Key Technologies In The Multi-Sensor Collaborative Inspection Of Power Transmission Lines Based On Unmanned Aerial Vehicles

As a crucial part of power systems, the security of power transmission lines is very important to the steady development of the economy of our nation. The current widely used transmission line inspection methods include manual inspection, robot inspection, and helicopter inspection, but in most cases, these methods are low-efficient and labor-intensive. The method of power transmission line inspection based on unmanned aerial vehicles (UAVs) is interdisciplinary, and it is more efficient and safer than the traditional methods; meanwhile, it is promising because it improves the techniques of transmission line inspection. In this work, a multi-sensor inspection system based on UAVs is developed. This system is able to comprehensively inspect the power transmission lines by implementing the technologies including visible light, infrared imaging, and ultraviolet imaging.The key technologies are deeply analyzed in the work, such as the infrared imaging technology, the ultraviolet imaging technology, and the line and tower tracking algorithms. The control methods of the infrared imager and ultraviolet imager, and the principle of the tracking algorithms based on GPS are demonstrated in detail.It is elaborated in the work the structure of both the hardware and software of the transmission line inspection system. The whole inspection system includes two parts, the airborne inspection system and the ground control system. The airborne inspection system can send the real time inspection videos to the ground control system, and the ground control system can send the control commands to the airborne inspection system.In the indoor tests, the vehicle tests, and the airborne tests, it is proved that all the requirements and function of the power transmission line inspection system are well met.