CN111679693B - Unmanned aerial vehicle obstacle avoidance method based on magnetic field intensity detection - Google Patents
Unmanned aerial vehicle obstacle avoidance method based on magnetic field intensity detection Download PDFInfo
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- CN111679693B CN111679693B CN202010822725.4A CN202010822725A CN111679693B CN 111679693 B CN111679693 B CN 111679693B CN 202010822725 A CN202010822725 A CN 202010822725A CN 111679693 B CN111679693 B CN 111679693B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
- G05D1/106—Change initiated in response to external conditions, e.g. avoidance of elevated terrain or of no-fly zones
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R33/00—Arrangements or instruments for measuring magnetic variables
- G01R33/02—Measuring direction or magnitude of magnetic fields or magnetic flux
Abstract
The invention discloses an unmanned aerial vehicle obstacle avoidance method based on magnetic field intensity detection, which comprises the steps that a magnetic field intensity detection module detects the magnetic field intensity of a power transmission line to form monitoring data; monitoring data are transmitted to a flight control module and a ground receiving system on the unmanned aerial vehicle; when monitoring data is in the vicinity of the magnetic field intensity which can bear the unmanned aerial vehicle and is not interfered in flight control, the ground receiving system sends out an alarm signal; the unmanned aerial vehicle is far away from the power transmission line through automatic driving; after the unmanned aerial vehicle is far away from the power transmission line, hovering the unmanned aerial vehicle to the air safety area, and waiting for the operator to receive the unmanned aerial vehicle control right; the operator receives the unmanned aerial vehicle control right. Compared with the traditional obstacle avoidance method, the obstacle avoidance method can expand the working field of the unmanned aerial vehicle to the maximum extent, and the obstacle avoidance module is arranged on the unmanned aerial vehicle, so that the probability of out-of-control accidents caused by the interference of the unmanned aerial vehicle by a magnetic field is reduced, the safety of the unmanned aerial vehicle and the safety of a power transmission line are protected, and the inspection efficiency of the power transmission line is obviously improved.
Description
Technical Field
The invention relates to an obstacle avoidance method based on an unmanned aerial vehicle airborne magnetic field intensity detection module, in particular to an unmanned aerial vehicle obstacle avoidance method based on magnetic field intensity detection, and belongs to the technical field of power transmission and transformation equipment.
Background
The power transmission line is exposed outside for a long time, and not only needs to bear the carrying pressure brought by the power load, but also needs to be damaged by external forces such as lightning flashover, pollution corrosion, wind and rain. Therefore, the transmission line has the potential faults of insulator abrasion loss, wire strand breakage, vibration damper loss and the like. If the hidden troubles of the faults cannot be found in time, the transmission of electric energy and the safe operation of a power grid can be seriously threatened.
The damaged power transmission and transformation equipment has the phenomena of conductor and hardware damage, partial discharge of insulating equipment and the like, so the power transmission and transformation equipment and the power transmission line need to be detected regularly. The detection methods commonly used in the prior art are as follows: 1) the manual line patrol method has the advantages that on one hand, the workload of a patrol worker is large due to the manual line patrol mode, and the power transmission line is difficult to detect due to the fact that the power transmission line is long and the landform is responsible for the manual line patrol mode; on the other hand, the manual inspection is observed from the ground, and the power transmission line for inspection cannot be accurate and has errors. 2) The traditional unmanned aerial vehicle line patrol requires that unmanned aerial vehicle equipment is close to power transmission equipment as much as possible, and details are checked; however, power transmission and transformation equipment, especially transformer substation electromagnetic environment is complicated, and unmanned aerial vehicle inevitable can be disturbed by power equipment's electromagnetic field, and then leads to unmanned aerial vehicle's flight control to be disturbed, causes unmanned aerial vehicle unable normal work, and then the aircraft is impaired lightly, then destroys power equipment and causes the casualties, and harm is huge.
The patent with the application number of 201210222359.4 discloses an electric field measurement obstacle avoidance system and method for unmanned aerial vehicle to patrol and examine electrified conducting wires, and the technical scheme is that an electric field intensity meter is utilized, and because the grade of each voltage grade line electric field of the power transmission line is certain and all related to voltage, the electric field of each power transmission conducting wire is tested, and then the power transmission line is detected. However, the current in the power transmission and transformation line is variable and can generate a magnetic field, and the existence of the magnetic field can interfere with the unmanned aerial vehicle magnetometer, thereby disturbing the normal operation of the unmanned aerial vehicle.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides an unmanned aerial vehicle obstacle avoidance method based on magnetic field intensity detection, wherein the interfered threshold value of an unmanned aerial vehicle magnetometer is found through a test, and an obstacle avoidance module installed on an unmanned aerial vehicle is utilized to early warn and alarm in advance to take the autonomous control right of the unmanned aerial vehicle, so that the unmanned aerial vehicle can be prevented from being interfered by a magnetic field to cause an accident, the flight safety of the unmanned aerial vehicle is ensured, the line inspection efficiency is improved, and the workload of detection personnel is reduced.
