下载PDF
{"title":"Construction of Power Line Inspection System Using a Quadrotor Helicopter","authors":"Kenta Takaya, Hiroshi Ohta, Keishi Shibayama, Akira Inoue, Valeri Kroumov","doi":"10.1002/tee.24150","DOIUrl":null,"url":null,"abstract":"<p>This work presents a construction of a novel system for autonomous inspection of power transmission lines using a quadrotor helicopter. The aircraft follows the power lines at a constant distance and acquires high-resolution images of the conductors, dampers, and towers. Monitoring of the vegetation under the power lines is also performed. The traditional inspection is carried out by helicopters equipped with high-resolution cameras or by direct visual examination by personnel climbing over de-energized power lines. However, visual inspection is time-consuming, labor-intensive, and dangerous, and often, helicopter cameras cannot capture the acute details needed for accurate and comprehensive examinations. This work successfully evaluates a mathematical model for the quadrotor helicopter used in autonomous inspection through simulations and flight experiments. Two control strategies for power line tracking are compared: a classical PID and a fuzzy PD control. Several simulations and experimental results confirm the efficiency of both control laws, but the fuzzy controller performs better under strong wind disturbances. The results of this work will be implemented by an electric power company to inspect electrical transmission facilities regularly. © 2024 The Author(s). <i>IEEJ Transactions on Electrical and Electronic Engineering</i> published by Institute of Electrical Engineers of Japan and Wiley Periodicals LLC.</p>","PeriodicalId":13435,"journal":{"name":"IEEJ Transactions on Electrical and Electronic Engineering","volume":"19 11","pages":"1803-1816"},"PeriodicalIF":1.0000,"publicationDate":"2024-06-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1002/tee.24150","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"IEEJ Transactions on Electrical and Electronic Engineering","FirstCategoryId":"5","ListUrlMain":"https://onlinelibrary.wiley.com/doi/10.1002/tee.24150","RegionNum":4,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q4","JCRName":"ENGINEERING, ELECTRICAL & ELECTRONIC","Score":null,"Total":0}
引用次数: 0
引用
批量引用
Abstract
This work presents a construction of a novel system for autonomous inspection of power transmission lines using a quadrotor helicopter. The aircraft follows the power lines at a constant distance and acquires high-resolution images of the conductors, dampers, and towers. Monitoring of the vegetation under the power lines is also performed. The traditional inspection is carried out by helicopters equipped with high-resolution cameras or by direct visual examination by personnel climbing over de-energized power lines. However, visual inspection is time-consuming, labor-intensive, and dangerous, and often, helicopter cameras cannot capture the acute details needed for accurate and comprehensive examinations. This work successfully evaluates a mathematical model for the quadrotor helicopter used in autonomous inspection through simulations and flight experiments. Two control strategies for power line tracking are compared: a classical PID and a fuzzy PD control. Several simulations and experimental results confirm the efficiency of both control laws, but the fuzzy controller performs better under strong wind disturbances. The results of this work will be implemented by an electric power company to inspect electrical transmission facilities regularly. © 2024 The Author(s). IEEJ Transactions on Electrical and Electronic Engineering published by Institute of Electrical Engineers of Japan and Wiley Periodicals LLC.
利用四旋翼直升机构建电力线路检测系统
本作品介绍了一种利用四旋翼直升机对输电线路进行自主检测的新型系统。该飞行器以恒定的距离跟踪输电线路,并获取导线、阻尼器和杆塔的高分辨率图像。此外,还可对输电线下的植被进行监测。传统的检查由配备高分辨率相机的直升机进行,或由工作人员爬过断电的电力线进行直接目视检查。然而,目视检查耗时、耗力且危险,而且直升机摄像机往往无法捕捉到准确全面检查所需的锐利细节。这项工作通过模拟和飞行实验,成功评估了用于自主检查的四旋翼直升机数学模型。比较了两种电力线跟踪控制策略:经典 PID 控制和模糊 PD 控制。一些模拟和实验结果证实了两种控制法的效率,但模糊控制器在强风干扰下表现更好。这项工作的成果将由一家电力公司用于定期检查输电设施。© 2024 作者姓名IEEJ Transactions on Electrical and Electronic Engineering 由日本电气工程师学会和 Wiley Periodicals LLC 出版。
本文章由计算机程序翻译,如有差异,请以英文原文为准。