输电线路多旋翼无人机精细化自主巡检航迹优化方法  

Optimization Method for Fine Autonomous Inspection Route of Transmission Lines by Multi-rotor Unmanned Aerial Vehicle

作　　者：梁文勇 吴大伟[1,2] 谷山强 王海涛[1,2] 严碧武 刘辉[1,2] LIANG Wenyong;WU Dawei;GU Shanqiang;WANG Haitao;YAN Biwu;LIU Hui(NARI Group Corporation Ltd.,Nanjing 211106,China;Wuhan NARI Limited Liability Company,State Grid Electric Power Research Institute,Wuhan 430074,China;Hubei Key Laboratory of Power Grid Lightning Risk Prevention,Wuhan 430074,China)

机构地区：[1]南瑞集团有限公司,南京211106 [2]国网电力科学研究院武汉南瑞有限责任公司,武汉430074 [3]电网雷击风险预防湖北省重点实验室,武汉430074

出　　处：《高电压技术》2020年第9期3054-3061,共8页High Voltage Engineering

基　　金：国家重点研发计划(2018YFF01010803)。

摘　　要：为了进一步提高输电线路多旋翼无人机(unmanned aerial vehicle,UAV)精细化巡检的工作效率,提出了一种基于Douglas-Peucker(DP)算法的单基杆塔无人机巡检航迹优化方法,分别对航行和拍摄阶段的航迹进行冗余航点剔除、航迹平滑处理以及飞行安全校验,制定标准化的无人机自主巡检航迹。在此基础上,以杆塔为独立巡检单元,通过设置中心接入点自动拼接相邻杆塔的巡检航迹,实现多基杆塔无人机的连续自主巡检。最后,以某220kV直线塔为例,开展自主巡检航迹优化处理,结果表明:处理后的航点相比原始航点减少了97.03%,且巡检拍摄关键部位重合率高达92.4%,满足线路精细化巡检的要求。研究结果可为输电线路巡检提供参考。In order to further improve the fine inspection efficiency of transmission lines by using multi-rotor unmanned aerial vehicle(UAV),a UAV inspection route optimization method of single-tower based on Douglas-Peucker(DP)algorithm is proposed.Redundant point removal,route smoothing,and flight safety verification are carried out for the inspection route in navigation and shooting phases,respectively.Then,the standardized UAV autonomous inspection route is formulated.On this basis,a single-tower is considered as an independent inspection unit,by setting a central access,the inspection routes of adjacent towers can be automatically spliced to realize continuous UAV autonomous inspection for multi-towers.Finally,a 220 kV straight-line tower is taken as an example,and the optimization processes for its UAV autonomous inspection route are developed.The results show that,the processed points are 97.03%less than the original ones,and the coincidence rate of key parts in inspection shooting is up to 92.4%,which meets the fine inspection requirements of transmission lines.The research can provide a reference for the inspection of transmission lines.

关 键 词：输电线路 多旋翼无人机 精细化自主巡检 航迹优化 DOUGLAS-PEUCKER算法 中心接入点 

分 类 号：TP391.41[自动化与计算机技术—计算机应用技术] TM75[自动化与计算机技术—计算机科学与技术]