In order to achieve the purpose, the technical scheme of the invention is as follows: an unmanned aerial vehicle obstacle avoidance method based on magnetic field intensity detection comprises the following steps:
1) a magnetic field intensity detection module arranged on the unmanned aerial vehicle detects the magnetic field intensity in the power transmission line;
the method for measuring the magnetic field intensity in the power transmission line by the magnetic field intensity detection module comprises the following steps:
a) the magnetic field strength in the power transmission line is detected through the Hall sensor circuit, and the increment of the Hall sensor in the Hall sensor circuit and the magnetic field strength are in a linear relation:
wherein S is the sensitivity of the Hall sensor; 0.5Vcc is the reference voltage; vimIs the voltage in the transmission line;
b) the pre-stage amplification of the input signal in the Hall sensor circuit is completed through the differential amplification circuit, and the voltage signal output after passing through the Hall sensor circuit and the differential amplification circuit is as follows:
wherein R is3、R4、Rf1、Rf2And Rf3Are all a regulated resistance, Vo1Is the voltage in the differential amplifying circuit;
c) adopting low-pass filtering to form a second-order voltage-controlled active low-pass filter circuit, and obtaining:
Vo2=Vo1
wherein, Vo2Is the voltage in the analog filter circuit;
d) obtaining an amplified output voltage through a post-stage amplifying circuit:
Vo3=(1+R10/R9)Vo2
wherein R is9And R10To regulate resistance; vo3The power transmission voltage in the post-stage amplifying circuit;
the magnetic field intensity that the magnetic field intensity detection module obtained does:
wherein R isf1And Rf2To regulate resistance;
2) the obtained magnetic field intensity value is processed by digital signals to form monitoring data, and the obtained monitoring data is divided into two paths: the first path of monitoring data is transmitted to a flight control module on the unmanned aerial vehicle and is used by an unmanned aerial vehicle unmanned starting obstacle avoidance module;
the second path of monitoring data is transmitted to a ground receiving system through wireless transmission equipment, and real-time detection conditions of the unmanned aerial vehicle are displayed through a ground PC (personal computer) end display;
3) when monitoring data is in the magnetic field intensity which can bear the unmanned aerial vehicle and is not interfered during flight control, the ground receiving system sends out an alarm signal to remind an operator and a ground station monitoring person to pay attention;
4) if the operator continues to control the unmanned aerial vehicle to move forward towards the power transmission line, the unmanned aerial vehicle starts the obstacle avoidance module to take the unmanned aerial vehicle control right of the operator back, and the unmanned aerial vehicle is away from the power transmission line through automatic driving;
5) after the unmanned aerial vehicle is far away from the power transmission line, hovering the unmanned aerial vehicle to the air safety area, and waiting for the operator to receive the unmanned aerial vehicle control right;
6) and after the safety is confirmed by an operator, the unmanned aerial vehicle control right is returned, and the unmanned aerial vehicle is normally patrolled and examined again.
Further, in step 1), install the magnetometer on the unmanned aerial vehicle, the magnetic field intensity that produces in the transmission line can form the threshold value that the magnetometer is disturbed.
Further, in step 1), magnetic field intensity detection module is including installing in the signal acquisition antenna at six positions about the unmanned aerial vehicle all around and from top to bottom, wherein, the magnetic field intensity of unmanned aerial vehicle front end is gathered to the front end signal acquisition antenna, the magnetic field intensity of unmanned aerial vehicle rear end is gathered to the rear end signal acquisition antenna, the magnetic field intensity of unmanned aerial vehicle left end is gathered to the left end signal acquisition antenna, the magnetic field intensity of unmanned aerial vehicle right-hand member is gathered to the right-hand member signal acquisition antenna, the magnetic field intensity of unmanned aerial vehicle upper end is gathered to the upper end signal acquisition antenna, the magnetic.
