摘要
分析不同障碍检测传感器的特点,结合无人直升机飞行特点,设计一种适用于架空输电线路无人直升机巡检作业的避障系统。综合对比不同传感器的优缺点,结合线路巡检环境特点,采用毫米波雷达和双目摄像机组合检测的方式进行障碍物感知,设计障碍判断方法及系统应用模式。测试结果表明:该设计避障系统可有效对障碍物进行检测和避让,提高无人直升机巡检作业安全性,为提升无人直升机巡检安全性提供技术参考。
The characteristics of different obstacle detection sensors are analyzed.Combined with the flight characteristics of unmanned helicopters,an obstacle avoidance system suitable for unmanned helicopter inspection operations on overhead transmission lines is designed.The advantages and disadvantages of different sensors are comprehensively compared.Combined with the characteristics of the line inspection environment,the combined detection method of millimeter-wave radar and binocular camera is used for obstacle perception,and the obstacle judgment method and system application mode are designed.The test results show that the design of obstacle avoidance system can effectively detect and avoid obstacles,improve the safety of unmanned helicopter inspections,and provide technical reference for the improvement of unmanned helicopter inspection safety.
作者
程燕胜
杨鹤猛
杨雪
乔晓明
CHENG Yansheng;YANG Hemeng;YANG Xue;QIAO Xiaoming(Tianjin Zhongwei Aerospace Data System Technology Co.,Ltd.,Tianjin 300301,China)
出处
《微型电脑应用》
2023年第12期98-100,共3页
Microcomputer Applications
关键词
架空输电线路
无人直升机
多传感器协同
障碍感知
避障系统
overhead transmission line
unmanned helicopter
multi-sensor cooperation
obstacle sense
obstacle avoidance system
