基于5G与北斗的输电线路无人机车载智能移动巡检系统设计

Design of a vehicle-mounted intelligent mobile inspection system for power transmission line drones based on 5G and Bei Dou

为提高无人机巡检作业效率,针对输电线路无(弱)信号区域实时数据传输效率低的问题,以无人机移动作业平台为研究对象,以5G与北斗的双通信方式保障巡检系统与无人机之间的数据交互,构建一种适应无人机输电线路全地域巡检的智能车载移动作业系统。首先,基于模块化设计思路,给出适应无人机巡检的移动作业车改装设计方案;其次,基于信号增强与卫星通信技术,提出一种基于5G+北斗的通信系统及其部署方案,在5G网络弱覆盖或失效时,进行信号增强并由卫星通信系统完成通信链路建立和数据传输,进而保障巡检数据传输;然后,基于对Tag码的视觉定位与识别,完成巡检无人机的精准降落回收;进一步,研发移动巡检系统应用软件;最后,通过实地测试验证系统的性能。经实验测试,该智能车载移动作业系统能够实现无人机的自主飞行、远程数据传输及基于视觉伺服的精准降落等巡检任务,为输电线路全地域巡检提供一种系统解决方案。

In order to improve the efficiency of UAV inspection operations and address the problem of low efficiency of real-time data transmission in areas without(weak)signals on transmission lines,an intelligent vehicle-mounted mobile operation system adapted to UAV transmission line inspection throughout the territory is constructed by taking the UAV mobile operation platform as the research object and guaranteeing the data interaction between the inspection system and the UAV with the dual communication method of 5G and Bei Dou.Firstly,based on the modular design idea,a design scheme of mobile operation vehicle modification adapted to UAV inspection is given;secondly,based on signal enhancement and satellite communication technology,a communication system based on 5G+Bei Dou and its deployment scheme are proposed,in case of weak coverage or failure of 5G network,signal enhancement is carried out and satellite communication system completes communication link establishment and data transmission,thus guaranteeing inspection data transmission;then,based on the Tag code analysis,an intelligent vehicle-mobile operation system adapted to UAV inspection is constructed.Then,based on the visual positioning and recognition of Tag code,the accurate landing and recovery of the inspection drone is completed;further,the application software of the mobile inspection system is developed;finally,the performance of the system is verified through field tests.After experimental testing,the intelligent vehicle-mounted mobile operation system can realize inspection tasks such as autonomous flight of UAV,remote data transmission and accurate landing based on vision servo,providing a system solution for transmission line all-territory inspection.