Further, in the step 3), when the magnetic field intensity acquired by any one end signal acquisition antenna is smaller than a threshold value determined by the magnetometer, the unmanned aerial vehicle flies without interference; when the magnetic field intensity acquired by the signal acquisition antenna at any end is equal to or greater than the threshold value determined by the magnetometer, the flight of the unmanned aerial vehicle is interfered, and the ground receiving system can send out an alarm signal.
The invention has the beneficial effects that: 1) the magnetic field intensity detection module is arranged on the unmanned aerial vehicle, so that the magnetic field intensity can be monitored on six end faces of the unmanned aerial vehicle, and the flying safety region of the unmanned aerial vehicle can be determined by comparing the monitored magnetic field intensity with the threshold value of the magnetometer;
2) compared with the traditional obstacle avoidance method, the obstacle avoidance method can expand the working field of the unmanned aerial vehicle to the maximum extent, and only a specified safety distance can be kept between the unmanned aerial vehicle and the electrified equipment on the basis of the electric field obstacle avoidance method, because the operating voltage of a line is certain; because the magnetic field is influenced by the current in the line and the current changes along with the load of the power transmission line based on the magnetic field obstacle avoidance method, the current is smaller when the load of the line is lighter, so that the magnetic field is smaller, and the unmanned aerial vehicle can fly closer to a line lead;
3) the obstacle avoidance module is arranged on the unmanned aerial vehicle, the probability of out-of-control accidents caused by the interference of the unmanned aerial vehicle by a magnetic field is reduced, the safety of the unmanned aerial vehicle and the safety of the power transmission line are protected, and the routing inspection efficiency of the power transmission line is obviously improved.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic diagram of a signal collection antenna arrangement of a magnetic field strength detection module according to the present invention;
FIG. 3 is a schematic diagram showing the relationship between the magnetic field strength detection module and the obstacle avoidance module according to the present invention;
FIG. 4 is a schematic diagram of a Hall sensor circuit of the magnetic field strength detection module of the present invention;
FIG. 5 is a schematic diagram of a magnetic field strength detection module differential amplifier circuit according to the present invention;
FIG. 6 is a schematic diagram of a low-pass filter circuit of the magnetic field strength detection module according to the present invention;
fig. 7 is a schematic diagram of a post-amplification circuit of the magnetic field strength detection module according to the present invention.
Detailed Description
The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. 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.
As shown in fig. 1, an obstacle avoidance method for an unmanned aerial vehicle based on magnetic field intensity detection includes:
firstly, the method comprises the following steps: a magnetic field intensity detection module arranged on the unmanned aerial vehicle detects the magnetic field intensity in the power transmission line, and the obtained magnetic field intensity value is processed by a digital signal to form monitoring data;
install the magnetometer on the unmanned aerial vehicle, the magnetometer can monitor the magnetic field intensity size that produces in the transmission line, and then can reachd the threshold value that unmanned aerial vehicle magnetometer was disturbed, through confirming the threshold value, can guarantee the unmanned aerial vehicle normal flight that is not disturbed.
As shown in fig. 2: magnetic field intensity detection module is including installing the signal acquisition antenna in unmanned aerial vehicle all around and six upper and lower positions, wherein, the magnetic field intensity of unmanned aerial vehicle front end is gathered to front end signal acquisition antenna X1, the magnetic field intensity of unmanned aerial vehicle rear end is gathered to rear end signal acquisition antenna X2, the magnetic field intensity of unmanned aerial vehicle left end is gathered to left end signal acquisition antenna Y1, the magnetic field intensity of unmanned aerial vehicle right-hand member is gathered to right-hand member signal acquisition antenna Y2, the magnetic field intensity of unmanned aerial vehicle upper end is gathered to upper end signal acquisition antenna Z1, the magnetic field intensity of unmanned aerial vehicle lower extreme is gathered.
The signal acquisition antenna of the magnetic field intensity detection module can acquire the magnetic field intensity (namely the magnetic field intensity of six positions of the unmanned aerial vehicle) in the power transmission line.
As shown in fig. 3: the magnetic field intensity detection module detects the magnetic field intensity of each aspect to with magnetic field intensity numerical value through DSP (digital signal processing) with analog signal conversion for digital signal and filtering, get into logic judgment unit at last, and then make unmanned aerial vehicle and keep away the barrier action. Wherein, logic analysis module compares the magnetic field intensity who obtains with the threshold value, and unmanned aerial vehicle obtains the control right when being greater than the threshold value, keeps away from the great region of magnetic field intensity to the suggestion flies the control personnel magnetic field intensity condition.
