用于电力线巡检的大型无人直升机多传感器系统集成设计

摘要

基于电力线路安全巡检需要，设计了集可见光相机、红外热像仪、紫外成像仪、激光扫描仪和定位定姿系统等设备为一体的无人直升机多传感器系统。提出了基于全球定位系统时间系统的高精度后处理软同步方法，实现各个传感器系统的独立、协调同步工作。同时提出基于服务器–客户端软件架构，实现各个传感器控制和数据采集的相互独立，最大限度提高传感器系统工作的安全性和可靠性。多传感器集成的无人机巡检试验结果显示，该系统能够在单次飞行中同步获取多波段、多种类型的巡检数据，数据之间具有强相关性，可以用于多源数据联合诊断分析，满足电力线路安全隐患多要素自动诊断的需要。%Based on requirements for safe inspection on electric power lines,a kind of multi-sensor system of unmanned heli-copter which includes visible light camera,infrared imager,ultraviolet imager,laser scanner,positioning and orientation system (POS),and so on is designed. Meanwhile,a high-precision and post-process soft synchronization method based on global positioning system (GPS)is proposed for realizing independent,coordinate and synchronous work of each sensor sys-tem. Software structure based on server-customer is designed to realize mutual independence of each sensor control and data acquisition,and furthest improve security and reliability of the sensor system. Experimental results of inspection of the multi-sensor integrated unmanned helicopter indicate that this system could obtain multi-wave and polytype inspection data at the same time in one single flying,and there is strong correlation among data which could be used for united diagnosis and a-nalysis on multi-source data and satisfy requirement for automatic diagnosis on multi-factor in potential safe hazards of elec-tric power lines.