The invention relates to a high-voltage line overhead area unmanned aerial vehicle inspection obstacle avoidance method based on coordinate transformation. The method comprises the following steps that: S1, a rectangular coordinate system is transformed into a polar coordinate system through a coordinate transformation technology; S2, power transmission lines are classified according to erection modes, wire arrangement modes and phase sequences; S3, based on the polar coordinate system obtained through transformation, electric field intensity distribution corresponding to different wire erection modes and arrangement modes is calculated and serves as an obstacle avoidance parameter for unmanned aerial vehicle inspection obstacle avoidance. The obstacle avoidance parameter is an electric field intensity average value based on coordinate transformation, is closer to the actual situation than that of an original obstacle avoidance scheme based on a rectangular coordinate system; and the method is higher in obstacle avoidance efficiency and accuracy.

    本发明涉及一种基于坐标变换的高压线路架空区域无人机巡检避障方法,包括以下步骤:步骤S1:通过坐标变换技术将直角坐标系变换为极坐标系;步骤S2:根据架设方式、导线排列方式和相序对输电线路进行分类;步骤S3:基于变换得到的极坐标系,分别计算不同导线架设方式和排列方式对应的电场强度分布,并作为无人机巡检避障的避障参量。本发明避障参量是基于坐标变换后的电场强度平均值,比原有的基于直角坐标系的避障方案更接近实际情况,避障效率和精准性更高。


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    Title :

    High-voltage line overhead area unmanned aerial vehicle inspection obstacle avoidance method based on coordinate transformation


    Additional title:

    基于坐标变换的高压线路架空区域无人机巡检避障方法


    Contributors:
    SONG FUGEN (author) / LYU XUEWEI (author)

    Publication date :

    2020-11-20


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    H02G INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES , Verlegen oder Installieren elektrischer Kabel oder Leitungen, Verlegen oder Installieren kombinierter optischer und elektrischer Kabel oder Leitungen / B64C AEROPLANES , Flugzeuge / G01R Messen elektrischer Größen , MEASURING ELECTRIC VARIABLES




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