摘要
为进一步实现500 kV同塔双回输电线路无人机精细化巡检,对其最小安全间距、电磁防护设计、上下线与巡线轨迹规划等进行研究,提出了一套输电线路无人机低空巡检及其电磁防护措施和轨迹规划方法。计算了无人机不受电磁干扰的各相线路巡检的安全间距,依据无人机不发生电弧放电、图像高识别度和仿真试验,确定了无人机低空飞行的最小安全距离。分析不同路径上下线轨迹,得到所受电场强度最小的航行路径,并通过双目测距以维持巡线间距。设计的无人机自主巡检系统,以电磁场传感器为基础,实时监测电场大小,在超出阈值时可做出相应规避措施。整体设计能够保证无人机在500 kV同塔双回输电线路巡检航行的安全、可靠、稳定,在很大程度上提高了无人机巡检的精度和安全性能。为同类型输电线路实现无人机精细化巡检提供了一种参考方案。
In order to further realize the fine inspection of UAV for 500 kV double-circuit transmission lines on the same tower,the minimum safety distance,electromagnetic protection design,trajectory planning of upper and lower lines and patrol lines are studied,and a low-altitude inspection of UAV for transmission lines and its electromagnetic protection measures and trajectory planning methods are proposed.Based on the fact that the UAV is not subject to electromagnetic interference,the safe distance of each phase line inspection is deter⁃mined.According to the fact that the UAV does not have arc discharge,high image recognition and simulation test,the minimum safe distance of the UAV low-altitude flight is determined.The upper and lower line trajecto⁃ries of different paths are analyzed to obtain the navigation path with the smallest electric field intensity,and the distance between the patrol lines is maintained by binocular ranging.The designed UAV autonomous inspection system is based on electromagnetic field sensors to monitor the size of the electric field in real time,and corre⁃sponding avoidance measures can be taken when the threshold is exceeded.The overall design can ensure the safety,reliability and stability of the UAV in the inspection and navigation of 500 kV double-circuit transmission lines on the same tower,and greatly improve the accuracy and safety performance of the UAV inspection.It provides a reference scheme for the same type of transmission line to realize the fine inspection of UAV.
作者
彭马娴
樊绍胜
PENG Maxian;FAN Shaosheng(School of Electrical and Information Engineering,Changsha University of Science and Technology,Changsha 410114,China)
出处
《电力学报》
2023年第1期14-27,共14页
Journal of Electric Power
关键词
特高压输电线路
500
kV同塔双回
无人机
精细化巡检
轨迹规划
安全间距
UHV transmission line
500 kV double circuit on the same tower
UAV
refined inspection
trajectory planning
safe distance
