应用机器人轨迹跟踪技术的电力线路无人机智能化巡检系统设计

Design of Intelligent Inspection System for Power Line UAV Using Robot Trajectory Tracking Technology

野外电力线路易发生损坏,且时变特性干扰较大,检测准确度较低,因此,设计应用机器人轨迹跟踪技术的电力线路无人机智能化巡检系统。该系统通过数据采集模块和飞行状态检测模块,分别进行电力线路图像数据获取与飞行状态监测,飞行控制模块接收图像与状态数据,并在轨迹跟踪控制子模块中使用自适应鲁棒滑模控制算法,实现无人机的轨迹跟踪,同时,该模块经无线数据传输模块将数据传输至地面站,在巡检数据智能分析管理模块中,地面站根据数据信息,完成电力线路故障识别,进而实现电力线路无人机智能化巡检。实验结果表明,该系统具有良好的轨迹跟踪效果,且巡检准确率较高,满足多种天气作业需求。

The field power line is easy to be damaged,and the time-varying characteristics of interference is large,and the detection accuracy is low. Therefore,an intelligent inspection system for power line UAV based on robot trajectory tracking technology is designed. In this system,the data acquisition module and the flight state detection module are used to acquire the power line image data and monitor the flight state,respectively. The flight control module receives the image and state data,and uses the adaptive robust sliding mode control algorithm in the trajectory tracking control sub module to realize the trajectory tracking of UAV. The module transmits the data to the ground station through the wireless data transmission module. In the intelligent analysis and management module of inspection data,the ground station completes the fault identification of power line according to the data information,and then realizes the intelligent inspection of power line by UAV. The experimental results show that the system has good track tracking effect and high patrol accuracy,which can meet the needs of various weather operations.