The invention discloses a line patrol robot based on a four-rotor aircraft. The line patrol robot comprises a power supply module, a switching power supply, a linear voltage stabilizer, a TI single-chip microcomputer, a six-axis attitude module, an optical flow fixed-point module, a laser fixed-height module, a vision module, an electronic speed regulator and a brushless motor. Laser ranging and optical flow positioning are adopted, the laser monochromaticity is good, the directivity is high, a laser device serves as a light source for ranging, the weight and power consumption can be remarkably reduced, and the ranging precision is improved; and high-precision positioning of the aircraft can be achieved indoors by means of optical flow velocity measurement and integral positioning, the whole system can inspect the states of a power line and a tower, shooting and storage are conducted when abnormality is found, and tasks are transmitted to a ground device to be displayed after being finished.

    本发明公开了一种基于四旋翼飞行器的巡线机器人,包括供电模块、开关电源、线性稳压器、TI单片机、六轴姿态模块、光流定点模块、激光定高模块、视觉模块、电子调速器、无刷电机。本发明采用激光测距+光流定位,而激光单色性好、方向性强,以激光器作为光源进行测距,可显著减小重量和功耗,提高测距精度;利用光流测速再积分定位,可在室内实现对飞行器的高精度定位,整个系统能够巡检电力线路及杆塔状态,发现异常时拍摄存储,任务结束传送到地面装置上显示。


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    Title :

    Line patrol robot based on four-rotor aircraft


    Additional title:

    一种基于四旋翼飞行器的巡线机器人


    Contributors:
    ZHANG KAITING (author) / CHEN QI (author)

    Publication date :

    2021-01-05


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B64C AEROPLANES , Flugzeuge / B64D Ausrüstung für Flugzeuge , EQUIPMENT FOR FITTING IN OR TO AIRCRAFT / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G01S RADIO DIRECTION-FINDING , Funkpeilung / 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



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