复杂地形区域输电线路无人机自主巡检方法研究
Research on the Autonomous Inspection Method of Transmission Line UAVs in the Complex Terrain Area
金涛 1黄俊波 1孙斌 1李维鹏 1谢清宇1
作者信息
- 1. 云南电网有限责任公司输电分公司,云南昆明 650051
- 折叠
摘要
局域电网范围内输电线路普遍较多,布设复杂度较高,对于复杂地形区域,电网线路运维难度越来越大.为减少手动操作误差,研究了复杂地形区域输电线路无人机自主巡检方法.通过实时动态载波相位差分技术记录飞行航迹坐标,安全检验飞行航迹,设计标准化无人机自主巡检方案;利用卡尔曼滤波消除数据噪声,通过轨迹初始方位点、拍摄位置点、轨迹拐点及轨迹终止方位点来确定轨迹路径;分析地面坐标系与图像坐标系间的内在关系,针对不同场景的拍摄需求,计算匹配点像素坐标,使用视觉迭代法获取飞行过程的无人机三维坐标,开启对焦模式采集输电线路图像,以此实现电网复杂地形区域故障线路的巡检.实验结果表明,针对滚转角、俯仰角以及偏航角3个方面,研究方法下的无人机巡检飞行与期望飞行路线吻合,且 16 km的输电线路巡检耗时控制在 35 min以内,证明了无人机自主巡检稳定性强、效率快、精度较高,在电网智能化巡检方面具备一定参考价值.
Abstract
The local power grid normally has many transmission lines,and its layout is rather complicated.The operation and maintenance of these lines is getting more and more difficult in complex terrain areas.To reduce the manual operation error,this paper studies the autonomous inspection method of the transmission line UAV in complex terrain area.First,the flight path coordinates of the UAV are recorded by real-time dynamic carrier phase difference technology,the flight path is inspected safely,and the standardized UAV autonomous inspection scheme is designed.Second,the Kalman filter is used to eliminate the data noise,and the trajectory path is determined through the initial azimuth point,shooting position point,trajectory inflection point and trajectory termination azimuth point of the trajectory.Based on this,the internal relationship between the ground coordinate system and the image coordinate system is analyzed.According to the shooting requirements of different scenes,the pixel coordinates of matching points are calculated,the three-dimensional coordinates of the UAV in the flight process are obtained by using the visual iteration method,and the focusing mode is turned on to collect the image of transmission line,so as to realize the inspection of regional fault lines in complex areas of the power grid.The experimental results show that the UAV patrol flight under the research method is consistent with the expected flight route in terms of roll angle,pitch angle and yaw angle,and the patrol time of 16 km transmission line is controlled within 35 min.The results also show that the UAV autonomous Patrol has strong stability,fast efficiency and high precision,which has a certain reference value in the intelligent patrol of the power grid.
关键词
输电线路/无人机/自主巡检/航线轨迹/视觉迭代Key words
transmission line/UAV/self inspection/route trajectory/visual iteration引用本文复制引用
基金项目
云南电网有限责任公司科技项目(YNKJXM20210115)
出版年
2024
NETL
NSTL
万方数据