scholarly journals A monocular-based navigation approach for unmanned aerial vehicle safe and autonomous transmission-line inspection

2019 ◽  
Vol 16 (1) ◽  
pp. 172988141982994 ◽  
Author(s):  
Xiaolong Hui ◽  
Jiang Bian ◽  
Xiaoguang Zhao ◽  
Min Tan
Keyword(s):  
Transmission Line ◽  
Unmanned Aerial Vehicle ◽  
Transmission Lines ◽  
Spatial Distance ◽  
Vanishing Point ◽  
Transmission Tower ◽  
Flight Direction ◽  
Field Environment ◽  
Smooth Tracking ◽  
Aerial Vehicle

This article presents a monocular-based navigation approach for unmanned aerial vehicle safe and continuous inspection along one side of transmission lines. To this end, a navigation model based on the transmission tower and the transmission-line vanishing point was proposed, and the following three key issues were addressed. First, a deep-learning-based object detection and a fast and smooth tracking algorithm based on the kernelized correlation filter were combined to locate transmission tower timely and reliably. Second, the vanishing point of transmission lines was computed and optimized to provide unmanned aerial vehicle with a robust and precise flight direction. Third, to keep a stable safe distance from transmission lines, the transmission lines were first rectified by optimizing a homography matrix to eliminate the parallel distortion, and then their interval variation was estimated for reflecting the spatial distance variation. Finally, the real distance from transmission tower was measured by the triangulation across multiple views. The proposed navigation approach and the designed UAV platform were tested in a field environment, which achieved an encouraging result. To the best of authors’ knowledge, this article marks the first time that a safe and continuous navigation approach along one side of transmission lines is put forward and implemented.

scholarly journals Research on small lightweight electromagnetic interference measurement system based on patrol unmanned aerial vehicle

2021 ◽  
Vol 2108 (1) ◽  
pp. 012011
Author(s):  
Pingyuan Liu ◽  
Nian Wu ◽  
Junwen Yao ◽  
Xianbin Ke ◽  
Shiguang Bie ◽  
...  
Keyword(s):  
Transmission Line ◽  
Unmanned Aerial Vehicle ◽  
Measurement System ◽  
Transmission Lines ◽  
Electromagnetic Interference ◽  
Full Spectrum ◽  
Observation Methods ◽  
Interference Measurement ◽  
Aerial Vehicle ◽  
Infrared Cameras

Abstract Unmanned aerial vehicle (UAV) has been widely used in power system inspection. Most of the existing UAVs are equipped with visible and infrared cameras for fast full spectrum photography and fault monitoring of transmission lines. When the transmission line has defects such as aging, broken strand and serious corrosion, the traditional image recognition, infrared and other observation methods can not identify these defects well. In order to realize the rapid detection and judgment of broken strand, this paper analyzes the characteristics of electromagnetic interference of transmission line, and constructs the electromagnetic interference measurement system based on patrol UAV. The research results of this paper can realize the real-time detection and alarm of broken strand, and provide technical support for line inspection.

scholarly journals Vision-based autonomous navigation approach for unmanned aerial vehicle transmission-line inspection

2018 ◽  
Vol 15 (1) ◽  
pp. 172988141775282 ◽  
Author(s):  
Xiaolong Hui ◽  
Jiang Bian ◽  
Xiaoguang Zhao ◽  
Min Tan
Keyword(s):  
Unmanned Aerial Vehicle ◽  
Transmission Lines ◽  
Autonomous Navigation ◽  
Three Dimensional ◽  
Transmission Tower ◽  
Correlation Filters ◽  
Convolutional Networks ◽  
Fully Convolutional Networks ◽  
Perspective Image ◽  
Aerial Vehicle

This article presents an autonomous navigation approach based on a transmission tower for unmanned aerial vehicle (UAV) power line inspection. For this complex vision task, a perspective navigation model, which plays an important role in the description and analysis of the flight strategy, is introduced. Based on the proposed navigation model, valuable cues are excavated from a perspective image, which enhances the capability of the perception of three-dimensional direction and simultaneously improves the safety of intelligent inspection. Specifically, for robust and continuous localization of the transmission tower, a developed detecting-tracking visual strategy—comprised tower detection based on a faster region-based convolutional neural network and tower tracking by kernelized correlation filters—is presented. Further, segmentation by fully convolutional networks is applied to the extraction of transmission lines, from which the vanishing point (VP), an important basis for determining the flight heading, can be obtained. For more robust navigation, the designed scheme addresses the scenario of a nonexistent VP. Finally, the proposed navigation approach and constructed UAV platform were evaluated in a practical environment and achieved satisfactory results. To the best of our knowledge, this article marks the first time that a navigation approach based on a transmission tower is proposed and implemented.

