摘要
偏远地区的输电塔所处地形复杂,通常远离公路,巡检时难以靠近设备,耗时耗力。针对这一问题,提出一种新型、安全、高效的基于垂起固定翼技术人工智能巡检作业形式。使用X plane-10飞行模拟软件仿真系统,对输电塔的视线高低角和视线方位角进行计算。仿真结果表明,垂起无人机可以在固定翼状态下对固定目标进行精确而稳定的绕圈飞行,并可以通过视觉信息对飞行高度进行有效调整。该方案的算法已应用在性能可靠的硬件模块中,具备实际飞行巡检能力。
Transmission towers in remote areas are located in the complex terrain.They are usually far away from roads,making it difficult for inspectors to approach deploy auxiliary inspection equipment.Therefore,inspection tasks for such transmission towers have become a time-consuming and laborious hard bone.In response to this problem,it proposes a new,safe and efficient form of inspection operations based on a vertical take-off and landing fixed-wing unmanned aerial vehicle(UAV).It is equipped with a strap-down lateral imaging module to assist in the inspection of electrical towers.The simulation results show that when the drone reaches a certain transmission tower,the drone can be controlled to hover around the center point of the transmission tower at a fixed height.And the flight altitude can be effectively adjusted through visual information.The algorithm of the scheme in this paper has been implemented in a reliable hardware module and has the capability of actual flight inspection.
作者
赵昊东
许超
王明馨
李小兰
ZHAO Haodong;XU Chao;WANG Mingxin;LI Xiaolan(State Grid Shenyang Power Supply Company,Shenyang,Liaoning 110003,China;Shenyang Agricultural University, Shenyang,Liaoning 110866,China)
出处
《东北电力技术》
2021年第4期16-19,26,共5页
Northeast Electric Power Technology
关键词
人工智能
数字化
垂起固定翼无人机
侧视捷联成像模块
定高绕圈控制
artificial intelligence
digitalization
vertical take-off and landing fixed-wing
strap-down lateral imaging module
loiter flight control
