南方电网技术2016，Vol.10Issue(2)：24-31,76,9.DOI:10.13648/j.cnki.issn1674-0629.2016.02.004
大型无人直升机电力线路全自动巡检技术及应用
Automatic Power Line Inspection Technology of Large Unmanned Helicopter and Its Application
摘要
Abstract
There are a lot of problems such as bad environment adaptability,low degree of intelligence,multidisciplinary cross and more difficulty for power line inspection with large unmanned helicopter,at present unmanned helicopter patrol relies mainly on artifi-cial ground operation,in order to improve inspection efficiency and safety,it is of great significance to study automatic inspection technology with large unmanned helicopter. This paper puts forward the concept of full automatic inspection,gives analysis on necessi-ty of automatic inspection,discusses the key technologies on safety inspection of over low altitude and beyond visual range,including real-time differential positioning,communication relay,autonomous obstacle avoidance,high precision measurement of position and attitude,automatic photoelectric tracking,flight plan and path planning,task planning and control. Automatic inspection technology is used in transmission line inspection of power grid in China for the first time,inspection results show that this technology is advanced and effective. Automatic inspection technology represents an efficient,intelligent,and new power inspection mode,the development and progress of the technology has a significant role in promoting intelligent operation and maintenance level of power grid in China.关键词
无人直升机/输电线路/全自动巡检/飞行计划/任务规划/超低空超视距/高精度位姿测量Key words
unmanned helicopter/transmission line/automatic inspection/flight plan/task planning/over low altitude and be-yond visual range/high precision measurement of position and attitude分类
信息技术与安全科学引用本文复制引用
彭向阳,钱金菊,麦晓明,王柯,王锐,易琳..大型无人直升机电力线路全自动巡检技术及应用[J].南方电网技术,2016,10(2):24-31,76,9.基金项目
南方电网公司2013年重点科技项目（K-GD2013-030）。@@@@Supported by the 2013 Key Science and Technology Project of China Southern Power Grid（K-GD2013-030）． （）
