无人飞行器巡检输电线路的杆塔和导线跟踪算法  

A Tower and Line Tracking Algorithm for Power Transmission Line Inspection Based on Unmanned Aerial Vehicles

作　　者：吕明[1] 盛戈皞[1] 张卫东[2] 刘亚东[1] 江秀臣[1] 

机构地区：[1]上海交通大学电子信息与电气工程学院,上海市200240 [2]山东电力集团公司威海供电公司,山东省威海市264200

出　　处：《电力系统自动化》2012年第9期92-97,共6页Automation of Electric Power Systems

基　　金：国家自然科学基金资助项目(50977057)~~

摘　　要：研制了一种无人飞行器(UAV)巡线系统,利用可见光相机、红外热像仪、紫外成像仪对输电线路、杆塔、绝缘子等输电设备进行综合检测。提出了一种杆塔和导线跟踪算法,在已知UAV当前位置以及巡检线路中杆塔GPS信息的前提下,利用由GPS信息快速计算两点间距离的算法和地理坐标系转换,计算出相机对于杆塔和导线的理想拍摄角度,进一步对云台角度进行自动调节,实现巡线过程中对杆塔和导线的跟踪。同时,文中讨论了该算法对于GPS定位精度的要求,并通过试验证明了该算法的可行性。A system for inspecting power transmission lines based on unmanned aerial vehicle（UAV） is developed,and equipments such as visible light camera,thermal infrared imager and ultraviolet imager are applied to comprehensively detect the defects of power transmission lines,high-voltage towers and insulators.This paper proposes a tracking algorithm of transmission lines and towers.On condition that GPS information of UAV location and towers is given,the ideal camera shooting angle for power transmission lines and towers is calculated by geographical coordinate system transformation as well as fast distance calculating algorithm using GPS.Then the control angle can be adjusted automatically to realize the tracking process.Meanwhile,requirements for accuracy of GPS positioning are discussed,and the feasibility of this algorithm is proved by tests.

关 键 词：无人飞行器 输电线路巡检系统 杆塔跟踪算法 导线跟踪算法 

分 类 号：TM755[电气工程—电力系统及自动化]