基于北斗定位的输电通道人机协同巡检  

Human-Robot Cooperative Patrol Inspection of Power Transmission Channels Based on Beidou Positioning

作　　者：王昊 张宸瑞 WANG Hao;ZHANG Chenrui(China Southern Power Grid Digital Power Grid Research Institute Co.,Ltd.,Guangzhou 510000,Guangdong,China)

机构地区：[1]南方电网数字电网研究院有限公司,广东广州510000

出　　处：《电网与清洁能源》2024年第12期71-77,共7页Power System and Clean Energy

基　　金：中国南方电网有限责任公司科技项目(030600KK51200001)。

摘　　要：输电通道巡检性能效果不佳会导致通道受损,威胁电网用电安全。为提高输电通道巡检效率、降低电网安全隐患,提出一种基于北斗定位的输电通道人机协同巡检方法。无人机搭载北斗定位,通过Web墨卡托投影采集输电通道样地数据,确定输电通道巡检路线;提取人工监测输电通道故障参数,识别叠加电流、电压频率的故障特征,根据该特征设定巡检最佳线路,实现输电通道人机协同巡检。实验结果表明:所提方法巡检出故障节点11个,且巡检路径与输电通道的结构较为吻合;巡检出电力系统输电通道缺陷6处,且巡检时间仅为2.3 s,ROC曲线下真阳性率与假阳性率围成的面积约为5000。该方法巡检效果较好、巡检效率和巡检正确率均较高,具有较好的性能。Poor inspection performance of transmission channels leads to channel damages,which threatens the safety of power grids.To improve the inspection efficiency of the transmission channel and reduce the potential security risks of the power grid,a human-computer coordinated inspection method for power transmission channels based on Beidou positioning is proposed in this paper.The UAV equipped with Beidou positioning collects the sample data of the transmission channel through Web Mercator projection to determine the inspection route of the transmission channel,extract the fault parameters of the manually monitored transmission channel,identify the fault characteristics of the superimposed current and voltage frequency,and set the best inspection route based on these characteristics so that the human-machine collaborative inspection of the transmission channel can be realized.The experimental results show that the number of fault nodes detected by the proposed method is 11,and the routing path is more consistent with the structure of the transmission channel.6 defects of the transmission channel are detected by the proposed method,and the routing time is only 2.3 seconds.The area enclosed by the true positive rate and false positive rate on the ROC curve is approximately 5,000.This method has good inspection effects,high inspection efficiency,and high inspection accuracy,and good performance.

关 键 词：北斗定位 人机协同 输电通道 温度 叠加电流 电压频率 

分 类 号：TM712[电气工程—电力系统及自动化]