无人机电力线路巡检时安全飞行距离自动判定方法  

Automatic Determination Method for Safe Flight Distance of Uav Power Line inspection

作　　者：杨启帆 杨勇 白万荣 张珍芬 张蕾 YANG Qi-fan;YANG Yong;BAI Wan-rong;ZHANG Zhen-fen;ZHANG Lei(Electric Power Research Institute of State Grid Gansu Electric Power Company,Lanzhou 730070 China;Gansu Tongxing Intelligent Technology Development Co.,Ltd.,Lanzhou 730050 China)

机构地区：[1]国网甘肃省电力公司电力科学研究院,甘肃兰州730070 [2]甘肃同兴智能科技发展有限责任公司,甘肃兰州730050

出　　处：《自动化技术与应用》2023年第12期180-183,共4页Techniques of Automation and Applications

摘　　要：针对电力线路巡检人力资源消耗大、危险性高问题,结合障碍物规避及最优线路规划结果,提出一种无人机电力线路巡检安全飞行距离自动判定方法。以无人机与模拟威胁器间飞行夹角、方向以及连线距离等为基础,建立障碍规避模型,计算出最短安全距离。考虑到无人机过弯速度和时间,确定安全飞行距离判定区间,在该区间内规划出无人机到达目标点的最短距离,通过蚁群概率分析法划分最优点,平滑处理线路,实现最优安全飞行距离自动判定。仿真实验证明,所提方法判定时间短、整体安全性高,具有极佳应用价值。Aiming at the problems of large consumption of human resources and high risk in power line inspection,combined with the re-sults of obstacle avoidance and optimal line planning,an automatic determination method of safe flight distance for UAV power line inspection is proposed.Based on the flight angle,direction and connection distance between UAV and simulated threat,an ob-stacle avoidance model is established to calculate the shortest safety distance.Considering the turning speed and time of UAV,it determines the judgment interval of safe flight distance,plans the shortest distance for UAV to reach the target point in this inter-val,divides the best points by ant colony probability analysis method,smooths the line,and realizes the automatic judgment of op-timal safe flight distance.Simulation results show that the proposed method has short judgment time and high overall security,and has excellent application value.

关 键 词：最优距离 障碍物规避 安全距离 过弯速度 蚁群概率分析法 

分 类 号：TP183[自动化与计算机技术—控制理论与控制工程] TP273[自动化与计算机技术—控制科学与工程]