Transmission line unmanned aerial vehicle automatic driving inspection method

Abstract

The invention belongs to the field of high-voltage transmission line operation inspection and particularly relates to a transmission line unmanned aerial vehicle automatic driving inspection method. The method comprises the steps that S1, according to the model, range, opening angle and communication distance of a laser radar, the area of a scanning region of the laser radar is calculated; S2, RTKlaser radar unmanned aerial vehicle base station positioning is performed through Qianxun precise positioning service; S3, a horizontal distance value maintained between a transmission line center and an unmanned aerial vehicle, a vertical distance theoretical value maintained between the unmanned aerial vehicle and a horizontal ground and a designed height value between the unmanned aerial vehicle and the horizontal ground are calculated; S4, unmanned aerial vehicle manual flight laser modeling is performed, and an automatic driving air route of the unmanned aerial vehicle is planned; and S5, according to a transmission line laser point cloud entity model obtained through laser radar modeling, an intelligent inspection automatic driving air route of the unmanned aerial vehicle is generated. Through the method, flight air route planning, automatic driving, refined inspection and laser radar data collection of the unmanned aerial vehicle in a strong electromagnetic field are realized,and transmission line modeling and inspection quality is greatly improved.

Description

technical field [0001] The invention belongs to the field of inspection of high-voltage transmission lines, and more specifically relates to a method for automatic driving inspection of transmission lines by unmanned aerial vehicles. Background technique [0002] The high-voltage transmission line is the main artery to ensure the stable operation of the power grid and the cornerstone to ensure the power supply of the society. With the development of my country's economy, high voltage levels, long line paths, large spans, and high altitude lines are increasing year by year, the number of transmission lines under the jurisdiction of line inspection units is increasing year by year, and the requirements for power supply reliability are increasing year by year; high voltage transmission The structure and components of the line body and auxiliary facilities are complex; the line spans a wide range, the operating environment is complex and harsh, the buildings, structures, rivers, ...

AI Technical Summary

Problems solved by technology

With the development of my country's economy, high voltage levels, long line paths, large spans, and high altitude lines are increasing year by year, the number of transmission lines under the jurisdiction of line inspection units is increasing year by year, and the requirements for power supply reliability are increasing year by year; high voltage transmission The structure and components of the line body and auxiliary facilities are complex; the line spans a wide range, the operating environment is complex and harsh, the buildings, structures, rivers, and trees in the line protection area are complex, and the quality of traditional manual inspections and manual drone inspections is poor. , Low operating efficiency and high operating risk, which can no longer meet the requirements of line inspection; manual drone inspection of traditional transmission lines requires the driver to have high control skills, and drones are extremely susceptible to interference from strong electromagnetic fields and weather conditions. It must maintain a sufficient distance from the transmission line, and the pilot of the UAV has limited control time and is extremely prone to fatigue, which increases the risk of misoperation, loss of control, and crash of the UAV. High difficulty, poor operation quality, low operation efficiency, high operation risk

Images