-avoiding method, including step：
The environmental information data around unmanned plane are obtained in real time, wherein, environmental information data include obstacle position information
Data；
Fusion treatment is carried out to environmental information data, obtains fusion treatment data；
SLAM computings are carried out according to the data after fusion treatment, obtain SLAM operation results；
According to SLAM operation results and the planning renewal unmanned aerial vehicle flight path planning of default unmanned aerial vehicle flight path.
Power transmission line unmanned machine inspection obstacle avoidance system of the present invention, including the environmental perception module of interconnection and avoidance master control
Terminal, environmental perception module obtains the environmental information data around unmanned plane in real time, and environmental information data are sent to avoidance
Main control terminal, avoidance main control terminal carry out fusion treatment to environmental information data, and SLAM is carried out according to the data after fusion treatment
Computing, according to SLAM operation results and the planning renewal unmanned aerial vehicle flight path planning of default unmanned aerial vehicle flight path.Whole system, it can perceive
Unmanned plane surrounding obstacles object location, SLAM computings are carried out according to the data after fusion treatment, according to SLAM operation results with presetting
Unmanned aerial vehicle flight path planning renewal unmanned aerial vehicle flight path planning, effectively can carry out avoidance for unknown barrier.
In addition, the present invention also provides a kind of power transmission line unmanned machine inspection barrier-avoiding method, obtain in real time around unmanned plane
Environmental information data, fusion treatment is carried out to environmental information data, fusion treatment data are obtained, according to the data after fusion treatment
SLAM computings are carried out, obtain SLAM operation results, according to SLAM operation results and default unmanned aerial vehicle flight path planning renewal unmanned plane
Trajectory planning.In whole process, unmanned plane surrounding obstacles object location is obtained, SLAM fortune is carried out according to the data after fusion treatment
Calculate, according to SLAM operation results and the planning renewal unmanned aerial vehicle flight path planning of default unmanned aerial vehicle flight path, can effectively be directed to unknown barrier
Thing is hindered to carry out avoidance.
Brief description of the drawings
Fig. 1 is the structural representation of power transmission line unmanned machine inspection obstacle avoidance system one embodiment；
Fig. 2 is the structural representation of power transmission line unmanned machine inspection second embodiment of obstacle avoidance system；
Fig. 3 is the schematic flow sheet of power transmission line unmanned machine inspection barrier-avoiding method one embodiment；
Fig. 4 is the schematic flow sheet of power transmission line unmanned machine inspection second embodiment of barrier-avoiding method.
Embodiment
As shown in figure 1, a kind of power transmission line unmanned machine inspection obstacle avoidance system, include the environmental perception module of interconnection
100 and avoidance main control terminal 200；
Environmental perception module 100 obtains the environmental information data around unmanned plane in real time, and environmental information data are sent
To avoidance main control terminal 200, avoidance main control terminal 200 carries out fusion treatment to environmental information data, after fusion treatment
Data carry out SLAM computings, according to SLAM operation results and the planning renewal unmanned aerial vehicle flight path planning of default unmanned aerial vehicle flight path, wherein,
Environmental information data include obstacle position information data.
Environmental perception module 100 is used to obtain the environmental information data around unmanned plane, specifically, environment sensing in real time
Module 100 is built-in with multiple sensors, and its environmental information data gathered includes obstacle position information data, for obstacle
The collection of object location information data can use radar equipment to realize positioning, such as can use laser radar, ultrasonic radar etc.,
The influence that landform and amblent air temperature bring to positioning precision can effectively be overcome using many kinds of radar equipment.Environmental perception module
100 can be with built-in vision sensor, such as images first-class, the ambient image around collection unmanned aerial vehicle flight path planning.Default nothing
Man-machine trajectory planning is can to use existing meter according to the transmission line of electricity ship trajectory set in advance for needing inspection, this ship trajectory
Calculation machine software processing obtains.SLAM refers to robot and moved in circumstances not known since a unknown position, in moving process
Self poisoning is carried out according to location estimation and map, while increment type map is built on the basis of self poisoning, realizes machine
The autonomous positioning of people and navigation.
Avoidance main control terminal 200 carries out fusion treatment to environmental information data and is specifically as follows：To environmental information packet
Unpacking processing is carried out, and data fusion, scanning area matching are carried out according to the own characteristic of each sensor.
