大型无人直升机电力线路全自动巡检技术及应用

Automatic Power Line Inspection Technology of Large Unmanned Helicopter and Its Application

大型无人直升机电力线路巡检存在环境适应性差、智能化程度低、多学科交叉难度大等问题,现阶段无人直升机巡检主要依赖于人工地面操作,为了提高巡检效率和安全性,研究大型无人机全自动巡检技术具有重大意义。提出了大型无人机全自动巡检概念,分析了无人机全自动巡检的必要性,论述了实现复杂环境下大型无人机超低空、超视距安全巡检涉及的关键技术,包括实时差分定位、无人机中继通信、自主避障、高精度位姿测量、吊舱自动追踪、飞行计划和航迹规划、任务规划和任务控制等,并将大型无人直升机全自动巡检技术首次应用于我国电网输电线路巡检,巡检结果验证了大型无人机全自动巡检技术的有效性和先进性。大型无人机全自动巡检建立了一种高效、智能、全新的电力巡检模式,该项技术的发展进步对提高我国电网输电线路智能化巡检水平具有显著促进作用。

There are a lot of problems such as bad environment adaptability,low degree of intelligence,multidisciplinary cross and more difficulty for power line inspection with large unmanned helicopter,at present unmanned helicopter patrol relies mainly on artifi-cial ground operation,in order to improve inspection efficiency and safety,it is of great significance to study automatic inspection technology with large unmanned helicopter. This paper puts forward the concept of full automatic inspection,gives analysis on necessi-ty of automatic inspection,discusses the key technologies on safety inspection of over low altitude and beyond visual range,including real-time differential positioning,communication relay,autonomous obstacle avoidance,high precision measurement of position and attitude,automatic photoelectric tracking,flight plan and path planning,task planning and control. Automatic inspection technology is used in transmission line inspection of power grid in China for the first time,inspection results show that this technology is advanced and effective. Automatic inspection technology represents an efficient,intelligent,and new power inspection mode,the development and progress of the technology has a significant role in promoting intelligent operation and maintenance level of power grid in China.