Research of Multi-Rotor UAVs Detailed Autonomous Inspection Technology of Transmission Lines Based on Route Planning

He, Tong; Zeng, Yihui; Hu, Zhuangli

doi:10.1109/access.2019.2935551

Cited by 68 publications

(38 citation statements)

References 35 publications

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“…Due to the different requirements for geographic elements, accuracy at different levels of routes, as well as, the different spectrum and morphology features of different objects, the UAV remote sensing observation systems used to obtain different geographic elements are different. For small areas, multi-rotor UAV platforms equipped with tilt cameras [89], [90] enable UAV remote sensing observation systems to obtain three-dimensional tilt images. For large areas, such as China Southern Power Grid (CSPG) [91], helicopters equipped with LiDAR obtain laser point cloud data in order to build three-dimensional images of the power corridor.…”

Section: Uav Remote Sensing and Low-altitude Air Routementioning

confidence: 99%

Recent Research Progress of Unmanned Aerial Vehicle Regulation Policies and Technologies in Urban Low Altitude

et al. 2020

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With the rapid expansion in the number of Unmanned Aircraft Vehicles (UAVs) available and the development of modern technologies, the commercial applications of UAVs in urban areas, such as urban remote sensing (RS), express services, urban road traffic monitoring, urban police security, urban air shows and so on, have increased greatly. However, most UAVs, especially light and small civil UAVs, have been operating in low-altitude airspace, and a conflict may exist between increasing the number of UAVs and the limited low airspace. To promote low-altitude airspace resource development and to standardize the operation and management of UAVs in urban regions, some global laws and regulations and key technologies for urban low-altitude applications of UAVs have been implemented. This paper reviews the development of current policies and key technologies concerning safe and efficient operations of the light-and-small civil UAVs in low altitude in urban areas. Discussions are made progressively on measures and methods of airspace restriction, airspace structuring and air route planning in China primarily and the rest of world. After surveying the practical industry tests and the initial studies of air routes, the survey results indicate that the construction of air route networks is a scientific and effective measure to standardize and improve the efficiency of low-altitude UAV operations. From the view point of safety and efficiency, the most valuable direction for UAV regulation in urban regions involves deepening the research which largely relies on urban RS and Geographic Information System (GIS) technology, and application demonstrations of low-altitude public air route networks. INDEX TERMS Low-altitude airspace, RS and GIS for UAV regulation, UAV regulation technology and policy, Urban region, UAV low-altitude air routes.

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Section: Uav Remote Sensing and Low-altitude Air Routementioning

confidence: 99%

Recent Research Progress of Unmanned Aerial Vehicle Regulation Policies and Technologies in Urban Low Altitude

et al. 2020

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“…The first group comprises dual arm and multi-arm systems capable of rolling along the lines and bypassing obstacles. The use of aerial platforms, either helicopters [23] or multirotors [24], is focused on the inspection of the power lines employing visual, thermal or infrared cameras for detecting faults or damaged components. Multirotors are nowadays extensively used due to their higher maneuverability and controllability compared to helicopters.…”

Section: Introductionmentioning

confidence: 99%

“…Unlike the visual inspection operations conducted with manned helicopters [16] [17] and unmanned aerial platforms [14][15][21] [22][23] [24] by flying several meters away from the power lines, the realization of maintenance tasks like the installation of bird flight diverters using aerial manipulation robots as illustrated in Figure 1 involves the physical and electromagnetic interaction with the conductors in a closer range, raising two problems: the accurate positioning of the aerial robot with respect to the power line, and the electrical protection of the onboard electronic components. Regarding the first point, ref.…”

Section: Introductionmentioning

confidence: 99%

Experimental Evaluation of Aerial Manipulation Robot in Contact With 15 kV Power Line: Shielded and Long Reach Configurations

et al. 2021

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The use of aerial manipulators for the inspection and maintenance of the power grid requires the safe interaction of the robot with high voltage power lines. In order to identify possible faults or malfunctions during the approaching or interaction phases, this paper presents experimental results in a real 15 kV power line, considering four different configurations for the manipulator: 1) aluminum tube attached to the landing gear, 2) robotic arm attached to the multi-rotor base, 3) shielded aerial manipulator, and 4) long reach configuration (insulated). The paper investigates the electromagnetic susceptibility of the autopilot and the electronic speed controllers to the electrostatic discharge (ESD) raised when the manipulator touches the line, causing the momentary failure of the rotors. A model of the electromagnetic effects associated to the interaction with the line is provided, comparing later the effectiveness of the two solutions for the aerial manipulator: shielding, and insulation.

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“…Due to their ubiquitous usability, UAVs will play an important role in the Internet of Things (IoT) and the communication field, and currently, realizing flexible coverage via 5th-generation (5G) mobile networks and millimeter wave networks has been a promising approach [2]- [4]. Among various UAVs, the quadrotor, consisting of four individual rotors in an "×" or a "+" arrangement, has been widely used in the IoT and communications due to its merits of small size, great mobility, and precise hovering in applications [5], such as data collection and transmission, crowd surveillance, and transmission line inspection [6]- [8]. Because communications and control are highly coupled in UAV systems and UAV attitude variation affects the beam direction of data communications, attitude control plays an important role in UAV communications [9]- [11], and a stable quadrotor attitude controller is the basis of these applications.…”

Section: Introductionmentioning

confidence: 99%

Quadrotor Attitude Control via Feedforward All-Coefficient Adaptive Theory

et al. 2020

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The use of quadrotors is proliferating across many civil applications, including those in the areas of the Internet of Things (IoT) and communications. Attitude control plays an important role in these applications, and designing a quadrotor attitude controller is a challenging task. Recently, several design methods for the attitude controller were presented with an accurate model. However, during the flying state, the quadrotor may be affected by several factors that cause unpredictable disturbances to the model. As a result, an accurate model of disturbances is difficult to establish. To address this problem, in this paper, a novel linear feedforward all-coefficient adaptive control (FACAC) strategy based on characteristic modeling is proposed. The contributions of our work are as follows. First, a second-order characteristic model of the quadrotor attitude control is established based on the dynamic equations. Second, an all-coefficient adaptive control (ACAC) controller that consists of the golden-section adaptive control law, the logic integral, and logic differential control laws is designed. The feedforward maintaining and tracking control law is integrated into the ACAC controller to shorten the settling time. Finally, extensive simulation results demonstrate that the performance of the proposed FACAC controller outperforms the state-of-the arts.

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Research of Multi-Rotor UAVs Detailed Autonomous Inspection Technology of Transmission Lines Based on Route Planning

Cited by 68 publications

References 35 publications

Recent Research Progress of Unmanned Aerial Vehicle Regulation Policies and Technologies in Urban Low Altitude

Recent Research Progress of Unmanned Aerial Vehicle Regulation Policies and Technologies in Urban Low Altitude

Experimental Evaluation of Aerial Manipulation Robot in Contact With 15 kV Power Line: Shielded and Long Reach Configurations

Quadrotor Attitude Control via Feedforward All-Coefficient Adaptive Theory

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