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

doi:10.3969/j.issn.1008-0198.2024.04.015

湖南电力 ›› 2024, Vol. 44 ›› Issue (4): 105-111.doi: 10.3969/j.issn.1008-0198.2024.04.015

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

张力, 周学明, 沈煜, 姚尧, 冯志强

国网湖北省电力有限公司电力科学研究院,湖北武汉 430077

收稿日期:2024-04-22 修回日期:2024-06-14 出版日期:2024-08-25 发布日期:2024-09-09
通信作者: 张力(1994),男,博士,工程师,研究方向为电工装备多物理场分析、输电线路防灾减灾。
基金资助:
国家电网公司科技项目(5500-202222137A-1-1-ZN)

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

ZHANG Li, ZHOU Xueming, SHEN Yu, YAO Yao, FENG Zhiqiang

State Grid Hubei Electric Power Company Limited Research Institute,Wuhan 430077,China

Received:2024-04-22 Revised:2024-06-14 Online:2024-08-25 Published:2024-09-09

摘要/Abstract

摘要： 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。

关键词: 无人机, 架空输电线, 弧垂, 航线, 精细化巡检

Abstract: 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.

Key words: UAV, overhead transmission lines, sag, flight route, precision inspection

中图分类号:

TM755

张力, 周学明, 沈煜, 姚尧, 冯志强. 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[J]. 湖南电力, 2024, 44(4): 105-111.

ZHANG Li, ZHOU Xueming, SHEN Yu, YAO Yao, FENG Zhiqiang. Research on Route Planning of Adaptive UAV Inspection Considering Sag Variation of Transmission Lines[J]. Hunan Electric Power, 2024, 44(4): 105-111.

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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

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