The Research Of Key Technologies Of Autonomous Power Line Inspection For UAV

With the rapid development of UAV technology and intelligent technology,the engineering application of intelligent uav system is no longer a castle in the air.China's transmission lines have a wide and uneven regional distribution,complex terrain and harsh natural environment,and the inspection of the lines is a huge drain on human,material and financial resources.As a high and new technology integrating power,navigation,communication,aviation,control,image processing and other fields,uav line inspection technology can help or replace human to complete line inspection work,which has extremely important practical significance and research value,and has been widely concerned in recent years.This paper studies the system design method and key technologies for the realization ofa fully autonomous uav line patrol system.The main work is summarized as follows:This paper put forward a top-level design of the autonomous uav line patrol system.The system is divides into a complete set of intelligent drone station platform,integrated remote monitoring system of unmanned aerial vehicle(uav)and data acquisition platform.This paper also designs the main practices and procedures of the system for the application of power line inspection.Three key technologies,includeing path planning,obstacle avoidance and visual inspection were studied emphatically.In view of the application of power line patrol,this paper puts forward a reasonable assumption of uav track planning,and simulates the track planning on a two-dimensional plane by using the heuristic algorithm of longhorn's antenna search,and compares the effect with the common PSO algorithm,which verifies the feasibility and superiority of longhorn's antenna search in the application of uav track planning.Using the multi-sensor information fusion of obstacle avoidance scheme,this paper detailed introduces the uav sensor selection,data acquisition platform installation and calibration of measuring scheme.Furthermore,adaptive kalman filtering method of sensor ranging information fusion is applicated to get more accurate obstacle distance,as a foundation of obstacle avoidance decision-making..