本发明涉及水电工程缺陷检查领域,尤其是一种水工隧洞内无人机飞行定位及避障方法,主要用于利用无人机对输水道斜井或竖井进行非接触缺陷检查,以及其它同类型洞室的隧洞检查。本发明通过气压数据、温度数据及激光点云数据,计算得到无人机飞行位置平面坐标及高程,计算过程非接触、测试精度高、成本较低,解决了隧洞内无GNSS信号定位的问题。本发明通过激光点云数据,无人机自主调整空间位置趋近于洞轴线,从而达到避障效果,可有效防止无人飞行器桨叶与洞壁发生碰撞损坏,同时避免造成隧洞内壁遭到损坏。

    The invention relates to the field of hydropower engineering defect inspection, in particular to an unmanned aerial vehicle flight positioning and obstacle avoidance method in a hydraulic tunnel, which is mainly used for performing non-contact defect inspection on an inclined shaft or a vertical shaft of a water delivery channel by using an unmanned aerial vehicle and performing tunnel inspection on other cavities of the same type. According to the invention, the plane coordinate and elevation of the flight position of the unmanned aerial vehicle are calculated through the air pressure data, the temperature data and the laser point cloud data, the calculation process is non-contact, the test precision is high, the cost is low, and the problem of no GNSS signal positioning in the tunnel is solved. According to the method, the unmanned aerial vehicle autonomously adjusts the spatial position to approach the tunnel axis through the laser point cloud data, so that the obstacle avoidance effect is achieved, the unmanned aerial vehicle paddle and the tunnel wall can be effectively prevented from being collided and damaged, and meanwhile, the inner wall of the tunnel is prevented from being damaged.


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    Titel :

    水工隧洞内无人机飞行定位及避障方法


    Erscheinungsdatum :

    2024-02-27


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / B64U / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS