In order to realize the accurate avoidance of space obstacles by unmanned aerial vehicle in indoor inspection,this paper takes a nuclear power plant as an example to carry out the design and research of indoor autonomous inspection method of unmanned aerial vehicle.The adaptive flight control and signal acquisition of unmanned aerial vehicle in nuclear power plant are completed by using the rising edge and falling edge window functions for signal processing.By using the collected feedback signal,combined with the laser distance,the unmanned aerial vehicle can conduct indoor autonomous patrol and target distance measurement.According to the perceived obstacle information,the threat degree of the indoor cruise unreliable path is calculated,and the threat avoidance of the indoor cruise unreliable path is designed.The comparative experimental results show that the application of the designed method for indoor autonomous inspection can ensure that the unmanned aerial vehicle can pass all inspection objects,achieve obstacle avoidance processing of obstacles in the space,and meet the requirements of indoor autonomous inspection.
关键词
核电站/自主巡检/无人机/室内/巡航/定位
Key words
nuclear power plant/self inspection/unmanned aerial vehicle/indoor/cruise/location
维普
万方数据