基于四旋翼无人机的输电线路巡检系统研究

doi:10.11930/j.issn.1004-9649.2012.10.59.3

中国电力 ›› 2012, Vol. 45 ›› Issue (10): 59-62.DOI: 10.11930/j.issn.1004-9649.2012.10.59.3

基于四旋翼无人机的输电线路巡检系统研究

王振华¹, 黄宵宁², 梁焜¹, 李少斌¹, 杨忠¹

1. 南京航空航天大学自动化学院,江苏南京 210016;
2. 南京工程学院电力工程学院,江苏南京 211167

收稿日期:2012-07-10 出版日期:2012-10-18 发布日期:2016-02-29
作者简介:王振华（1987-）,男,江苏江阴人,硕士研究生,从事飞行控制理论、嵌入式系统开发研究。
基金资助:
国家自然科学基金资助项目（60674100）; 博士点基金资助项目（20113218110013）; 江苏省产学研联合创新资助项目（BY2012018）

Study on the Transmission Line Inspection System Based on Quadrotor UAVs

WANG Zhen-hua¹, HUANG Xiao-ning², LIANG Kun¹, LI Shao-bin¹, YANG Zhong¹

1. College of Automation, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China;
2. School of Electric Power Engineering, Nanjing Institute of Technology, Nanjing 211167, China

Received:2012-07-10 Online:2012-10-18 Published:2016-02-29

摘要/Abstract

摘要： 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。

关键词: 四旋翼, 无人机, 输电线路, 巡检系统

Abstract: 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.

Key words: quadrotor, UAV, power transmission line, inspection system

中图分类号:

TM75

王振华, 黄宵宁, 梁焜, 李少斌, 杨忠. 基于四旋翼无人机的输电线路巡检系统研究[J]. 中国电力, 2012, 45(10): 59-62.

WANG Zhen-hua, HUANG Xiao-ning, LIANG Kun, LI Shao-bin, YANG Zhong. Study on the Transmission Line Inspection System Based on Quadrotor UAVs[J]. Electric Power, 2012, 45(10): 59-62.

导出引用管理器 EndNote|Ris|BibTeX

链接本文: https://www.electricpower.com.cn/CN/10.11930/j.issn.1004-9649.2012.10.59.3

https://www.electricpower.com.cn/CN/Y2012/V45/I10/59

参考文献

[1] 丁道奇. 复杂大电网的安全性分析[M]. 北京: 中国电力出版社, 2010.
DING Dao-qi. Security analysis of complex large-scale power grids [M]. Beijing: China Electric Power Press, 2010.
[2] 于德明, 郭昕阳, 陈方东, 等. 500 kV输电线路在线监测系统应用[J]. 中国电力, 2009, 42(5): 53-56.
YU De-ming, GUO Xin-yang, CHEN Fang-dong, et al . Application of on-line monitoring system for 500 kV transmission line in North China [J]. Electric Power, 2009, 42(5): 53-56.
[3] 周风余, 吴爱国, 李贻斌. 110 kV输电线路巡线机器人[J]. 中国电力, 2008,41(3): 32-35.
ZHOU Feng-yu, WU Ai-guo, LI Yi-bin. An inspection robot running on 110 kV power transmission line[J]. Electric Power, 2008, 41(3): 32-35.
[4] FU Si-yao, LIANG Zi-ze, HOU Zeng-guang, et al . Vision based navigation for power transmission line inspection robot[C]// Stanford, California, USA: Proc. 7th IEEE Int. Conf. on Cognitive Informatics, 2008: 411-417.
[5] 邵允临, 曹晋恩, 尚大伟. 直升机巡检华北电网超高压输电线路[J]. 中国电力, 2003, 36(7): 35-38.
SHAO Yun-lin, CAO Jin-en, SHANG Da-wei. Patrol inspection of EHV electric power transmission line with helicopter in North China Power Network [J]. Electric Power, 2003, 36(7): 35-38.
[6] 陈西光, 董罡, 王滨海, 等. 固定翼无人机巡检输电线路探讨[J]. 山东电力技术, 2011(5): 1-5,8.
CHEN Xi-guang, DONG Gang, WANG Bin-hai, et al . Discussion on transmission line inspection with unmanned fixed-wings aircraft [J]. Shandong Electric Power, 2011(5): 1-5,8.
[7] 林韩, 林朝辉, 汤明文, 等. 电力输电线路无人直升机巡视的应用 [J]. 华东电力, 2011, 39(10): 1657-1660.
LIN Han, LIN Zhao-hui, TANG Ming-wen, et al . Application of unmanned helicopter patrol to power transmission line[J]. East China Electric Power, 2011, 39(10): 1657-1660.
[8] MONTAMBAULT S, BEAUDRY J, TOUSSAINT K, et al . On the application of VTOL UAVs to the inspection of power utility assets[C]//Montréal, Canada: 2010 1st International Conference on Applied Robotics for the Power Industry, October 5-7, 2010:1-7.
[9] 李永志. COFDM技术用于无线图像传输系统的优势[J]. 无线通信技术,2007(2):60-62.
LI Yong-zhi. The advantage of COFDM application in the wireless image transmission system[J]. Wireless Communication Technology, 2007(2): 60-62.