The magnetic field intensity detection module comprises a Hall sensor (acquisition antenna), a differential amplification circuit, an analog filter circuit and a post-stage amplification circuit.
The specific working process of the magnetic field intensity detection module is as follows: as shown in fig. 4, when the hall sensor detects the magnetic field intensity, if no magnetic field exists, the output voltage is 0.5 Vcc; if the magnetic field exists, when the Hall sensor faces the magnetic field, the increment of the Hall sensor is in a linear relation with the change of the intensity of the magnetic field, namely:
wherein S is the sensitivity of the Hall sensor, and in the application, the Hall sensor adopts 3503 Hall chip, and the value thereof is usually 1.30mV/G, VimFor voltages in transmission lines, R1And R2Is a resistance.
In general, when a single 3503 hall chip is used to detect the magnetic field intensity, a reference voltage of 0.5Vcc, Rw, is inevitably present1(regulating resistance) for sensitivity regulation, voltage including VOUT1And VOUT2Wherein the divided voltage VOUT2The output is input to a differential amplifier circuit as one path of output to complete the subtraction of input signals, so that the problem of reference voltage is solved, the linear relation between the output voltage and the magnetic induction intensity is obtained, the output differential pressure of the measuring system is ensured to be zero when no magnetic field exists, and the sensitivity of magnetic field intensity measurement and the anti-interference capability of the system are improved.
As shown in fig. 5, the differential amplifier circuit mainly completes the pre-amplification of the input signal of 3503 hall chip. In the technical scheme of the application, an operational amplifier LM725CN is adopted to form a three-operational-amplifier measurement amplifying circuit, but the gain is controlled to be about 10 times; when higher offset voltage influence is required or eliminated, a compensation network circuit formed by an integrator can be additionally arranged, so that offset compensation is automatically carried out.
During actual measurement, by applying R3、R4And Rf3The linear relation between the gain and the output of the system is ensured, and the voltage signal output after passing through the Hall sensor circuit and the differential amplifying circuit is as follows:
magnetic field strength: b = Vim(ii) S, wherein R3、R4、Rf1、Rf2And Rf3Are all regulating resistances, R5And R6Is a resistance, Vo1Is the voltage in the differential amplifier circuit.
As shown in fig. 6: in order to improve accuracy and filter high-frequency noise interference, a low-pass filter circuit (analog filter circuit) is adopted to filter magnetic field signals above 300 Hz.
The low-pass filter is composed of a single-operational-amplifier integrated circuit with extremely low offset voltage and temperature drift, low input bias current, low noise and low power consumption, and R7、R8、C1And C2Forming a second-order voltage-controlled active low-pass filter circuit, and obtaining:
Vo2=Vo1
wherein, Vo2For simulating voltages in filter circuits, R7And R8For regulating resistance, C1And C2Is a capacitor;
as shown in fig. 7: the rear stage amplifying circuit mainly amplifies the Hall sensor signal to the range which can be accepted by the A/D converter, in order to avoid signal distortion, the front stage is connected with a low-pass filter circuit, the rear stage is connected with a 50Hz trap circuit, and a double-operational amplifier integrated circuit is utilized. Since the A/D conversion signal requires 0-5V, the amplification of the post stage is required, and G =1+ R is required10/R9。
Amplified output voltage:
Vo3=(1+R10/R9)Vo2
signal Vo3The A/D signal is converted into digital signal by a Digital Signal Processor (DSP) and transmitted to a digital signal processing module.
Wherein, Vo3For amplifying the circuit voltage of the subsequent stage, R9And R10To regulate resistance;
in summary, the magnetic field strength value obtained by the magnetic field strength detection module is:
secondly, the method comprises the following steps: the obtained monitoring data is divided into two paths: the first path of monitoring data is transmitted to a flight module of the unmanned aerial vehicle and is used by an unmanned aerial vehicle unmanned driving starting obstacle avoidance module; and the second path of monitoring data is transmitted to a ground receiving system through wireless transmission equipment, and the real-time detection condition of the unmanned aerial vehicle is displayed through a ground PC (personal computer) end display.
Thirdly, the method comprises the following steps: when monitoring data is bound to the magnetic field intensity which can bear the unmanned aerial vehicle and is not interfered in flight control, the ground receiving system sends out an alarm signal to remind an operator and a ground station monitoring person to pay attention. The monitoring data refers to the magnetic field intensity monitored by the magnetic field intensity detection module, and the threshold value of the magnetometer is used for preventing the unmanned aerial vehicle from being interfered by flight control.
