基于多旋翼无人机的输电通道自主巡检技术研究

Research on Autonomous Patrol Inspection Technology of Power Transmission Channels Based on Multi-Rotor UAV

传统输电线路通道电网巡检技术无法控制巡检安全距离,导致存在巡检精度低的问题,提出输电线路通道多旋翼无人机电网巡检技术研究方法。构建多旋翼无人机电网自主巡检飞行控制模型,寻找塔体的兴趣点,在确保不穿越塔体的情况下,实现安全检测,通过高速图像模块、成像传感模块、超声波局放传感模块,实现对无人机电网自主巡检飞行控制。为检测巡检技术的综合能力,设定对比实验,检测不同技术的环境适应能力、巡检精度和成像效果,实验结果表明,多旋翼无人机电网巡检技术的环境适应能力强、巡检精度更高,成像传感效果更好。

The traditional patrol inspection technology of power transmission channels fails to control the safe distance of the inspection,which leads to low precision of the inspection.To this end,this paper presents a new approach of the patrol inspection research based on multi-rotor UAV. With this research,a multi-rotor UAV power grid autonomous patrol flight control model is built to search for the interest points of the tower body,and the safety detection is realized without crossing the tower body. Through the high-speed image module,imaging sensor module and ultrasonic local discharge sensor module,the autonomous patrol flight control of the UAV inspection is realized. In order to test the comprehensive ability of the patrol inspection technology,comparative experiments are set to test the environmental adaptability,patrol inspection precision and imaging effect of different technologies. The experimental results suggest that the proposed technology has strong environmental adaptability,higher patrol accuracy and better imaging sensing effect.