CN103163881A - 基于固定翼无人机的输电线路巡检系统 - Google Patents

基于固定翼无人机的输电线路巡检系统 Download PDF

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CN103163881A
CN103163881A CN2011104256278A CN201110425627A CN103163881A CN 103163881 A CN103163881 A CN 103163881A CN 2011104256278 A CN2011104256278 A CN 2011104256278A CN 201110425627 A CN201110425627 A CN 201110425627A CN 103163881 A CN103163881 A CN 103163881A
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remote sensing
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冯超
李飞
黄朝阳
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NANJING AEROSPACE YINSHAN ELECTRICAL CO Ltd
State Grid Corp of China SGCC
Beijing Electric Power Corp
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NANJING AEROSPACE YINSHAN ELECTRICAL CO Ltd
State Grid Corp of China SGCC
Beijing Electric Power Corp
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Abstract

本发明公开了一种基于固定翼无人机的输电线路巡检系统,包括:地面站、固定翼无人机;其中,地面站包括:地面控制系统、图像接收系统,以及数据处理系统;固定翼无人机包括:无人机机体、遥感监测装置、实时检测装置、图像传送系统、指令接收系统、动力系统,以及飞行控制系统;其中,遥感监测装置用于定时、定距,或定点采集输电线路所在区域的图像信息,实时检测装置用于实时采集输电线路所在区域的视频信息;遥感监测装置和实时检测装置以前后相邻、正射地面的方式设置在无人机机体上。通过本发明,能够对输电线路及其附属设备进行定期或应急的宏观巡检,从而能大大降低人工输电线路巡检工作的劳动强度,提高输电线路巡检工作的效率。