A three-step synthetic extraction algorithm for transmission lines

2019 ◽  
Vol 233 (17) ◽  
pp. 6218-6228
Author(s):  
Dongsheng Zhang ◽  
Jing Wang ◽  
Rongjuan Han ◽  
Aifen Tian
Keyword(s):  
Feature Extraction ◽  
Transmission Line ◽  
Unmanned Aerial Vehicle ◽  
Transmission Lines ◽  
Detection Efficiency ◽  
Step Method ◽  
Sobel Operator ◽  
Extraction Algorithm ◽  
Aerial Vehicle ◽  
Line Crossing

The combination of vision and unmanned aerial vehicle is an economic and effective solution for transmission line inspection. The key in the process of transmission line inspection is real-time extraction and recognition of transmission lines regardless of the complicated background. The horizontal and vertical disturbances are numerous in the complicated natural background. At the same time, transmission line crossing and different shooting angles of unmanned aerial vehicle lead to the phenomenon of overlapping lines, which makes it more difficult to extract and track transmission lines. Therefore, a three-step synthetic extraction algorithm for transmission lines is proposed in the article. Firstly, in view of the edge extraction problem of the image, a complementary edge feature extraction algorithm combining the Sobel operator with the Log operator is proposed to solve the problems such as discontinuous and uneven edges and low-detection efficiency caused by the general Canny operator for edge detection. Secondly, in view of the line feature extraction, a coarse-fine directional optimization algorithm is proposed. The horizontal and vertical interferences of the extraction of transmission lines under complex background and the problem of line crossing in the image are eliminated. The algorithm has higher detection effect and efficiency than Hough transform. Finally, a similarity determination mechanism is proposed to merge the adjacent lines, which avoids the loss of the tracking line caused by overlapping lines in the image. A quadrotor unmanned aerial vehicle is used to carry out the experiment of transmission line detection in the article. The experimental results demonstrate that the three-step method of line extraction is more effective and efficient than the current algorithms.

Power Transmission Lines Inspection using Properly Equipped Unmanned Aerial Vehicle (UAV)

2018 ◽  
Author(s):  
Alexandros Zormpas ◽  
Konstantia Moirogiorgou ◽  
Kostas Kalaitzakis ◽  
George A. Plokamakis ◽  
Panayotis Partsinevelos ◽  
...  
Keyword(s):  
Unmanned Aerial Vehicle ◽  
Transmission Lines ◽  
Power Transmission ◽  
Power Transmission Lines ◽  
Aerial Vehicle

Simulation System Research on Live Working for 500kV Transmission Line

2013 ◽  
Vol 325-326 ◽  
pp. 673-676
Author(s):  
Lian Yang ◽  
Bin Wang ◽  
Xiao Feng Li ◽  
Chuan Hu
Keyword(s):  
Transmission Line ◽  
Transmission Lines ◽  
Safety Margin ◽  
Stable Operation ◽  
System Research ◽  
Transmission Tower ◽  
Transmission Networks ◽  
Simulation Results ◽  
New System ◽  
The Way

500kV EHV transmission networks have become the main one of the national grid, carring out live working for 500kV EHV transmission lines is the objective requirements to ensure the stable operation of the grid system. This paper uses a new system to simulate and analyse the way of entering the high electric area on 500kV transmission line. The system has built the ZM1 transmission tower and line model, accurately accounted the complex gap and satety distance. The simulation results show that the system can effectively get the best secure route and determine the way to enter into the equipotential with the safety margin.

scholarly journals Nonlinear Seismic Behavior of Different Boundary Conditions of Transmission Line Systems under Earthquake Loading

2016 ◽  
Vol 2016 ◽  
pp. 1-9
Author(s):  
Li Tian ◽  
Xia Gai
Keyword(s):  
Boundary Conditions ◽  
Transmission Line ◽  
Transmission Lines ◽  
Seismic Analysis ◽  
Time History ◽  
Nonlinear Time History Analysis ◽  
Earthquake Loading ◽  
Transmission Tower ◽  
Line System ◽  
Different Boundary Conditions

Nonlinear seismic behaviors of different boundary conditions of transmission line system under earthquake loading are investigated in this paper. The transmission lines are modeled by cable element accounting for the nonlinearity of the cable. For the suspension type, three towers and two span lines with spring model (Model 1) and three towers and four span lines’ model (Model 2) are established, respectively. For the tension type, three towers and two span lines’ model (Model 3) and three towers and four span lines’ model (Model 4) are created, respectively. The frequencies of the transmission towers and transmission lines of the suspension type and tension type are calculated, respectively. The responses of the suspension type and tension type are investigated using nonlinear time history analysis method, respectively. The results show that the responses of the transmission tower and transmission line of the two models of the suspension type are slightly different. However, the responses of transmission tower and transmission line of the two models of the tension type are significantly different. Therefore, in order to obtain accurate results, a reasonable model should be considered. The results could provide a reference for the seismic analysis of the transmission tower-line system.

scholarly journals Detection method based on improved faster R-CNN for pin defect in transmission lines

2021 ◽  
Vol 300 ◽  
pp. 01011
Author(s):  
Jun Wu ◽  
Sheng Cheng ◽  
Shangzhi Pan ◽  
Wei Xin ◽  
Liangjun Bai ◽  
...  
Keyword(s):  
Transmission Line ◽  
Defect Detection ◽  
Transmission Lines ◽  
False Positive Rate ◽  
Detection Algorithm ◽  
Detection Model ◽  
Positive Rate ◽  
Aerial Vehicle ◽  
The Stability ◽  
Small Targets

Defects such as insulator, pins, and counterweight in highvoltage transmission lines affect the stability of the power system. The small targets such as pins in the unmanned aerial vehicle (UAV) inspection images of transmission lines occupy a small proportion in the images and the characteristic representations are poor which results a low defect detection rate and a high false positive rate. This paper proposed a transmission line pin defect detection algorithm based on improved Faster R-CNN. First, the pre-training weights with higher matching degree are obtained based on transfer learning. And it is applied to construct defect detection model. Then, the regional proposal network is used to extract features in the model. The results of defect detection are obtained by regression calculation and classification of regional characteristics. The experimental results show that the accuracy of the pin defect detection of the transmission line reaches 81.25%

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