Method for realizing the intelligent tour-inspection of power tower based on miniature multi-rotor unmanned helicopter
A multi-rotor unmanned, intelligent inspection technology, applied in the direction of controlling the starting method, aircraft parts, electrical components, etc., can solve the problems of not being able to effectively approach the observation target, the convenience of operation, and the large size of the aircraft. High efficiency, ensure safety, good safety effect
Inactive Publication Date: 2012-06-20
NORTH CHINA ELECTRIC POWER UNIV (BAODING)
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The invention discloses a method for realizing the intelligent tour-inspection of a power tower based on a miniature multi-rotor unmanned helicopter, and belongs to the technical field of tour-inspection of transmission lines. The method comprises the following steps of: tower modeling, inspection viewpoint planning, autonomous navigation, data acquisition and failure analysis, wherein the tower modeling step comprises a data acquisition process, a tower positioning process, a security zone division process and a security zone evaluation process; the inspection viewpoint planning step refers to a process of solving an optimal observation viewpoint according to related constraint conditions; the autonomous navigation step comprises a basic navigation sub-step and an accurate navigation sub-step; the data acquisition step refers to a process of transmitting related data back to a ground station by using the miniature multi-rotor unmanned helicopter; and the failure analysis step refers to a process of performing analysis, judgment and diagnosis according to the data transmitted back to the ground station by tour-inspection and decision making personnel. The method has the advantages of high safety, detection accuracy, tour-inspection efficiency and flexibility, low cost and high operability.
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