Research On The Technology And Application Of Power Line Inspection With Unmanned Aerial Vehicles

Using the UAV as a platform to carry inspection equipment for power lineinspection is an emerging technolog This kind of inspection technology sets a safe,efficient and comprehensive in one and become a research hotspots.In this paper,thekey technology of UAV for line inspection and testing are researched. the main worksummarized as follows:The Research of UAV line inspection technology at home and abroad areintroduced and details of the key technologies for achieving the UAV line inspectionis classified. The advantages and disadvantages of different types of Line inspectionUAV are compared. Taking four-rotor UAV for an example, both the composition ofthe UAV line inspection system and each component are introduced in particular.Utilizing the mathematic model of motor and rotor,the model of flight attitudecontrol is established and the simulation of flight level contrl and fight angle arecarried out. In consideration of the stability of control systems and the controlmethod is easy to implement,the analog PID controller is used in the simulationsystem. The simulation provides a effective judgement way of controllability ofsystem model,and the PID control parameters is obtained.The experiment of UAV Approaching high-voltage electrified body is completedand the safe distance between UAV and high-voltage electrified body is measured. Inorder to avoid detection collision between the aerial vehiele and the power line,anultrasonic obstacle avoidance fuzzy control method was proposed.The fuzzy rule ofUAV obstacle avoidance is established ,the fuzzy algorithm is aehieved，and the fuzzycontrol output is converted into the motor speed control signal.At Last, research the problem of image processing of UAV line inspection, Theextraction and recognition of insulator image features based on Hough transform weremainly analyzed and discussed.Then the image of iced insulator is processed.