基于航点飞行无人机和曲线拟合的导线弧垂测量方法

Measurement Method of Wire Sag Based on Waypoint Flying UAV and Curve Fitting

本论文设计了一套快速测量架空导线弧垂、线长、档距的系统与方法。系统由无人机搭载激光导线探测模块,在待测导线侧方顺着导线走向以“锯齿”状路线上下折线飞行前进,途中自主记录激光导线探测模块各次探测到导线时无人机的空间位置点;飞行完成后,对各空间位置点按弧垂导线的抛物线模型进行拟合,进一步计算出导线的弧垂、线长、档距等参数。系统成本低,作业效率高,有较高的工程应用和推广价值。

In this paper a set of system and method to measure the sag,length and spacing of overhead power lines quickly is designed.The system consists of a laser power line detection module carried by the UAV,which flies along the side of the power line in zigzag way in the vertical plane,and records the UAV’s space position points when the laser power line detection module detects the line each time.After the flight is completed,the space position points are curve-fitted according to parabolic model based on which the parameters of sag,line length,span length of the power line can be calculated.The system has the advantages of low cost,high efficiency,and is of high value of application and promotion.