摘要
造纸原材料的采集地区有时会存在复杂的地理、地貌特征,需要依靠无人机进行巡检。为提升造纸原材料复杂采集地区无人机巡检的综合效果,基于边缘计算单元、混合路径规划算法等构建了一种无人机巡检路径规划系统。该系统由三维环境感知、动态路径规划、多机协同控制、飞行状态监控等组成,将飞行高度≥树冠层+5m(防止碰撞)、侧向重叠率≥30%(保证航拍精度)作为约束条件,实现了高精度、高效率的造纸原材料复杂采集地区无人机巡检。
The collection areas of raw materials for papermaking sometimes have complex geographical and geomorphic features,and it is necessary to rely on unmanned aerial vehicles for inspection.To improve the comprehensive effect of unmanned aerial vehicle(UAV)inspection in the complex collection area of papermaking raw materials,a UAV inspection path planning system was constructed based on edge computing units,hybrid path planning algorithms,etc.This system consists of three-dimensional environmental perception,dynamic path planning,multi-aircraft cooperative control,flight status monitoring,etc.Taking the flight height≥5 meters of the tree canopy layer+5 meters(to prevent collision)and the lateral overlap rate≥30%(to ensure the accuracy of aerial photography)as constraint conditions,high-precision and high-efficiency unmanned aerial vehicle(UAV)inspection in complex collection areas of papermaking raw materials has been achieved.
作者
张艳
王航宇
ZHANG Yan;WANG Hangyu(Xi’an Aeronautical Polytechnic Institute,Xi’an 710089,China)
出处
《造纸科学与技术》
2025年第8期126-129,共4页
Paper Science And Technology
基金
西安航空职业技术学院院级2023年度科研计划项目自然科学重点项目(23XHZK-01)
西安航空职业技术学院2022年度校级教育教学改革研究项目(22XHJG20)。
关键词
林浆纸一体化
造纸
原材料采集
无人机巡检
integration of forestry,pulp and paper
papermaking
raw material collection
unmanned aerial vehicle inspection
