基于差分定位的输电线路多旋翼无人机智能巡检

doi:10.11930/j.issn.1004-9649.201809113

中国电力 ›› 2019, Vol. 52 ›› Issue (7): 24-30.DOI: 10.11930/j.issn.1004-9649.201809113

• 泛在电力物联网——先进信息与通信技术 • 上一篇下一篇

基于差分定位的输电线路多旋翼无人机智能巡检

曾懿辉¹, 何通¹, 郭圣¹, 熊勇良², 崔颖铷², 左剑³, 罗昊⁴

1. 广东电网有限责任公司佛山供电局, 广东佛山 528000;
2. 广州优飞信息科技有限公司, 广东广州 510000;
3. 广东电网有限责任公司电力调度控制中心, 广东广州 510600;
4. 长沙理工大学, 湖南长沙 410009

收稿日期:2018-09-27 修回日期:2019-01-15 出版日期:2019-07-05 发布日期:2019-07-13
作者简介:曾懿辉(1985-),男,高级工程师,从事电力系统输电巡检研究,E-mail:346078890@qq.com;何通(1973-),男,通信作者,硕士,从事电力系统输电巡检研究,E-mail:3110315917@qq.com
基金资助:
国家自然科学基金资助项目（51777015）；中国南方电网公司科技项目（GDKJXM20162155）。

Research on Multi-rotor UAV Intelligent Power Line Inspection Based on Differential Positioning

ZENG Yihui¹, HE Tong¹, GUO Sheng¹, XIONG Yongliang², CUI Yingru², ZUO Jian³, LUO Hao⁴

1. Foshan Power Supply Bureau, Guangdong Power Grid Corporation, Foshan 528000, China;
2. Guangzhou Ufly Info Tech Co., Ltd., Guangzhou 510000, China;
3. Power Dispatching and Control Center of Guangdong Power Grid Corporation, Guangzhou 510600, China;
4. Changsha University of Science and Technology, Changsha 410009, China

Received:2018-09-27 Revised:2019-01-15 Online:2019-07-05 Published:2019-07-13
Supported by:
This work is supported by National Natural Science Foundation of China (No.51777015) and Science and Technology Project of China Southern Power Grid Corporation (No.GDKJXM20162155).

摘要/Abstract

摘要： 针对目前人工操作无人机进行输电线路巡线自动化程度不高，人工操作无人机难以标准化、规范化，导致巡线时间偏长或多发坠机等问题，围绕南方电网公司提出的无人机无人操控自主巡线目标，制定了基于载波相位差分定位技术的输电线路多旋翼无人机智能巡检方法。该方法在载波相位差分高精度定位技术的支撑下，首先由人工操控无人机进行线路巡检，再根据记录的巡检航迹提取航拍控制轨迹点精确的经纬度、海拔高度和每一航拍点的摄像头俯仰角度等信息，制定该线路的自主巡检方案。进行自主巡航时沿设定的轨迹控制点按预设角度进行航拍，实现无人机巡航的流程化和标准化。现场测试效果表明，无人机利用所提方法可在强电磁场环境下快速准确地完成定点巡航任务，为实现规范化、标准化的无人机安全巡线作业奠定了基础。

关键词: 输电线路巡检, 多旋翼无人机, 载波相位差分定位, 自动化巡视, 智能巡检, 智能电网

Abstract: In view of the problems of the poor automation, low standardization, long patrol time and frequent crash accidents of the manual-controlled unmanned aerial vehicle (UAV) power line inspection, a multi-rotor UAV intelligent power line inspection method is developed based on RTK positioning technology to realize automatic UAV power line inspection. Under the support of RTK high precision positioning technology, the method is firstly to carry out manual-controlled UAV power line inspection, and then the automatic power line inspection plan is developed according to the recorded patrol track to extract such information as the precise meridian, latitude, altitude and the camera pitch angle of each aerial shooting point. Aerial shooting is carried out at preset angles along the set trajectory control points for automatic patrol, and the flow process and standardization of UAV inspection are realized. The results of field testing show that the proposed method can accomplish the task of the fixed-point patrol inspection quickly and accurately under the environment of strong electromagnetic field, and it lays a foundation for standardized UAV power line inspection.

