摘要
传统高压电缆隧道巡检工作存在较大问题,研究设计智能巡检无人机,结合人工势场法与双向快速探索随机树进行路径规划,并进行实验验证。模拟实验结果表明,无人机位置控制误差保持在厘米级别,高度和平面X轴与Y轴最大误差不超过0.05 m,避障方面,无人机成功避障成功率最低为92.54%,最高达到100%。此外研究提出的改进路径规划方法相比传统方法平均路径规划效率提升21.76%。最后实地测试结果表明,在高压电缆隧道中,研究设计的智能巡检无人机能够稳定飞行并根据模拟路径执行任务,为高压电缆隧道的智能巡检提供了可行的技术支持,能够在实际应用中提高电缆隧道巡检的效率和安全性。
There are major problems in traditional high-voltage cable tunnel inspection work.We researched and designed an intelligent inspection drone,combined the artificial potential field method and two-way rapid exploration of random trees for path planning,and conducted experimental verification.The simulation experiment results show that the position control error of the UAV is maintained at the centimeter level,and the maximum error in height and plane X-axis and Y-axis does not exceed 0.05 m.In terms of obstacle avoidance,the UAV's obstacle avoidance success rate is as low as 92.54%and as high as 100%.In addition,the improved path planning method proposed in the study improves the average path planning efficiency by 21.76%compared with the traditional method.The final field test results show that in high-voltage cable tunnels,the intelligent inspection drone designed by the research can fly stably and perform tasks according to the simulated path,providing feasible technical support for intelligent inspection of high-voltage cable tunnels and can be used in practical applications Improve the efficiency and safety of cable tunnel inspections.
作者
安旭
赵洋
陈明
郭甜
AN Xu;ZHAO Yang;CHEN Ming;GUO Tian(State Grid Beijing cable Company,Beijing 100022,China)
出处
《自动化与仪器仪表》
2024年第5期200-204,共5页
Automation & Instrumentation
基金
国网北京市电力公司科技项目《高压电缆隧道无人化智能巡检装备研发及应用》(520237200048)。
关键词
电缆隧道
智能巡检
无人机
路径规划
cable tunnel
intelligent inspection
drone
path planning
