基于四旋翼无人机的输电线路巡检系统研究

摘要

According to the requirements of the short-distance inspection of the transmission line, a quadrotor UAV is used to solve the problems of inefficiency, unsafe and technical threshold of routine inspection means. The images of the line defects and potential problems are located and collected with the aerial views of the cameras. Combined with the GPS of the transmission tower, an autonomous flight inspection is presented according to the default track points. A manual flight inspection is used to acquire the comprehensive images of the line's key components by observing the real-time images of towers transmitted by airborne equipments. The inspection system enhances the ability of the line state management and emergency solution. Also it can provide a full range of the line information support for the safety assessment, pre-disaster investigation, pre-warning of the accident, disaster repair, and even the state of maintenance and life cycle management.%针对输电线路短途巡检的应用需求,解决常规巡检手段低效、安全、技术门槛等问题,以四旋翼无人机为载体,搭载影像采集设备进行航拍巡视,搜索、定位、采集线路缺陷和隐患的影像数据.根据线路杆塔坐标信息,预设航迹点实现自主飞行巡检;以设备回传的杆塔实时影像为操作指导,利用手动飞行模式实现线路关键部件的影像采集.该系统提升了线路状态管理、应急指挥的便利性,为输电线路的安全评估、灾前排查、事故预警、灾后抢修,乃至状态检修和全寿命周期管理提供全方位的信息支持.