摘要
随着人们对于电力的需求量越来越大,相应的电力巡检的要求也越来越高。文中设计了基于四旋翼无人机的二次屏柜巡检系统。为解决无人机在室内GPS拒止问题,文中通过AprilTag算法配合传感器高度信息,实现无人机室内飞行路径规划功能、姿态矫正、自主飞行;在机载树莓派内存入任务程序,该程序将利用飞控和传感器实现对任务地点二维码的寻找和判断,并在达到指定点后执行拍摄任务;通过局域网将采集的图像传输到地面服务器,并输入到预先训练好的CNN网络模型中进行异常检测;依据识别结果判断二次屏柜是否工作正常,并将检测结果上传到显示平台。最终项目在贵州铜仁变电站室内二次屏柜现场测试成功。
With the increasing demand of people for electricity, the requirements for corresponding power inspections become higher and higher. A secondary screen cabinet inspection system based on a quadrotor UAV is designed in this paper. Firstly, in order to solve the indoor GPS rejection problem of the UAV, the AprilTag algorithm is used in conjunction with the sensor height information to realize the indoor flight path planning function, attitude correction, and autonomous flight of the UAV. Then, the mission program is stored in the onboard Raspberry Pi. This program will use the flight controller and sensors to find and judge the QR code of the mission location, and execute the shooting mission after reaching the designated point. Then, the collected images are transmitted to the ground server through the local area network, and input to the pre-trained CNN network model for anomaly detection. According to the recognition result, it is judged whether the secondary screen cabinet works normally or not, and the detection result is uploaded to the display platform. The final project is successfully tested in the indoor secondary screen cabinet of Tongren Substation in Guizhou.
作者
罗显跃
周敬余
禹天润
潘俊
周思源
齐冬莲
Luo Xianyue;Zhou Jingyu;Yu Tianrun;Pan Jun;Zhou Siyuan;Qi Donglian(Tongren Power Supply Bureau,Guizhou Power Grid Co.,Ltd.,Tongren 554300,Guizhou,China;School of Electrical Engineering,Zhejiang University,Hangzhou 310027,China)
出处
《电测与仪表》
北大核心
2022年第7期175-182,共8页
Electrical Measurement & Instrumentation
基金
贵州电网有限责任公司铜仁供电局2019年职工创新项目(002200000048056)。
作者简介
罗显跃(1980-),男,工程师、高级技师,本科,从事电气操作票管理工作。Email:149886442@qq.com;周敬余(1980-),男,助理工程师、高级技师,本科,从事电气操作票管理工作。Email:26870267@qq.com;禹天润(1994-),男,助理工程师,本科,从事电气操作票管理工作。Email:870517529@qq.com;潘俊(1992-),男,高级工,本科,从事电气操作票管理工作。Email:252410250@qq.com;周思源(1995-),男,本科,从事电气操作票管理工作。Email:371283340@qq.com;齐冬莲(1973-),女,教授,博士生导师,博士,从事非线性系统分析与控制、信号分析与处理等方面研究。Email:qidl@zju.edu.cn。
