The invention relates to a power transmission channel tree obstacle early warning method based on an unmanned aerial vehicle laser radar, and the method comprises the steps: building a catenary curve model for a cable, enabling a line patrol unmanned aerial vehicle to fly along a route, detecting the height of a lower front cable, carrying out the tree obstacle early warning when the height is greatly different from a calculation result, and enabling the unmanned aerial vehicle to fly around. Meanwhile, a radar signal is transmitted to the tree barrier by using a laser radar during fly-around, when the echo measurement height is consistent with the curve model, it is proved that the echo can reach the cable through the gap, at the moment, an optical image is obtained by using an optical lens, and line patrol at the tree barrier is completed. According to the invention, line patrol unmanned aerial vehicle can effectively avoid tree obstacles of overhead cables, and can complete line patrol of the cables in the tree obstacles as much as possible.
本发明涉及一种基于无人机激光雷达的输电通道树障预警方法,通过对电缆建立悬链曲线模型,使得巡线无人机沿着航线飞行,同时对下前方电缆的高度进行检测,当高度与计算结果相差较大时,进行树障预警并绕飞,同时在绕飞时利用激光雷达向树障处发射雷达信号,回波测量高度与曲线模型一致时,证明能够透过缝隙到达线缆处,此时利用光学镜头获得光学图像,完成树障处的巡线;本发明可以使得巡线无人机有效规避架空线缆的树障,同时尽可能完成对树障内线缆的巡线。
Power transmission channel tree obstacle early warning method based on unmanned aerial vehicle laser radar
一种基于无人机激光雷达的输电通道树障预警方法
2021-08-20
Patent
Electronic Resource
Chinese
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