When the magnetic field intensity acquired by the signal acquisition antenna at any end of the magnetic field intensity detection module is smaller than a threshold value determined by the magnetometer, the unmanned aerial vehicle flies undisturbed; when the magnetic field intensity acquired by the signal acquisition antenna at any end is equal to or greater than the threshold value determined by the magnetometer, the flight of the unmanned aerial vehicle is interfered, and the ground receiving system can send out an alarm signal.
Fourthly: if the operating personnel receives the alarm signal that ground receiving system sent and still advances towards the transmission line, unmanned aerial vehicle starts the obstacle avoidance module and takes back operating personnel's unmanned aerial vehicle control right (avoid unmanned aerial vehicle because the magnetometer is disturbed the emergence and hit the tower and hit the line), and unmanned aerial vehicle keeps away from the transmission line through autopilot.
Fifth, the method comprises the following steps: after the unmanned aerial vehicle is far away from the power transmission line, hovering the unmanned aerial vehicle to the air safety area, and waiting for the operator to receive the unmanned aerial vehicle control right;
sixth: and after the safety is confirmed by an operator, the unmanned aerial vehicle control right is returned, and the unmanned aerial vehicle is normally patrolled and examined again.
Example (b):
the threshold value of the unmanned aerial vehicle airborne magnetometer interfered by the power transmission line is determined through experiments, and the threshold value is used as a reference value to be compared with the magnetic field intensity monitored by the unmanned aerial vehicle airborne magnetic field intensity detection module.
When the magnetic field intensity monitored by the magnetic field intensity detection module is less than 70% of the interfered threshold value of the magnetometer, on one hand, monitoring data of the magnetic field intensity detection module is transmitted to the flight module, at the moment, the unmanned aerial vehicle is in a safe area, and an operator controls the unmanned aerial vehicle to fly; on the other hand, the monitoring data is transmitted to a ground receiving system, and the state of the power transmission line is detected;
when the magnetic field intensity monitored by the magnetic field intensity detection module is 70% -90% of the interfered threshold value of the magnetometer, no person can send an alarm to remind an operator to keep away from the area; on the other hand, the magnetic field intensity detection module also can transmit signals to a ground receiving system to remind the unmanned aerial vehicle of being in an unsafe area.
When the magnetic field intensity monitored by the magnetic field intensity detection module is higher than 90% of the interfered threshold value of the magnetometer, the unmanned aerial vehicle is still in an unsafe area; at this moment, the ground receiving system starts an obstacle avoidance module of the flight control module, and the obstacle avoidance module controls the unmanned aerial vehicle to enable the unmanned aerial vehicle to be far away from the unsafe zone, so that obstacle avoidance is completed.
The working principle and the process are as follows: the traditional unmanned aerial vehicle obstacle avoidance system or method is based on monitoring of an electric field strength meter, the electric field strength (the generation of the electric field strength is from voltage) collected by the electric field strength meter is used for calculating the field strength in the power transmission line and calculating the distance, so that safe flight of the unmanned aerial vehicle is ensured, the electric field strength meter cannot reflect the actual load in the power transmission line, and the load in the power transmission line is the key for interfering with the magnetometer. The technical scheme of this application is through installing magnetic field intensity detection module on unmanned aerial vehicle, gathers the magnetic field intensity among the transmission line through magnetic field intensity detection module, and the production in magnetic field is originated in the electric current, and the change of the electric current among the transmission line can produce magnetic field intensity to the magnetic field intensity of six terminal surfaces of collection that can be accurate. In addition, the magnetometer on the unmanned aerial vehicle can confirm the threshold value that current change produced magnetic field intensity in the power transmission line that detects, and the threshold value through the magnetometer is compared with the magnetic field intensity that the magnetic field intensity detection module gathered, finds out safe flight area, guarantees unmanned aerial vehicle's safe flight.
The above-mentioned embodiments are only for convenience of description, and are not intended to limit the present invention in any way, and those skilled in the art will understand that the technical features of the present invention can be modified or changed by other equivalent embodiments without departing from the scope of the present invention.
