电力巡检无人机的开发  

Design of Electric Patrol UAV

作　　者：彭惠芹 程栋 白昱哲 崔何瑞 Peng Huiqin;Cheng Dong;Bai Yuzhe;Cui Herui(Shanxi Datong University,Datong 037003,China)

机构地区：[1]山西大同大学,山西大同037003

出　　处：《黑龙江科学》2024年第2期141-143,共3页Heilongjiang Science

基　　金：2021年山西大同大学大学生创新创业训练计划项目(XDC2021201)。

摘　　要：设计了一款基于四翼无人机的电力巡线机器人,实现对指定巡检电力线路及杆塔状态的实时巡检,根据巡检计划实施巡线,拍摄并存储所发现的异常情况,将其传送到地面显示装置上。无人机部分包括起飞、降落、定高、循迹及飞行方式的调试;巡检巡线控制由色块识别与GPS导航电路组成。无人机利用陀螺仪检测飞行偏角,用A/D转换构成闭环,采用PID算法,通过PWM驱动电路控制无人机转速,实现正常飞行,利用KEIL MDK5对飞行轨迹及飞行状态进行相关程序的编辑轨迹。巡线控制则用Open MV摄像头实现色块识别,以GPIO 口输出低电频的方式控制GPS定位。电力巡线机器人的开发解决了人工作业劳动强度大、劳动效率低等问题,作业准确性高,对周边环境适应性强,能有效降低检测成本,及时发现缺陷,提升检测作业的安全性,从而提高线路管理及维护水平。A power line inspection robot based on four-wing unmanned aerial vehicle(UAV) is designed to realize real-time inspection of the designated power line and the status of the tower.According to the inspection plan,the inspection is carrier out,and the abnormal conditions found are photographed and stored and transmitted to the ground display devices.The design of UAV includes the takeoff,landing,altitude setting,tracking and flight mode debugging.The control of patrol line consists of color block recognition and GPS navigation circuit.UAV uses gyroscope to detect the flight deviation angle,uses A/D conversion to form a closed loop.By adopting PID algorithm,the speed of the UAV is controlled via PWM drive circuit to realize the normal flight of the UAV,and KEIL MDK5 is used to edit the trajectory of the flight trajectory and flight state.Open MV camera is used in line-patrol control to realize color block recognition,and GPIO port is used to output low electrical frequency to control GPS positioning.With the development of electric line patrol robot,we solve the problems of high labor intensity and low labor efficiency in manual operation.It has high accuracy in operation,strong adaptability to the surrounding environment.It can also effectively reduce detection costs,timely find defects,improve the safety of detection operations,and thus improve the level of line management and maintenance.

关 键 词：无人机 Open MV 电力巡线 

分 类 号：TM755[电气工程—电力系统及自动化]