Key words: transmission line inspection, multi-rotor UAV, RTK positioning, automatic inspection, intelligent inspection, intelligent grid

中图分类号:

曾懿辉, 何通, 郭圣, 熊勇良, 崔颖铷, 左剑, 罗昊. 基于差分定位的输电线路多旋翼无人机智能巡检[J]. 中国电力, 2019, 52(7): 24-30.

ZENG Yihui, HE Tong, GUO Sheng, XIONG Yongliang, CUI Yingru, ZUO Jian, LUO Hao. Research on Multi-rotor UAV Intelligent Power Line Inspection Based on Differential Positioning[J]. Electric Power, 2019, 52(7): 24-30.

导出引用管理器 EndNote|Ris|BibTeX

链接本文: https://www.electricpower.com.cn/CN/10.11930/j.issn.1004-9649.201809113

https://www.electricpower.com.cn/CN/Y2019/V52/I7/24

参考文献

[1] 吴立远, 毕建刚, 常文治, 等. 配网架空输电线路无人机综合巡检技术[J]. 中国电力, 2018, 51(1):97-101, 138 WU Liyuan, BI Jiangang, CHANG Wenzhi, et al. Research of unmanned aerial vehicle comprehensive inspection for distribution network overhead transmission lines[J]. Electric Power, 2018, 51(1):97-101, 138
[2] 林宇龙, 李冰, 王德宇, 等. 多旋翼无人机巡查系统在特高压基建工程中的应用[J]. 中国电力, 2017, 50(12):141-147 LIN Yulong, LI Bing, WANG Deyu, et al. Application of multi-rotor UAV patrol system in UHV power grid construction[J]. Electric Power, 2017, 50(12):141-147
[3] 彭向阳, 刘正军, 麦晓明, 等. 无人机电力线路安全巡检系统及关键技术[J]. 遥感信息, 2015, 30(1):51-57 PENG Xiangyang, LIU Zhengjun, MAI Xiaoming, et al. A transmission line inspection system based on remote sensing:system and its key technologies[J]. Remote Sensing Information, 2015, 30(1):51-57
[4] 王振华, 黄宵宁, 梁焜, 等. 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 Zhenhua, HUANG Xiaoning, LIANG Kun, et al. Research on transmission line inspection system based on four-rotor UAV[J]. Electric Power, 2012, 45(10):59-62
[5] 彭向阳, 陈驰, 饶章权, 等. 基于无人机多传感器数据采集的电力线路安全巡检及智能诊断[J]. 高电压技术, 2015, 41(1):159-166 PENG Xiangyang, CHEN Chi, RAO Zhangquan, et al. Power line safety inspection and intelligent diagnosis based on multi-sensor data acquisition of drone[J]. High Voltage Engineering, 2015, 41(1):159-166
[6] BIRNBAUM Z, DOLGIKH A, SKORMIN V, et al. Unmanned aerial vehicle security using behavioral profiling[C]//2015 International Conference on Unmanned Aircraft Systems. Jun. 9-12, 2015, Denver, CO, USA.
[7] 王彤, 戴伟, 张军庆, 等. 某型无人机地面检测系统中串行通信的研究与实现[J]. 计算机应用与软件, 2008, 25(5):172-174 WANG Tong, DAI Wei, ZHANG Junqing, et al. Research and implementation of serial communication in a type of UAV ground detection system[J]. Computer Applications and Software, 2008, 25(5):172-174
[8] GUPTA L, JAIN R, VASZKUN G. Survey of important issues in UAV communication networks[J]. IEEE Journals & Magazines, 2016, 18(2):1123-1152.
[9] 曹凤海, 宋占武, 李燕, 等. 无人机航摄拍照瞬间精确空间位置的确定[J]. 测绘通报, 2016(6):144-145 CAO Fenghai, SONG Zhanwu, LI Yan, et al. The accurate position at the moment of UAV taking photos[J]. Bulletin of Surveying and Mapping, 2016(6):144-145
