考虑输电线路弧垂变化的自适应无人机巡检航线规划研究

Research on Route Planning of Adaptive UAV Inspection Considering Sag Variation of Transmission Lines

当前基于无人机的精细化巡检未考虑温度对导地线弧垂的影响,外出作业操作难度高、巡检效率低。针对上述问题,提出考虑输电线路弧垂变化的自适应性无人机巡检航线规划技术,基于悬链线方程,对已分类处理的导地线点云数据进行矢量化分析计算,得到矢量化导地线;研究导地线温度与矢量化导地线的对应关系,基于插值生成的离散化点云数据,根据巡检无人机的相机参数、拍照距离、重叠率等参数计算出航点间距,生成自适应性无人机巡检航线。自适应导地线弧垂变化的巡检航线飞行试验结果表明:充分考虑由温度变化引起的导地线弧垂变化进行自主巡检航线规划,设置恰当的拍照距离和照片重叠率,可以清晰识别导地线纹理和缺陷故障,自主、完整、高效采集架空导地线图像。

At present,UAV based precision inspection does not consider the influence of temperature on the sag of guide ground wire,which is difficult to operate in field and low inspection efficiency.To solve the above problems,this paper proposes an adaptive UAV inspection route planning technology considering the sag variation of transmission lines.Based on catenary equation,vectorization analysis and calculation are carried out on the point cloud data of the classified transmission lines,and the vectorized transmission lines have been obtained.Based on the discrete point data generated by interpolation,the waypoint spacing is calculated according to the camera parameters,photo distance,overlap rate and other parameters of the inspection UAV,and the adaptive UAV inspection route is generated.The flight test of patrol route with adaptive sag change of the transmission line is carried out.The test results show that the autonomous patrol route planning can be carried out by fully considering the sag change of the wire caused by temperature change,and the appropriate photo distance and photo overlap rate can be set,the texture and defect of guide ground wire can be clearly identified,and the image of overhead transmission wires and ground wires can be collected autonomously,completely and efficiently.