多旋翼无人机输电线路巡检避障技术综述  

Overview of multi rotor unmanned aerial vehicle transmission line inspection and obstacle avoidance technology

作　　者：吕学伟 宋福根[1] LÜXuewei;SONG Fugen(School of Electrical Engineering and Automation,Fuzhou University,Fuzhou 350000)

机构地区：[1]福州大学电气工程与自动化学院,福州350000

出　　处：《电气技术》2021年第4期1-6,19,共7页Electrical Engineering

基　　金：福建省教育厅A类科研项目(3029914)。

摘　　要：随着无人机技术的兴起,电力行业开始利用无人机进行巡检,不仅提高了巡检的安全性,也提高了巡检效率。巡检时无人机的避障问题是影响无人机安全运行的关键。在此背景下,本文综合介绍了各种多旋翼无人机的避障方法。首先简单介绍了几种传统的避障方法,如基于视觉、雷达、超声波和红外等传感器的避障方法和基于柱状空间的避障方法,同时说明其不足之处;然后重点介绍了基于输电线路空间电磁场分布特征的避障方法,通过分析线路空间电场的分布特征,得到其空间等电场强度区域并以此值作为主要避障参量。该避障方法具有设备体积小、重量轻、避障精度高等优点,更适合应用于大型无人机自主巡检避障控制,为无人机超视距的大范围自主巡检提供一种安全、高效的避障策略。With the rise of UAV technology,the power industry begins to use UAV for inspection,which not only improves the safety of inspection,but also improves the efficiency of inspection.The obstacle avoidance of UAV is the key to the safe operation of UAV.Under this background,this paper comprehensively introduces various obstacle avoidance methods of multi-rotor UAV.Firstly,several traditional obstacle avoidance methods are briefly introduced,such as those based on vision,radar,ultrasonic and infrared sensors and those based on columnar space.Then the obstacle avoidance method based on the spatial electromagnetic field distribution characteristics of transmission lines is introduced.By analyzing the distribution characteristics of the spatial electric field of the line,the spatial equivalent electric field intensity region is obtained,and this value is used as the main obstacle avoidance parameter.This obstacle avoidance method has the advantages of small size,light weight and high obstacle avoidance precision,which is more suitable for autonomous patrol control of large-scale UAV,and provides a safe and efficient obstacle avoidance strategy for large-scale autonomous patrol beyond line-of-sight.

关 键 词：无人机 巡检 避障 输电线路 电磁场 

分 类 号：TM75[电气工程—电力系统及自动化]