无人机电力线路安全巡检系统及关键技术

彭向阳1，刘正军2，麦晓明1，罗智斌2，王柯1，谢小伟2

(1.广东电网公司电力科学研究院，广州 510080；2.中国测绘科学研究院，北京 100830)

摘要：近年来架空输电线路架设规模日益扩大，由于其覆盖范围区域广、穿越区域地形复杂并且自然环境恶劣，采用人工定期巡检的方式越来越不能满足现代电力系统安全稳定运行的需要。无人机技术的发展为架空输电线路巡检工作提供了新的平台，借助无人直升机，通过遥感技术应用，采用多传感器集成的方法，可实现电力线路安全巡检工作的高效和全自动化开展。本文介绍了基于遥感技术的电力线路安全巡检系统的基本概念和组成部分，重点分析了主要的关键技术，包括无人机飞行姿态控制、多传感器间高精度时间同步、缺陷探测和智能诊断、机载传感器检校、无线通讯、地面数据处理等，将无人直升机用于电力线路巡检工作的技术要点进行了较为全面的阐述。

关键词：电力线路巡检；多传感器集成；无人机；线路缺陷；智能诊断

doi:10.3969/j.issn.1000-3177.2015.01.009

中图分类号：TM755文献标识码：A

收稿日期：2014-02-26

基金项目：高分辨率对地观测重大专项(民用部分)(02-Y30B06-9001-13115);北京市自然科学基金项目(8144052)。

作者简介：李天祺(1990～)，男，硕士研究生，研究方向为遥感植被分类研究。

A Transmission Line Inspection System Based on Remote Sensing：

System and Its Key Technologies

PENG Xiang-yang1，LIU Zheng-jun2，MAI Xiao-ming1，LUO Zhi-bin2，WANG Ke1，XIE Xiao-wei2

(1.ElectricPowerResearchInstituteofGuangdongPowerGridCorporation，Guangzhou510080；

2.ChineseAcademyofSurveyingandMapping，Beijing100830)

Abstract：In recent years，with the fast expanding of the scale of overhead transmission lines，coverage of the power transmission system has being greatly increasing，more and more lines spread into the area of complicated terrain and harsh natural environment.Traditional manual inspection work does not meet the demands of increasing safety and stability of the modern power grid.The newly developed unmanned aerial vehicle (UVA) technoloy provides a neoteric platfrorm to carry out this inspection in addition to the artificial means.With the help of unmanned helicopters，remote sensing applications and multi-sensor integration，it is made achievable that the trasmission line inspection can be carried out more efficiently and fully automated.In this paper，the basic concepts and components of a transmission line inspection system based on remote sensing were introduced.The key technologies in this inspection system，mainly including UAV flight attitude control，precise time synchronization between multiple sensors，defect detection and intelligent diagnostic，airborne sensor calibration，wireless communications，massive data processing and etc.，were also detailed to present a more comprehensive exposition on how to perform transmission line inspteciton work using unmanned helicopters.

Key words：transmission line inspection system；multi-sensor integration；unmanned aerial vehicle (UAV)；line defect；intelligent diagnosis

1引言

架空电力线路覆盖范围广、穿越区域地形复杂并且自然环境恶劣。由于电力线路、杆塔长期在野外暴露，加上机械张力、材料老化、雷击、污秽等外界因素影响，容易发生导地线断股及腐蚀、绝缘子破损及发热、杆塔倾斜、线路走廊安全距离不足等设备缺陷或通道安全隐患，如不及时发现并处理，可能会导致严重事故，严重威胁电力系统的安全和稳定。……