摘要
输电线路无人机巡检质量在一定程度上关系着输电线路的安全,无人机巡检过程中一旦发生偏航,将导致巡检质量降低,巡检图像可用程度降低,为此,设计基于差分定位的输电线路无人机智能巡检系统。设计系统总体架构,通过系统中的移动作业平台以巡检作业包的巡检内容为目标,利用遗传算法规划巡检路径,利用差分GPS/DR组合导航智能控制航行方向和角度,通过工控机控制无人机自主航行巡检,最终获取最短巡检路径。测试结果表明,该系统具备巡检路线自主规划性能,可以在最短路径的巡检目标下完成巡检路径规划,并可在偏航最小化的基础上准确获取巡检信息,获取的巡检图像可用程度均高于95%,巡检图像传输时长低于2 ms。
The inspection quality of transmission line UAV is related to the safety of transmission line to a certain extent.Once yaw occurs,the inspection quality and the availability of inspection images will be reduced.Therefore,an unmanned intelligent inspection system of transmission line based on differential positioning is designed.The overall architecture of the system is designed,and through the mobile operation platform in the system,aiming at the inspection content of the inspection operation package,the inspection planning path is designed by genetic algorithm,the navigation direction and angle are intelligently controlled by differential GPS/DR integrated navigation,and the UAV autonomous navigation inspection is controlled by industrial computer.These result in the shortest inspection path.The test results show that the system has the performance of independent routing planning,and can complete the routing planning under the inspection goal of the shortest path.On the basis of minimizing yaw,the patrol information can be obtained accurately,and the availability of patrol images is higher than 95%.The transmission time of patrol image is less than 2 ms.
作者
毛鹏飞
张杰
刘洋
谢晓君
陶克涛
MAO Pengfei;ZHANG Jie;LIU Yang;XIE Xiaojun;TAO Ketao(Aviation Inspection Branch of Inner Mongolia Electric Power(Group)Co.,Ltd.,Hohhot 010020,China)
出处
《微型电脑应用》
2023年第5期51-54,63,共5页
Microcomputer Applications
基金
内蒙古电力(集团)有限责任公司科技项目(2021-40)。
关键词
差分定位
输电线路
无人机
智能巡检
路径规划
differential positioning
transmission line
unmanned aerial vehicle
intelligent inspection
path planning
