Research on Platform Construction and Path Planning of UAV Inspection Pylons
Hong Ye, Hong Mei · 2023
At present, the inspection of power lines mainly relies on drones and cameras to inspect the lines. Through image analysis, certain faults in power lines and Pylon can be detected, but the inspection of power lines has not yet been fully intelligent, mainly reflected in the automatic determination of cruising route, automatic avoidance of obstacles, and automatic detection of Pylons' faults. This article proposes to obtain all possible cruising routes by constructing Voronoi diagrams, the least expensive planar scanning method for Voronoi graph was used for construction all possible paths, the time and spatial complexity of the algorithm are O (nlogn) and O (n) memory. Determine the inspection path with the goal of minimum inspection time, avoid obstacles, and inspect all inspection points. And an unmanned aerial vehicle (UAV) automatic inspection platform for power lines in Jinhua area, Zhejiang Province was constructed, Base on this platform, a case study was presented using actual inspention point coordinates and obstacles as data, the results indicates that not only does the cruising route avoid obstacles, the flight route around obstacles is also relatively smooth, but the cruising path is the shortest.