Description

基于固定翼无人机的输电线路巡检系统
技术领域
[0001] 本发明涉及电力领域,具体而言,涉及一种基于固定翼无人机的输电线路巡检系统。
背景技术
[0002] 在我国,电网的输电线路具有以下特点:1、输电线路分布的地形、线下环境都比较复杂;例如,很多高压线路处在野外荒山或者远离城镇的地方,特别容易受到外力破坏(例如,树木的快速生长或者违章建筑的出现)的影响。2、输电线路分布范围广、覆盖面大、自然环境恶劣;尤其是对于一些分布于山区的输电线路和跨越大江、大河的输电线路来说,由于其所处地区特别容易发生冰灾、水灾、震灾、滑坡、泥石流等诸多自然灾害,而导致这些线路的自身安全系数大大降低。鉴于此,电力部门对其所管辖区域的电网的输电线路负有及其重要的巡检责任。
[0003] 但是,如果传统的人工巡检方式对输电线路进行巡检,由于巡检的工作强度和任务难度大、花费时间长导致巡检效率极低,所采集信息的准确性、完整性也不高,并且浪费了人力、物力。针对这种情况和越来越高的输电可靠性要求,电力行业开发了各种新的巡检输电线路的方式,例如,采用航空飞行平台的输电线路巡检技术正逐步应用于工程实践,并越来越显示出优越性,其中,有人驾驶飞行平台以轻型直升机为主,无人驾驶飞行器平台以小中型无人机、无人直升机、无人飞艇或者多旋翼无人机为主。目前,应用比较广泛的巡检方式是利用无人机快速巡检输电线路的周边情况,从而能够及时发现输电线路的线下施工情况或者隐患点的变化情况,为电力工作人员提供第一手的资料,并便于其后续制定、开展防外力或者反外力的方案,达到降低外力破坏的目的。
[0004] 相关现有技术
[0005] 1、申请号为200910017047.8的“巡检架空线路线盒杆塔用无人直升机系统及方法”的发明专利,以及《山东电力技术》2010年第I期发表的“利用无人直升机巡检输电线路”论文,在上述两个方案中,采用无人直升机携带检测设备、控制设备和通信设备,沿着架空线路走廊巡检线路和杆塔。但是,上述方案中的无人直升机的固有稳定性不足、人工操作专业性要求高,为了满足有效载荷和抗风性能的要求,其必须具有相当的尺度和质量;而且,高速旋转的旋翼对输电线路设备、周围环境和地面人员潜在危害性很大、运行风险也较高,导致其综合应用推广的潜力非常有限。
[0006] 2、申请号为200810224172.1的“一种用于检测输电线路绝缘子的飞行机器人”的发明专利,该专利专门用于输电线路绝缘子的检测,并未涉及到输电架空线路走廊大范围的检测,因而,不能解决对处在容易冰灾、水灾、震灾、滑坡,或泥石流等自然灾害的地区的输电线路巡检困难的问题。
[0007] 3、申请号为201110055423.X的“基于多旋翼无人飞行器的输电线路巡检系统”的发明专利,该专利可以用于输电线路巡检,但是,该专利中的图像传输距离较近,只能进行小范围的巡检,不能完成一次性的长距离、大范围的架空线路的巡检,而且,不具有实时回传视频和照片、对比分析线路实际情况的功能。
[0008] 由此可见,目前的输电线路巡检方案中普遍存在着系统复杂度高、操控专业性强、运行成本和风险高、智能化水平低等不足,且现有的无人机巡检系统任务载荷低、航时短、单次巡视范围小等缺点,而且不能做到实时的视频图像的宏观查看、及时取得相应部分的高分辨率的照片图像信息。
发明内容
[0009] 本发明的主要目的在于提供一种基于固定翼无人机的输电线路巡检系统,以解决上述技术问题之一。
[0010] 为了实现上述目的,根据本发明提供的基于固定翼无人机的输电线路巡检系统包括:地面站、固定翼无人机;其中,地面站包括:地面控制系统、图像接收系统,以及数据处理系统;固定翼无人机包括:无人机机体、遥感监测装置、实时检测装置、图像传送系统、指令接收系统、动力系统,以及飞行控制系统;其中,遥感监测装置用于定时、定距,或定点采集输电线路所在区域的图像信息,实时检测装置用于实时采集输电线路所在区域的视频信息;遥感监测装置和实时检测装置以前后相邻、正射地面的方式设置在无人机机体上。
[0011] 优选地,图像传送系统包括:图传天线和图像传输发射机,其中,图像传输发射机,用于通过图传天线将遥感监测装置采集的图像信息,和实时监测装置采集的视频信息发送给地面站的图像接收系统。
[0012] 优选地,图像接收系统包括:图像传输接收机,用于接收图像发射机发送的遥感监测装置采集的图像信息,和实时监测装置采集的视频信息。
[0013] 优选地,遥感监测装置包括:(XD成像设备,其中,CXD成像设备的像素为2110万,CCD成像设备的镜头长度为85mm ;CCD成像设备的电子快门线与飞行控制系统中的自动驾驶仪相连。
[0014] 优选地,CXD成像设备的拍摄时间大于2小时、拍摄范围大于200平方公里。
[0015] 优选地,实时监测装置包括:视频采集设备,其中,视频采集设备设置有一个70_的镜头,视频采集设备的像素为1080万。
[0016] 优选地,数据处理系统,用于对图像接收系统接收的遥感监测装置采集的图像信息,和实时监测装置采集的视频信息进行分析、处理操作。