Power transmission line unmanned machine inspection obstacle avoidance system of the present invention, include the environmental perception module 100 and avoidance of interconnection
Main control terminal 200, environmental perception module 100 obtain the environmental information data around unmanned plane in real time, and by environmental information data
Send to avoidance main control terminal 200, avoidance main control terminal 200 carries out fusion treatment to environmental information data, according to fusion treatment
Data afterwards carry out SLAM computings, according to SLAM operation results and the planning renewal unmanned aerial vehicle flight path planning of default unmanned aerial vehicle flight path.
Whole system, unmanned plane surrounding obstacles object location can be perceived, SLAM computings are carried out according to the data after fusion treatment, according to
SLAM operation results and the planning renewal unmanned aerial vehicle flight path planning of default unmanned aerial vehicle flight path, effectively can be carried out for unknown barrier
Avoidance.
In one of the embodiments, environmental perception module 100 is built-in with polytype sensor, polytype biography
Sensor includes laser radar, ultrasonic radar and vision sensor.
In one of the embodiments, environmental perception module 100 includes sensor spacing regulating calculation device, between sensor
It is used to calculate the distance between each sensor in polytype sensor away from regulating calculation device, avoids polytype biography
Each sensor interferes in sensor.
Be provided with polytype sensor in environmental perception module 100, for example, laser radar, ultrasonic radar and
Vision sensor, these sensors can accurately gather the environmental information data around unmanned plane.Due to unmanned plane size, profile
Differ, in order to avoid being interfered between polytype sensor, also set up sensor spacing regulation meter in the present embodiment
Device is calculated, the spacing in computing environment sensing module 100 between each sensor, avoids each biography in polytype sensor
Sensor interferes, and realizes that the environmental information data around man-machine are accurate, highly effective gathering.
In one of the embodiments, avoidance main control terminal 200 is specifically used for carrying out fusion treatment to environmental information data,
SLAM three-dimensional reconstructions are carried out according to the data after fusion treatment, three-dimensional reconstruction map is obtained, nothing is positioned in three-dimensional reconstruction map
Failure object location around man-machine self-position and unmanned plane, unmanned plane self-position and the unmanned plane surrounding obstacles are calculated in real time
The distance of thing, judged according to the planning of default unmanned aerial vehicle flight path when the distance of unmanned plane self-position and unmanned plane peripheral obstacle is small
When default safe distance, renewal unmanned aerial vehicle flight path planning.Renewal unmanned aerial vehicle flight path planning can specifically use Artificial Potential Field Method
Carry out path planning, realize to barrier evade and optimum path planning, renewal unmanned aerial vehicle flight path planning, after renewal
The flight control system of unmanned aerial vehicle flight path planning injection unmanned plane, flight control system respond to the unmanned aerial vehicle flight path planning after renewal,
Success avoidance.
Specifically, avoidance main control terminal 200 realizes that its major function includes following several stages：
Stage one：Data parsing is carried out to environmental information data, the data after parsing are merged, increases data point
Cloud density.
Stage two：Avoidance main control terminal 200 carries out three-dimensional reconstruction to environmental information cloud data.
Stage three：Realized during three-dimensional reconstruction and self-position of the unmanned plane in three-dimensional modeling space is positioned.
Stage four：The distance of unmanned plane self-position and the unmanned plane peripheral obstacle is calculated in real time.
Stage five：Judged according to the planning of default unmanned aerial vehicle flight path when unmanned plane self-position and unmanned plane peripheral obstacle
When distance is less than default safe distance, renewal unmanned aerial vehicle flight path planning.
In one of the embodiments, avoidance main control terminal 200 includes ARM (the Advanced RISC being connected with each other
Machines, Reduced Instruction Set Computer microprocessor) chip, DSP (Digital Signal Processing, data signal
Processing) chip and FPGA (Field Programmable Gate Array, field programmable gate array) chip.
The data-handling capacity and speed of avoidance main control terminal 200 can be effectively lifted using polytype integrated chip architecture
Degree.Wherein, DPS mainly completes three-dimensional modeling and functional Path Planning, and ARM mainly realizes main flow process control, FPGA
Data processing is realized, coffret is set.Avoidance main control terminal 200 can meet small volume, low-power consumption using this pattern
It is required that and can carries out image procossing and complicated algorithm computing, DSP uses high-speed digital video camera ability chip, satisfaction pair
The rapid modeling of high point cloud density data, ARM use high-speed chip, meet the fast process control of obstacle avoidance system, and FPGA is adopted
With high clock rate, the fast packing to data and transmission can be realized.
