Method for polling power transmission line by using vertical take-off and landing fixed-wing unmanned aerial vehicle

Abstract

The invention discloses a method for polling a power transmission line by using a vertical take-off and landing fixed-wing unmanned aerial vehicle. The method comprises the following steps of performing a calibration test; performing vertical take-off and landing fixed-wing operation data acquisition and data processing; according to the requirement of the safety distance of the power transmission line, analyzing the clearance distance between a lead in the line corridor and the ground surface, vegetation, buildings, cross crossing and the like, and searching for the abnormality and hidden danger of power transmission line facilities and equipment and the threat of a spanned object in the line corridor to the line. According to the method for polling the power transmission line by using the vertical take-off and landing fixed-wing unmanned aerial vehicle, high-precision three-dimensional laser point cloud and high-resolution digital images of the line corridor can be directly acquired, and then the terrain, landform, ground features and line facility equipment space information of the high-precision three-dimensional line corridor, such as a tower, a line hanging point position, a conductor sag and the like, can be obtained; the laser radar point cloud data can automatically extract power line points and perform curve fitting on the power line points to form a continuous and complete power line corridor.

Description

technical field [0001] The invention relates to the technical field of power line inspection, in particular to a method for inspection of power transmission lines using a vertical take-off and landing fixed-wing unmanned aerial vehicle. Background technique [0002] my country has built six inter-provincial power grids in the south, northwest, east, central, north and northeast of China. The total length of transmission lines exceeds 1.15 million square meters, and transmission lines of 500kv and above have become the main force of power transmission in various regions. my country has a vast territory, complex terrain, more hills, less plains, and complex and changeable meteorological conditions, which brings certain difficulties to the construction of cross-regional power grids and ultra-high voltage transmission lines; on the other hand, maintenance and maintenance after completion , if only relying on existing inspection methods and routine tests cannot meet the requiremen...

AI Technical Summary

Problems solved by technology

my country has a vast territory, complex terrain, more hills, less plains, and complex and changeable meteorological conditions, which brings certain difficulties to the construction of cross-regional power grids and ultra-high voltage transmission lines; on the other hand, maintenance and maintenance after completion , if only relying on existing inspection methods and routine tests cannot meet the requirements of high efficiency and speed, nor can it achieve good results

[0003] UAV airborne lidar is widely used in electric power. In the past, it was mainly used for disaster census and fault point inspection. When the technology is applied to power line inspection, it is rare to complete the fine work of the entire line. Due to There are many obstacles in the transmission line channel of the power grid, especially forest plants, illegal buildings, etc., and the physical properties of the transmission line itself (such as line sag changes) affect the transmission safety. Various factors directly affect the safe operation of the transmission line. The above defects It is the key inspection object of daily transmission line inspection

[0004] Most of the relevant research in China is aimed at multi-level power lines based on iron towers. The height of the transmission lines studied is low, and there are vegetation points of the same height around the power lines, which also makes it difficult to extract the energy path of transmission lines.

In addition, due to the impact of the performance of existing equipment, the collected data lacks accurate spatial distance, or the flying platform equipped with lidar is too slow to ensure accuracy, and the purpose of improving efficiency cannot be achieved, resulting in inspection work. There is a large amount of human labor and the disadvantages of high labor costs

In addition, since the image acquisition method is mainly adopted in the inspection, there is a defect that the data function is single and cannot be reused. A fast and effective method for collecting the spatial position data of the transmission line for 3D modeling has not yet been developed. Therefore, the efficiency of the line inspection work not tall

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