[10] 吴维农, 杜海波, 袁野, 等. 输电线路无人机巡检实时通信技术研究[J]. 中国电力, 2016, 49(10):111-113, 118 WU Weinong, DU Haibo, YUAN Ye, et al. Real time communication technology for UAV transmission line patrol[J]. Electric Power, 2016, 49(10):111-113, 118
[11] 麦晓明, 刘正军, 彭向阳, 等. 无人机电力线路安全巡检航线及任务规划软件系统设计[J]. 广东电力, 2013, 26(12):81-85 MAI Xiaoming, LIU Zhengjun, PENG Xiangyang, et al. Design on safe inspection route and mission planning software system for unmanned aerial vehicle electric power circuit[J]. Guangdong Electric Power, 2013, 26(12):81-85
[12] 熊典. 输电线路无人机巡检路径规划研究及应用[D]. 武汉:武汉科技大学, 2014.
[13] 张奇, 石克勤, 刘佳莹, 等. 微小型多旋翼无人机超低空摄影测量技术在电力工程中的应用研究[J]. 工程勘察, 2016, 44(7):49-52 ZHANG Qi, SHI Keqin, LIU Jiaying, et al. Application research of ultra-low-altitude photogrammetry technology for micro-miniature multi-rotor UAV in power engineering[J]. Geotechnical Investigation & Surveying, 2016, 44(7):49-52
[14] 吴飞龙. 卫星通信在大型无人机输电线路巡检测控中的应用[J]. 中国电力, 2017, 50(8):135-140 WU Feilong. Application of satellite communication in survey and control of large UAV transmission[J]. Electric Power, 2017, 50(8):135-140
[15] 王晖, 何源. 无人机摄影测量与RTK在水运工程中应用研究[J]. 北京测绘, 2016(5):78-81 WANG Hui, HE Yuan. Study on application of UAV photogrammetry with RTK in water transport engineering[J]. Beijing Surveying and Mapping, 2016(5):78-81
[16] 马怀武, 王俊强. RTK结合无人机低空摄影在高原地区测绘中的应用[J]. 测绘地理信息, 2014, 39(3):47-50 MA Huaiwu, WANG Junqiang. Application of RTK combined with low-altitude photography of UAV in high altitude area surveying and mapping[J]. Journal of Geomatics, 2014, 39(3):47-50
[17] 薛阳, 张晓宇, 杨天宇, 等. 输电线路走廊自主巡检无人机控制逻辑设计[J]. 广东电力, 2017, 29(3):94-99 XUE Yang, ZHANG Xiaoyu, YANG Tianyu, et al. Design on control logic for self-inspection unmanned aerial vehicle in power transmission line corridor[J]. Guangdong Electric Power, 2017, 29(3):94-99
[18] 孙阳, 李鲁, 王蔚, 等. 特高压输电线路巡检无人机安全技术探讨[J]. 山东电力技术, 2017, 44(2):15-19 SUN Yang, LI Lu, WANG Wei, et al. Discussion on safety technology of UAV transmission line inspection UAV[J]. Shandong Electric Power, 2017, 44(2):15-19
[19] 金立军, 孙浩, 闫书佳, 等. 基于航拍视频的输电线走廊危险地物检测技术[J]. 系统仿真学报, 2013, 25(9):2211-2215 JIN Lijun, SUN Hao, YAN Shujia, et al. Dangerous ground object detection technology for transmission line corridor based on aerial video[J]. Journal of System Simulation, 2013, 25(9):2211-2215
[20] 汤坚, 杨骥, 宫煦利. 面向电网巡检的多旋翼无人机航测系统关键技术研究及应用[J]. 测绘通报, 2017(5):67-70 TANG Jian, YANG Ji, GONG Xuli. Research and application of key technology of multi-rotor UAV aerial survey system for power grid inspection[J]. Bulletin of Surveying and Mapping, 2017(5):67-70
[21] YUAN Xin, FENG Zhiyong, XU Wenjun, et al. Secure connectivity analysis in unmanned aerial vehicle networks[J]. Frontiers of Information Technology & Electronic Engineering, 2018, 19(3):409-423.