As shown in Fig. 2 in one of the embodiments, power transmission line unmanned machine inspection obstacle avoidance system is also shown including avoidance
Device 300, avoidance display device 300 are connected with avoidance main control terminal 200, and avoidance display device 300 is used to show unmanned plane reality
Border flight path and obstruction forewarning information.
Avoidance display device 300 shows unmanned plane actual flight path and obstruction forewarning information, and avoidance display device 300 can be with
Ground is arranged at, is easy to ground handling operator to plan unmanned aerial vehicle flight path and understands in real time.It is non-essential, avoidance display device 300
Default unmanned aerial vehicle flight path can also be planned and together be shown with the real-time flight path of unmanned plane, so that operating personnel understand unmanned aerial vehicle flight path
Plan situation of change.Avoidance display device 300 can be connected using wireless mode with avoidance main control terminal 200.
As shown in figure 3, a kind of power transmission line unmanned machine inspection barrier-avoiding method, including step：
S100：The environmental information data around unmanned plane are obtained in real time, wherein, environmental information data include Obstacle Position
Information data；
S200：Fusion treatment is carried out to environmental information data, obtains fusion treatment data；
S300：SLAM computings are carried out according to the data after fusion treatment, obtain SLAM operation results；
S400：According to SLAM operation results and the planning renewal unmanned aerial vehicle flight path planning of default unmanned aerial vehicle flight path.
Power transmission line unmanned machine inspection barrier-avoiding method of the present invention, the environmental information data around unmanned plane are obtained in real time, it is right
Environmental information data carry out fusion treatment, obtain fusion treatment data, carry out SLAM computings according to the data after fusion treatment, obtain
SLAM operation results are obtained, according to SLAM operation results and the planning renewal unmanned aerial vehicle flight path planning of default unmanned aerial vehicle flight path.Whole mistake
Cheng Zhong, unmanned plane surrounding obstacles object location is obtained, SLAM computings are carried out according to the data after fusion treatment, according to SLAM computing knots
Fruit and the planning renewal unmanned aerial vehicle flight path planning of default unmanned aerial vehicle flight path, effectively can carry out avoidance for unknown barrier.
In one of the embodiments, the step of carrying out SLAM computings according to the data after fusion treatment specifically includes：
SLAM three-dimensional reconstructions are carried out according to fusion treatment data, obtain three-dimensional reconstruction map；
Failure object location around unmanned plane self-position and unmanned plane is positioned in three-dimensional reconstruction map；
The distance of the unmanned plane self-position and the unmanned plane peripheral obstacle is calculated in real time.
In one of the embodiments, according to SLAM operation results and default unmanned aerial vehicle flight path planning renewal unmanned aerial vehicle flight path
The step of planning is specially：
Judged according to the planning of default unmanned aerial vehicle flight path when the unmanned plane self-position and the unmanned plane peripheral obstacle
Distance when being less than default safe distance, renewal unmanned aerial vehicle flight path planning.
Default safe distance is to be based on unmanned plane application environment and polling transmission line demand value set in advance, such as can
To be set as 30 meters, 50 meters etc..Updating unmanned aerial vehicle flight path planning can specifically use Artificial Potential Field Method to carry out path planning, realize
To barrier evade and optimum path planning, renewal unmanned aerial vehicle flight path planning, by after renewal unmanned aerial vehicle flight path plan note
Enter the flight control system of unmanned plane, flight control system responds to the unmanned aerial vehicle flight path planning after renewal, success avoidance.Artificial Potential Field
The basic thought that method carries out path planning is the motion by robot in surrounding environment, is designed to a kind of abstract artificial gravitation
Motion in, target point produce " gravitation " to mobile robot, and barrier produces " repulsion " to mobile robot, finally by
Ask and make a concerted effort to control the motion of mobile robot.
As shown in figure 4, in one of the embodiments, also include after step S200：
S220：Processing is filtered to fusion treatment data.
Processing is filtered to fused data, eliminates noise data, improves the degree of accuracy of data.Specifically, herein
Filtering mode can use Kalman filtering.
Embodiment described above only expresses the several embodiments of the present invention, and its description is more specific and detailed, but simultaneously
Can not therefore it be construed as limiting the scope of the patent.It should be pointed out that come for one of ordinary skill in the art
Say, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to the protection of the present invention
Scope.Therefore, the protection domain of patent of the present invention should be determined by the appended claims.
