Autonomous power line detection and tracking system using UAVs
Autonomous power line detection and tracking system using UAVs
复制标题
DOI：
10.1016/j.micpro.2022.104609
复制
发表时间：
2022-08-27
影响因子：
2.6
通讯作者：
Ebeid, Emad
中科院分区：
文献类型：
--
作者：
Schofield, Oscar Bowen;Iversen, Nicolai;Ebeid, Emad
世界各地的大部分架空输电基础设施正在老化，因此需要以高效、经济的方式频繁检查电网，以保持其正常运行。无人机是一种很有前途的基础设施检查解决方案，但是，他们需要进一步的研究和发展，使其能够自主进行大规模的检查options.This本文提出了一个无人机框架的基础上，开源平台的自主检查电网基础设施。该框架包括（1）用于附近电力塔地理位置数据的云服务;（2）用于塔导航和电缆抓取的定位系统;以及（3）使用机载传感器进行电缆检查的电缆跟踪算法。所提出的框架的软件功能已在模拟电力线环境中进行了验证。定制无人机已被开发用于在未通电的电力线环境中验证框架和算法。
A large portion of overhead power transmission infrastructure around the world is becoming aged, raising the demand for frequent grid inspections in an efficient, cost-effective manner in order to keep it functional. Drones are a promising solution for infrastructure inspection, however, they require further investigation and development to enable their autonomy for large scale inspection operations.This paper proposes a drone framework based on open-source platforms for autonomous inspection of electrical grid infrastructure. The framework incorporates (1) a cloud service for geo-location data of nearby power pylons; (2) a localisation system for pylon navigation and cable grasping; and (3) a cable following algorithm for cable inspection using onboard sensors. The software functionality of the proposed framework has been validated in a simulation power line environment. Custom drones have been developed for validating the framework and algorithms within an unenergised power line environment.