Human-Robot Cooperative Patrol Inspection of Power Transmission Channels Based on Beidou Positioning
Poor inspection performance of transmission channels leads to channel damages,which threatens the safety of power grids.To improve the inspection efficiency of the transmission channel and reduce the potential security risks of the power grid,a human-computer coordinated inspection method for power transmission channels based on Beidou positioning is proposed in this paper.The UAV equipped with Beidou positioning collects the sample data of the transmission channel through Web Mercator projection to determine the inspection route of the transmission channel,extract the fault parameters of the manually monitored transmission channel,identify the fault characteristics of the superimposed current and voltage frequency,and set the best inspection route based on these characteristics so that the human-machine collaborative inspection of the transmission channel can be realized.The experimental results show that the number of fault nodes detected by the proposed method is 11,and the routing path is more consistent with the structure of the transmission channel.6 defects of the transmission channel are detected by the proposed method,and the routing time is only 2.3 seconds.The area enclosed by the true positive rate and false positive rate on the ROC curve is approximately 5,000.This method has good inspection effects,high inspection efficiency,and high inspection accuracy,and good performance.
Beidou positioninghuman-machine collaborationtransmission channeltemperaturesuperimposed currentvoltage frequency
万方数据
维普
