Research Of Obstacle Avoidance Strategy For Transmission Line Inspection With UAV Based On The Distribution Characteristics Of Electric Field Intensity

The workload of transmission line inspection is heavy,so the traditional manual inspection of transmission line requires a lot of manpower,material and financial resources,and it is difficult to improve the effectiveness and efficiency.Unmanned aerial vehicle(UAV)inspection system is not restricted by terrain environment.This method has the advantages of high security,high speed and high quality.Therefore,UAV has gradually become a new mobile platform for power line inspection in order to improve the efficiency of inspection.In the inspection system of UAV,UAV should be as close as possible to the transmission line to ensure the best inspection effect,so how to avoid the collision with the transmission line is the key to ensure the safety of UAV and transmission line.At present,there are two main types of obstacle avoidance technology:obstacle avoidance technology based on millimeter-wave radar and obstacle avoidance technology based on geographic information system(GIS).The first technology has some problems such as how to reflect the radar wave.The second technology can not be close to the transmission line.Therefore,it is difficult to carry out the clear inspection of the transmission line;also it can not conducive to accurate fault diagnosis.In this paper,the obstacle avoidance control strategy of UAV is proposed based on the electric field distribution characteristics of the transmission line.The space electric field intensity of transmission line is used as the basic parameter of UAV inspection.At the same time,the combination of theoretical calculation and actual measurement is done.And what’s more,the electric field intensity distribution of transmission line is studied.At last,fuzzy neural network is used to realize the obstacle avoidance control.In a word,the purpose is to realize the high-precision obstacle avoidance control of UAV inspection.The research work of this paper includes:① Research on the solution of electric field intensity of EHV and UHV transmission line.Three dimensional solution of the electric field intensity is done by using the method of line element charge simulation method(CSM)when the height of hanging points is same.When the hanging point is not the same height,the electric field intensity is solved by the combination of CSM and moment method(MOM).In addition,the combination of CSM and 3D finite element method is used to simulate the distribution of electric field intensity when it is different to calculate.② This paper presents a new method to realize the measurement of space electric field intensity of transmission line by using the small multi rotor UAV which is carried with test equipments.The scheme makes use of iOSD equipment to realize the real-time synthesis of the test data of the electric field intensity and the location information of the test point.Finally,the measured data and the theoretical analysis result are compared to verify the rationality of the theoretical model.③ In this paper,the influence of voltage level,height,line arrangement,phase sequence,phase spacing and parameters of split conductor on the electric field intensity of transmission line is studied.The study provides a theoretical basis for classification of UAV inspection.④ The obstacle avoidance strategy based on the distribution characteristics of electric field intensity is put forward in this paper.In this strategy,the electric field intensity is used as obstacle avoidance parameter.According to the characteristics of the corridor line,it can be divided into three regions:overhead area,tower area and crossing area,and what’s more,the strategy of obstacle avoidance is considered according to the arrangement of conductors or the form of towers.The obstacle avoidance system can be divided into three major areas,namely:the line overhead area,the tower area and the crossing area.This paper presents a T-S fuzzy neural network control system based on multi-sensor information fusion technology.The control system combines fuzzy control with neural network.Taking the obstacle avoidance control of the corner tower as an example,the simulation results show that the control system has high precision and great control effect.Finally,the design of the obstacle avoidance system is presented,which provides the theoretical basis for the practical application.