基于差分定位的输电线路多旋翼无人机智能巡检

Research on Multi-rotor UAV Intelligent Power Line Inspection Based on Differential Positioning

RichHTML

PDF (PC)

可视化

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

[1]	孔志恒, 谭冲, 唐培耀, 胡成博, 郑敏. 基于Light-Resnet卷积神经网络的电力设备监测数值识别算法[J]. 中国电力, 2024, 57(8): 206-213.
[2]	于宗超, 文明, 李湘华, 谢欣涛, 杨洪明. 融合群体智慧的分布式智能电网高效发展管理策略[J]. 中国电力, 2024, 57(10): 57-68.
[3]	吴岩, 王光政. 基于CiteSpace的配电网韧性评估与提升研究综述与展望[J]. 中国电力, 2023, 56(12): 100-112, 137.
[4]	徐杰, 汪石农. 面向智能电网电压崩溃路径的优化粒子群算法[J]. 中国电力, 2023, 56(1): 142-149.
[5]	李峰, 彭慧敏, 袁虎玲, 万芳茹, 黄天罡, 李威. UPFC在线运行优化辅助决策应用功能设计[J]. 中国电力, 2021, 54(7): 76-82.
[6]	佘蕊, 张宁池, 王艳茹, 郭丹丹, 马文洁, 刘卉, 张洁. 面向电力物联网的5G通信认知无线电NOMA系统研究[J]. 中国电力, 2021, 54(5): 35-45.
[7]	曾永浩, 范心明, 彭元泉, 李新, 张子麒, 宋关羽. 三端柔性多状态开关运行控制与示范应用[J]. 中国电力, 2021, 54(11): 97-103.
[8]	柴彬, 刘飞, 江平开, 江秀臣, 黄兴溢. 面向电力设备检测与诊断的压电材料及器件[J]. 中国电力, 2021, 54(10): 105-116.
[9]	麻建中, 胡凯波, 於立峰. 工控运维中基于语义分析的智能电网控制攻击防御[J]. 中国电力, 2020, 53(9): 214-220.
[10]	李博, 方彤. 北斗卫星导航系统（BDS）在智能电网的应用与展望[J]. 中国电力, 2020, 53(8): 107-116.
[11]	贾惠彬, 盖永贺, 李保罡, 郑宏达. 基于强化学习的电力通信网故障恢复方法[J]. 中国电力, 2020, 53(6): 34-40.
[12]	黄郑, 王永强, 王红星, 高超, 柏仓. 基于云雾边异构协同的无人机智慧巡检系统[J]. 中国电力, 2020, 53(4): 161-168.
[13]	赖秋频, 杨军, 谭本东, 王亮, 傅思遥, 韩立伟. 基于YOLOv2网络的绝缘子自动识别与缺陷诊断模型[J]. 中国电力, 2019, 52(7): 31-39.
[14]	钱斌, 蔡梓文, 肖勇, 杨劲锋, 董歆滢, 谷科. 基于边缘计算的电表计量系统数据协同检测方案[J]. 中国电力, 2019, 52(11): 145-152.
[15]	周静, 孙媛媛, 胡紫巍, 卢利锋, 刘国军. 智能电网信息通信架构演进探讨[J]. 中国电力, 2018, 51(3): 131-135.

模态框（Modal）标题

基于差分定位的输电线路多旋翼无人机智能巡检

Research on Multi-rotor UAV Intelligent Power Line Inspection Based on Differential Positioning

RichHTML

PDF (PC)

可视化

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