[1]	宋智伟, 黄新波, 纪超, 张凡, 张烨. 基于PCSA-YOLOv7 Former的输电线路连接金具及其锈蚀检测方法[J]. 中国电力, 2024, 57(6): 141-152.
[2]	王传琦, 伍历文, 邓志斌, 邓伟锋, 杨彬. 时间累积架空输电线路覆冰预测模型与算法综述[J]. 中国电力, 2024, 57(6): 153-164, 234.
[3]	叶煜明, 钱琪琪, 万正东, 张继钢. 基于嵌入法与集成学习的线路工程造价预测[J]. 中国电力, 2024, 57(5): 251-260.
[4]	李瀚儒, 刘智健, 来立永, 黄凌宇, 丁施尹, 刘任, 唐波. 考虑气象参数预测误差条件分布的架空输电线路载流量概率预测方法[J]. 中国电力, 2024, 57(2): 103-114.
[5]	张业茂, 李妮, 周翠娟, 鲁浩男. 750 kV高海拔交流输电线路无线电干扰测试数据分析[J]. 中国电力, 2023, 56(2): 77-85.
[6]	李永胜, 杨加伦, 郑维刚, 刘彬, 高正旭. 辽宁省特定重现期舞动区域分布图绘制[J]. 中国电力, 2022, 55(8): 129-134.
[7]	胡京, 邓颖, 蒋兴良, 曾蕴睿. 输电线路覆冰垭口微地形的特征提取与识别方法[J]. 中国电力, 2022, 55(8): 135-142.
[8]	马爱清, 王洁, 毕永翔. 500 kV交流线路对并行±800 kV直流线路带电作业人员安全防护的影响[J]. 中国电力, 2022, 55(6): 128-136.
[9]	方春华, 陶玉宁, 张威, 智李, 李景. 实测风速分析模拟及微地形下杆塔风速修正方法[J]. 中国电力, 2022, 55(6): 146-153.
[10]	徐鑫, 方春华, 智李, 丁璨, 董晓虎, 程绳, 孙维, 陶玉宁. 线激光清除架空线路树障时温度和效率分析[J]. 中国电力, 2022, 55(5): 94-101.
[11]	毕洁廷. 计及山谷深度的输电线路雷电绕击率三维EGM研究[J]. 中国电力, 2021, 54(8): 91-97.
[12]	武建卫, 邵剑峰. 计及波速变化的反行波直流输电线路故障测距方法[J]. 中国电力, 2021, 54(5): 121-128.
[13]	何继勇, 周海阔, 朱仁勋. 高压输电线路在线监测设备无线供电磁耦合机构优化[J]. 中国电力, 2021, 54(5): 139-147,165.
[14]	李福志, 郑卫宾, 张文海, 张智勇, 林德锋, 张旭波, 张荣建. 基于回路直流电阻测量的输电线路单相接地故障离线故障定位[J]. 中国电力, 2021, 54(2): 140-146.
[15]	杨风利, 张宏杰, 邵帅, 黄国. 高海拔输电线路走廊空气密度实测[J]. 中国电力, 2021, 54(12): 170-176.

基于四旋翼无人机的输电线路巡检系统研究

Study on the Transmission Line Inspection System Based on Quadrotor UAVs

PDF (PC)

可视化

被引次数

摘要/Abstract

引用本文

使用本文

参考文献

相关文章 15

编辑推荐

Metrics

模态框（Modal）标题

基于四旋翼无人机的输电线路巡检系统研究

Study on the Transmission Line Inspection System Based on Quadrotor UAVs

PDF (PC)

可视化

被引次数

摘要/Abstract

引用本文

使用本文

参考文献

相关文章 15

编辑推荐

Metrics