Compared with manual pipeline inspection in oil and gas, unmanned aerial vehicle (UAV) shows the advantages of not limited by terrain environment, high work efficiency, improved personnel security and high precision. Unmanned rotorcraft with vertical takeoff and landing capability is usually used for the inspection. When the patrol inspection face complex terrain, such as mountains, sandy land, hills, rivers, woods and so on, unmanned rotorcraft may cause crash due to lack of sensitivity to height signal, and even fall to damage the pipelines. In order to solve the above problems, a kind of low-height security function based on multi-height source signal combination is designed for the oil and gas patrol inspection with unmanned rotorcraft. Based on the characteristics of each height signal sensor, the GPS height signal is used as the feedback signal of height control, and the radio height, laser height and ultrasonic height signals are used as the near ground signal. On this basis, the height security threshold is corrected in time based on the inspection task of unmanned rotorcraft. Specifically, when the height source signal system judges that the height of the unmanned rotorcraft is lower than the height threshold, the height of the unmanned rotorcraft could be adjusted by height control, vertical speed control or collective pitch lifting. Finally, the closed-loop verification of the low height security strategy designed in this paper has been done in the visual simulation environment. The verification results show that the unmanned rotorcraft exhibits the excellent low-height security strategy and low crash risk during the pipeline inspection process.
Low-HeightSecurityControlStrategy ofUnmannedRotorcraftforOil andGasPipelineInspectioninLow-HeightComplexTerrains
International Petroleum and Petrochemical Technology Conference ; 2022 October 12, 2022 - October 13, 2022
Proceedings of the 2022 International Petroleum and Petrochemical Technology Conference ; Kapitel : 45 ; 509-520
2023-05-11
12 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
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