Transmission Line Wire Following System Based on Unmanned Aerial Vehicle 3D Lidar

Abstract

Abstract UAV(Unmanned aerial vehicle) wire checking is an efficient and scientific solution of transmission line operations. Aiming at the existing technology, this paper put forward a kind of based on 3D laser radar and ROS (Robot Operating System) of the UAV wire follow System. In the process of power transmission line inspection of wire, the system capture the wire by 3D laser radar mounted on the UAV and calculate the space distance between UAV and the wire and angle of this distance in 3D laser radar coordinate axis, control drone aircraft by PID(Proportion Integration Differentiation) algorithm in the attitude of UAV and inspection speed by the ROS on the onboard computer system platform for real-time wire following and automatic inspection task. Field experiments show that the system can effectively improve the efficiency and safety of wire inspection, and is conducive to the automation, safety and informatization of transmission line inspection process.