Design And Implementation Of UAV Autonomous Inspection System For Power Pole Tower

With the rapid development of UAV technology combined with applications in various fields,it gradually shows its unique advantages in various industries.Because China’s power transmission lines are widely distributed in the north and south of the river,the geographical location and surrounding environment are usually very complex and harsh,and in order to ensure the safe operation of the national power system,it is necessary to inspect the power facilities regularly.In this context,the traditional inspection method not only consumes huge manpower and material resources,but also has low efficiency and safety coefficient,while the UAV inspection technology solves the above problems well with its high efficiency,low cost and high safety.For this reason,this article proposes and implements a set of UAV autonomous inspection system for power pole tower.In order to accurately and stably complete the autonomous inspection tasks of the power pole tower,it is necessary to obtain high-precision coordinates of inspection points and plan the autonomous inspection tracks based on this.Aiming at this problem,according to the principle of camera imaging and the corresponding algorithm,the inspection target model for solving the inspection point coordinates is established under the system coordinate system of this article.In order to optimize the coordinates of inspection points,the target optimization model is proposed based on the inspection target model combine with the structural information between inspection points in the known tower structure,the calculation and optimization of the inspection points coordinates are completed by the model solving algorithm,in which the inspection points refer to the target points on the tower requiring defect inspection.On this basis,the coordinates of other inspection points are accurately calculated by the known three-dimensional structure of the tower,and combined with the requirements of inspection operations and the structure characteristics of the tower,a method for calculating the coordinate information of the waypoints corresponding to the inspection points is proposed.Finally,the planning of the autonomous inspection track of the power pole tower is completed based on the coordinate information of all waypoints.Based on the algorithm theory of the system,the hardware platform and software platform of the system are constructed.The hardware platform uses DJI Phantom 4 RTK as the carrier,and the necessary data of the system is obtained by carrying high-precision positioning system,camera gimbal and other equipment.In the design of the software platform,the software development platform of the system is first constructed in the Linux environment,and then the software system is divided into three modules according to the design framework: data acquisition and processing,inspection point calculation and optimization,and track planning,and the detailed contents of each module software design are given.Before testing the whole system,an experiment is designed to test the core of the system—the effectiveness of the algorithm for solving the inspection point coordinates,and the experimental analysis shows that the accuracy of the algorithm fully meets the requirements of the system.Finally,the whole system is used to carry out the actual autonomous inspection test of the power pole tower.The test results show that the system can complete the inspection task stably and accurately,thereby verifying the effectiveness and feasibility of the system.