高压电力塔涉鸟异物自动清除方法及系统设计

聂家富　明伟　廖雨飞　钟坚　翟嘉彤　黎晓聪

摘 要：目前，输电线路及高压电力塔上的异物清除主要依靠人工方式进行，高空作业危险系数高，且易受到高温、霜冻等天气影响导致无法作业。本文提出了一种基于无人机的高压电力塔涉鸟异物自动清除方法及系统。在无人机飞行过程中，涉鸟异物距离传感器进行异物扫描，实时获取涉鸟异物与无人机的距离以及与机翼水平方向的偏移角度。根据获取的距离及偏移角度调节伸缩杆和机械手方向及长度，同时根据飞行平衡算法保持无人机飞行平衡，通过机械手对涉鸟异物进行清理，实现对高压电力塔涉鸟异物的自动清除。试验证明，本设计方案可实现对高压电力塔及高压线路涉鸟异物的清除，具有安全可靠、环境适应力强且操作方便的特点。

关键词：无人机（UAV）;高压电力塔;涉鸟异物清除;飞行平衡算法

中图分类号：TM75 文献标识码：A 文章编号：1003-5168（2021）26-0124-03

Method and System Design for Automatic Removal of Foreign Matter

from Wading Birds on High-Voltage Power Tower

NIE Jiafu MING Wei LIAO Yufei ZHONG Jian ZHAI Jiatong LI Xiaocong

（Transmission Management Office of Wuzhou Power Supply Bureau of Guangxi Power Grid Co.， Ltd.， Wuzhou Guangxi 543000）

Abstract： At present， the removal of foreign matters on transmission lines and high-voltage power towers mainly depends on manual methods. The risk factor of high-altitude operation is high， and it is easy to be affected by high temperature， frost and other weather. This paper proposes an automatic removal method and system of bird related foreign matter in high-voltage power tower of UAV. During UAV flight， the bird related foreign matter distance sensor scans the foreign matter， obtains the distance between bird related foreign matter and UAV and the offset angle with the horizontal direction of wing in real time， and adjusts the direction and length of telescopic rod and manipulator according to the obtained distance and offset angle， At the same time， the flight balance of UAV is maintained according to the flight balance algorithm， and the foreign matters involving birds are cleaned by manipulator， so as to realize the automatic removal of foreign matters involving birds in high-voltage power tower. The test results show that the design scheme in this paper can remove the foreign matters involving birds in high-voltage power tower and high-voltage line， and has the characteristics of safety， reliability， strong environmental adaptability and convenient operation.

Keywords： Unmanned Aenal Vehicle（UAV）;high-voltage power tower;bird wading foreign body removal;flight balance algorithm

為了满足城镇发展的需求，电力从发电站输送高压电到各个用电户。在输送过程中，通常会遇到鸟类在高压线上栖息死亡的情况。鸟类尸体、鸟巢等涉鸟异物会对高压线造成损耗，影响供电，需要对其进行清理[1]。目前，输电线路及高压电力塔上的异物清除主要依靠人工方式进行，高空作业危险系数高，在高压线或高压塔上工作操作不当会导致发生意外[2]。因此，它对电力工作人员有较高的技术要求和身体素质要求[3-4]。随着无人机技术的成熟，旋翼无人机以其优异的性能被应用到电力线路巡检、高压电力塔异常检测中[5]。……