Method for realizing the intelligent tour-inspection of power tower based on miniature multi-rotor unmanned helicopter

Abstract

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.

Description

technical field [0001] The invention belongs to the technical field of inspection of power transmission lines, in particular to an intelligent inspection method for power poles and towers based on a miniature multi-rotor unmanned helicopter. Background technique [0002] The use of high-voltage and ultra-high-voltage overhead power lines is the main way of long-distance power transmission and distribution. Power lines and tower accessories have been exposed to the field for a long time due to continuous mechanical tension, electrical flashover, and material aging, resulting in damage such as strand breakage, wear, and corrosion. , If it is not repaired and replaced in time, the original small damage and defects may expand. Eventually lead to serious accidents, resulting in large-scale power outages and huge economic losses, so the power company's efforts to maintain and monitor lines are gradually increasing. Regular inspection of line equipment is the most effective means ...

AI Technical Summary

Problems solved by technology

Although this method improves the inspection efficiency and reduces the inspection difficulty compared with the traditional manual inspection method, due to the large size of the aircraft it uses, in order to ensure the safe operation of the transmission line, it is often unable to effectively approach the observation target

Moreover, due to the instability of aircraft driving, the observation target often passes quickly in the field of view of the camera, and reliable data cannot be collected comprehensively, which increases the technical difficulty

Another disadvantage of using large helicopters is the high cost, which has great restrictions on the convenience of operation

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