Three-dimensional (3D) mapping of power lines is essential for power line inspection. Many remotely sensed data products like light detection and ranging (LiDAR) have been examined for power line surveys. More and more data are being obtained via photogrammetric measurements. This increases the need for the implementation of advanced processing techniques. In recent years, there has been a significant advancement in visualization techniques for power lines using unmanned aerial vehicle (UAV) platform photography. The most advanced of such imaging systems can create dense point clouds. However, the accuracy is very often unstable and dependent on the radiometric quality of images and the efficiency of the image processing technique. In this study, the two-dimensional information is obtained by photographing the real-time panorama of the transmission line channel using a 3D camera, and the three-dimensional information is acquired using laser radar technology. The three-dimensional point orientation of the target object and the transmission line is determined using the mapping relationship between two and three dimensions, the obtained data are calculated, and the calculation results are produced. The proposed method can solve the problem of the image sensor being unable to map spatial distance and can provide broad coverage of the transmission line channel and 24-hours accurate real-time remote monitoring.

At present, the traditional Unmanned Aerial Vehicle (UAV) power line inspection project mainly uses UAV to carry out inspection on transmission lines, substations and distribution lines. However, the traditional way has some problems such as fixed power lines and single inspection target. And because of the independence of power transmission, transformation and distribution departments, the total demand for UAV and UAV controllers is large, and it is difficult to realize the integration of equipment, personnel and technology. In order to further improve the level of lean management, maintenance efficiency of the whole system of transmission, transformation and distribution, and realize scheduling UAV inspection tasks autonomously, this paper establishes a mathematical model based on the genetic algorithm, taking the UAV inspection route planning as the core problem, and taking the shortest total route as the objective function, and iteratively calculates the collected data through the genetic algorithm to obtain the optimal solution, which is finally concluded by analysis and conclusion. By using this model algorithm to plan the route of multi-professional UAV inspection, the total route of UAV inspection has been dramatically reduced, human resources have been reasonably allocated, and the power line inspection has become comprehensive and efficient. Regarding the emergency response speed of UAV inspection, this study selects the nearest nest response to make the nests interact with each other. The hangars that intersect within the coverage can be intelligently coordinated through the task priority to achieve the fastest and most appropriate automatic execution of UAV tasks and effectively improve emergency response efficiency.

Operation accidents caused by deteriorated insulators occur from time to time, which poses a direct threat to the safe and stable operation of transmission lines. Much research has been done at home and abroad on the degradation mechanism of deteriorated insulators, the electric field distribution characteristics of insulator strings and the influence of deteriorated insulators on the space electric field, but there is little research on the influence of three-phase electrification on the space electric field of insulator strings. Therefore, this paper studies the simulation and detection of electric field distribution of deteriorated insulators in three-phase transmission lines. First, the difference between three-phase electrification and single-phase electrification on the space electric field of insulator strings is simulated and analyzed, and the influence of deteriorated insulators on the space electric field distribution of insulator strings under three-phase electrification is studied. Second, based on simulation results, a detection method for deteriorated insulators in three-phase overhead trans-mission lines is proposed, and a non-contact space electric field measurement device based on Unmanned Aerial Vehicle (UAV) is developed. Finally, a Unmanned Aerial Vehicle inspection system is used to test the transmission lines in combination with an electric power department, and the simulation results and the effectiveness of the proposed detection method are verified. Results show the electric field distribution of insulator strings is obviously different between three-phase electrification and single-phase electrification, and when the detection distance is 300 mm, the proposed detection method and device can effectively identify deteriorated insulators in three-phase transmission lines.

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