Claims (7)
- A kind of 1. power transmission line unmanned machine inspection obstacle avoidance system, it is characterised in that environmental perception module including interconnection and Avoidance main control terminal；The environmental perception module obtains the environmental information data around unmanned plane in real time, and the environmental information data are sent To the avoidance main control terminal, the avoidance main control terminal carries out fusion treatment to the environmental information data, at fusion Data after reason carry out SLAM computings, according to SLAM operation results and default unmanned aerial vehicle flight path planning renewal unmanned aerial vehicle flight path rule Draw, wherein, the environmental information data include obstacle position information data；The avoidance main control terminal carries out fusion treatment to the environmental information data, is carried out according to the data after fusion treatment SLAM computings, plan that renewal unmanned aerial vehicle flight path planning includes with default unmanned aerial vehicle flight path according to SLAM operation results：The avoidance main control terminal is specifically used for carrying out data parsing to the environmental information data, and the data after parsing are entered Row fusion, increases the cloud density of data point, carries out SLAM three-dimensional reconstructions according to the environmental information cloud data after fusion treatment, obtains Three-dimensional reconstruction map is obtained, failure object location around unmanned plane self-position and unmanned plane is positioned in the three-dimensional reconstruction map, The distance of the unmanned plane self-position and the unmanned plane peripheral obstacle is calculated in real time, according to the default unmanned aerial vehicle flight path Planning judges when the distance of the unmanned plane self-position and the unmanned plane peripheral obstacle is less than default safe distance, more New unmanned aerial vehicle flight path planning.
- 2. power transmission line unmanned machine inspection obstacle avoidance system according to claim 1, it is characterised in that the environment sensing mould Block is built-in with polytype sensor, and polytype sensor includes laser radar, ultrasonic radar and vision Sensor.
- 3. power transmission line unmanned machine inspection obstacle avoidance system according to claim 2, it is characterised in that the environment sensing mould Block includes sensor spacing regulating calculation device, and the sensor spacing regulating calculation device is described polytype for calculating The distance between each sensor in sensor, to avoid each sensor in polytype sensor from interfering.
- 4. power transmission line unmanned machine inspection obstacle avoidance system according to claim 1 or 2, it is characterised in that the avoidance master Control terminal includes ARM chips, dsp chip and the fpga chip being connected with each other.
- 5. power transmission line unmanned machine inspection obstacle avoidance system according to claim 1 or 2, it is characterised in that also including avoidance Display device, the avoidance display device are connected with the avoidance main control terminal, and the avoidance display device is used to show nobody Machine actual flight path and obstruction forewarning information.
- 6. a kind of power transmission line unmanned machine inspection barrier-avoiding method, it is characterised in that including step：The environmental information data around unmanned plane are obtained in real time, wherein, the environmental information data include obstacle position information Data；Fusion treatment is carried out to the environmental information data, obtains fusion treatment data；SLAM computings are carried out according to the data after fusion treatment, obtain SLAM operation results；According to the SLAM operation results and the planning renewal unmanned aerial vehicle flight path planning of default unmanned aerial vehicle flight path；It is described to the environmental information data carry out fusion treatment, obtain fusion treatment data the step of specifically include：Data parsing is carried out to the environmental information data, the data after parsing merged, the cloud for increasing data point is close Degree；The data according to after fusion treatment carry out SLAM computings, and the step of obtaining SLAM operation results specifically includes：SLAM three-dimensional reconstructions are carried out according to the environmental information cloud data after fusion treatment, obtain three-dimensional reconstruction map；Failure object location around unmanned plane self-position and unmanned plane is positioned in the three-dimensional reconstruction map；The distance of the unmanned plane self-position and the unmanned plane peripheral obstacle is calculated in real time；It is described specific according to the step of the SLAM operation results and the planning renewal unmanned aerial vehicle flight path planning of default unmanned aerial vehicle flight path Including：Judged according to the default unmanned aerial vehicle flight path planning when the unmanned plane self-position and the unmanned plane peripheral obstacle Distance when being less than default safe distance, renewal unmanned aerial vehicle flight path planning.
- 7. power transmission line unmanned machine inspection barrier-avoiding method according to claim 6, it is characterised in that described to the environment Information data carry out fusion treatment, obtain fusion treatment data the step of after also include：Processing is filtered to the fusion treatment data.
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