无人机红外自主巡检方法研究与应用  

Research and application of infrared autonomous inspection method for UAV

作　　者：陈剑涛 段春瑞 李翔 CHEN Jiantao;DUAN Chunrui;LI Xiang(State Grid Ningxia Shizuishan Electric Power Supply Company,Shizuishan Ningxia 753000,China)

机构地区：[1]国网宁夏电力有限公司石嘴山供电公司,宁夏石嘴山753000

出　　处：《宁夏电力》2022年第3期1-6,共6页Ningxia Electric Power

摘　　要：无人机用于电力线路巡检可提高巡检效率和精度,节约运营成本。通过在无人机上搭载激光测距雷达和红外成像设备组成了输电线路巡检系统的硬件设备,在快速扩展随机树计算基础上开发了雷达避障算法,采用直方图均衡化的方法对系统红外图像进行处理,并在Android操作系统上开发了无人机巡检控制系统。应用结果表明,无人机在巡检时能够自动规避线路障碍,同时通过巡检影像能够清晰地看到线路缺陷,证明了该巡检方法的有效性和可行性。The unmanned aerial vehicle(UAV)for power transmission line inspection can improve the efficiency and precision of inspection and save the operation cost. The hardware equipment of transmission line inspection system is composed of laser ranging radar and infrared imaging equipment on the UAV. Based on the rapid expansion of random tree calculation, the algorithm of radar obstacle avoidance is developed. The method of histogram equalization is used to process the infrared image of the system, and the UAV inspection control system is developed on the Android operating system.The application results show that the UAV can automatically avoid the line obstacles during the inspection, and the line defects can be clearly seen by the inspection image which proves the effectiveness and feasibility of the inspection method.

关 键 词：无人机 激光测距雷达 红外成像 巡检 

分 类 号：TM755[电气工程—电力系统及自动化]