Claims (4)
1. An unmanned aerial vehicle obstacle avoidance method based on magnetic field intensity detection is characterized in that: the obstacle avoidance method comprises the following steps:
1) a magnetic field intensity detection module arranged on the unmanned aerial vehicle detects the magnetic field intensity in the power transmission line;
the method for measuring the magnetic field intensity in the power transmission line by the magnetic field intensity detection module comprises the following steps:
a) the magnetic field strength in the power transmission line is detected through the Hall sensor circuit, and the increment of the Hall sensor in the Hall sensor circuit and the magnetic field strength are in a linear relation:
wherein S is the sensitivity of the Hall sensor; 0.5Vcc is the reference voltage; vimIs the voltage in the transmission line;
b) the pre-stage amplification of the input signal in the Hall sensor circuit is completed through the differential amplification circuit, and the voltage signal output after passing through the Hall sensor circuit and the differential amplification circuit is as follows:
wherein R is3、R4、Rf1、Rf2And Rf3Are all a regulated resistance, Vo1Is the voltage in the differential amplifying circuit;
c) adopting low-pass filtering to form a second-order voltage-controlled active low-pass filter circuit, and obtaining:
Vo2=Vo1
wherein, Vo2Is the voltage in the analog filter circuit;
d) obtaining an amplified output voltage through a post-stage amplifying circuit:
Vo3=(1+R10/R9)Vo2
wherein R is9And R10To regulate resistance; vo3The power transmission voltage in the post-stage amplifying circuit;
the magnetic field intensity that the magnetic field intensity detection module obtained does:
wherein R isf1And Rf2To regulate resistance;
2) the obtained magnetic field intensity value is processed by digital signals to form monitoring data, and the obtained monitoring data is divided into two paths: the first path of monitoring data is transmitted to a flight control module on the unmanned aerial vehicle and is used by an unmanned aerial vehicle unmanned starting obstacle avoidance module;
the second path of monitoring data is transmitted to a ground receiving system through wireless transmission equipment, and real-time detection conditions of the unmanned aerial vehicle are displayed through a ground PC (personal computer) end display;
3) when monitoring data is in the magnetic field intensity which can bear the unmanned aerial vehicle and is not interfered during flight control, the ground receiving system sends out an alarm signal to remind an operator and a ground station monitoring person to pay attention;
4) if the operator continues to control the unmanned aerial vehicle to move forward towards the power transmission line, the unmanned aerial vehicle starts the obstacle avoidance module to take the unmanned aerial vehicle control right of the operator back, and the unmanned aerial vehicle is away from the power transmission line through automatic driving;
5) after the unmanned aerial vehicle is far away from the power transmission line, hovering the unmanned aerial vehicle to the air safety area, and waiting for the operator to receive the unmanned aerial vehicle control right;
6) and after the safety is confirmed by an operator, the unmanned aerial vehicle control right is returned, and the unmanned aerial vehicle is normally patrolled and examined again.
2. The unmanned aerial vehicle obstacle avoidance method based on magnetic field intensity detection of claim 1, wherein: in the step 1), the unmanned aerial vehicle is provided with the magnetometer, and the magnetic field intensity generated in the power transmission line can form a threshold value of the interfered magnetometer.
3. The unmanned aerial vehicle obstacle avoidance method based on magnetic field intensity detection as claimed in claim 2, wherein: in step 1), magnetic field intensity detection module is including installing in the signal acquisition antenna at unmanned aerial vehicle all around and six positions from top to bottom, wherein, the magnetic field intensity of unmanned aerial vehicle front end is gathered to the front end signal acquisition antenna, the magnetic field intensity of unmanned aerial vehicle rear end is gathered to the rear end signal acquisition antenna, the magnetic field intensity of unmanned aerial vehicle left end is gathered to the left end signal acquisition antenna, the magnetic field intensity of unmanned aerial vehicle right-hand member is gathered to the right-hand member signal acquisition antenna, the magnetic field intensity of unmanned aerial vehicle upper end is gathered to the upper end signal acquisition antenna, the magnetic field.
4. The unmanned aerial vehicle obstacle avoidance method based on magnetic field intensity detection of claim 3, wherein: in the step 3), when the magnetic field intensity acquired by any one end signal acquisition antenna is smaller than a threshold value determined by the magnetometer, the unmanned aerial vehicle flies undisturbed; when the magnetic field intensity acquired by the signal acquisition antenna at any end is equal to or greater than the threshold value determined by the magnetometer, the flight of the unmanned aerial vehicle is interfered, and the ground receiving system can send out an alarm signal.
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| CN104953709A (en) * | 2015-06-15 | 2015-09-30 | 湖南机电职业技术学院 | Intelligent patrol robot of transformer substation |
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| CN108037765A (en) * | 2017-12-04 | 2018-05-15 | 国网山东省电力公司电力科学研究院 | A kind of unmanned plane obstacle avoidance system for polling transmission line |
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