[0017] 优选地,数据处理系统包括:遥感数据处理模块、遥感数据浏览模块、遥感数据对比模块、预测分析处理模块,以及报表模块。
[0018] 优选地,自动驾驶仪包括:飞行传感器和GPS导航仪,其中,飞行传感器集成3个加速度、3个角速度、空速,以及气压;GPS导航仪配置输电线路所处区域的位置信息。
[0019] 优选地,指令接收系统包括:电台、指令天线,其中,电台,用于通过指令天线接收地面站的地面控制系统发送的控制指令,和向地面站发送反馈指令。
[0020] 通过本发明,采用基于固定翼无人机的输电线路巡检系统,解决了地形复杂、自然环境恶劣导致对输电线路及其附属设备进行定期或应急的宏观巡检困难的问题,进而达到了能够及时掌握线路运行状态和架空线路走廊环境变化,从而能大大降低人工输电线路巡检工作的劳动强度,提高输电线路巡检工作的效果。附图说明
[0021] 构成本申请的一部分的附图用来提供对本发明的进一步理解,本发明的示意性实施例及其说明用于解释本发明,并不构成对本发明的不当限定。在附图中:
[0022]图1是根据本发明实施例的基于固定翼无人机的输电线路巡检系统的结构示意图;
[0023]图2是根据本发明优选实施例的基于固定翼无人机的输电线路巡检系统的工作原理示意图;
[0024] 图3是根据本发明优选实施例的固定翼无人机的主要结构示意图。
具体实施方式
[0025] 需要说明的是,在不冲突的情况下,本申请中的实施例及实施例中的特征可以相互组合。下面将参考附图并结合实施例来详细说明本发明。
[0026] 图1是根据本发明实施例的基于固定翼无人机的输电线路巡检系统的结构示意图,如图1所示,该基于固定翼无人机的输电线路巡检系统,包括:地面站、固定翼无人机;其中,地面站包括:地面控制系统、图像接收系统,以及数据处理系统;固定翼无人机包括:无人机机体、遥感监测装置、实时检测装置、图像传送系统、指令接收系统、动力系统,以及飞行控制系统;其中,遥感监测装置用于定时、定距,或定点采集输电线路所在区域的图像信息,实时检测装置用于实时采集输电线路所在区域的视频信息;遥感监测装置和实时检测装置以前后相邻、正射地面的方式设置在无人机机体上。
[0027] 在实际应用中,图像传送系统可以包括:图传天线和图像传输发射机,其中,图像传输发射机,用于通过图传天线将遥感监测装置采集的图像信息,和实时监测装置采集的视频信息发送给地面站的图像接收系统。图像接收系统可以包括:图像传输接收机,用于接收图像发射机发送的遥感监测装置采集的图像信息,和实时监测装置采集的视频信息。
[0028] 优选地,遥感监测装置多使用C⑶成像设备,其中,C⑶成像设备的像素为2110万,CCD成像设备的镜头长度为85mm ;CCD成像设备的电子快门线与飞行控制系统中的自动驾驶仪相连。其中,CXD成像设备的拍摄时间大于2小时、拍摄范围大于200平方公里。
[0029] 在实际应用中,实时监测装置可以包括:视频采集设备,其中,视频采集设备设置有一个70mm的镜头,视频采集设备的像素为1080万。
[0030] 优选地,数据处理系统,用于对图像接收系统接收的遥感监测装置采集的图像信息,和实时监测装置采集的视频信息进行分析、处理操作。在实际应用中,数据处理系统可以包括:遥感数据处理模块、遥感数据浏览模块、遥感数据对比模块、预测分析处理模块,以及报表模块。
[0031] 在实际应用中,设置在无人机机体上的自动驾驶仪可以包括:飞行传感器和GPS导航仪,其中,飞行传感器集成3个加速度、3个角速度、空速,以及气压;GPS导航仪配置输电线路所处区域的位置信息。
[0032] 优选地,指令接收系统包括:电台、指令天线,其中,电台,用于通过指令天线接收地面站的地面控制系统发送的控制指令,和向地面站发送反馈指令。
[0033] 下面结合图2、图3对所述系统进行详细描述。
[0034] 在本发明实施例中,固定翼无人机的机载任务设备同时具有遥感监测装置(在实际应用中,多为C⑶成像设备,例如,照相装置)和实时监测装置(在实际应用中,多为视频采集设备,例如,摄像装置)、无人机平台(包括无人机本体和其他必要的辅助设备)、遥测通信、图像传输。其中,该固定翼无人机的任务载荷的摄像装置和照相装置同时设置在无人机的同一个任务舱内(例如,安装在无人机机体的前下部分),并且采用前后相邻、正射地面的安装方式,这样的设置方式可以确保采集的视频信息和照片信息所涵盖的输电线路所在区域的图像信息一致,这样在对架空输电线路进行定期检查或应急检查时,能够同时通过图像传输系统传输到地面站,以供进行输电线路检测的工作人员做出决策。地面站通过接收到的视频信息可以比较直观地观察输电线路周围的情况,例如,可以比较容易地发现输电线路的走廊环境及线路杆塔的实际情况。如果从视频信息中发现某处区域的输电线路存在故障或其他异常问题,或者发现违规建筑物、倒塔等情况,就能通过视频信息快速找出相对应的照片,即可以迅速找到对应与该区域的照片信息,由于照相装置的像素比摄像装置的像素高,所以,从照片信息中能更入微的观察线路情况,进而可以迅速地作出解决方案。
[0035] 请参考图2,图2是根据本发明优选实施例的基于固定翼无人机的输电线路巡检系统的工作原理示意图,从图2中可以清楚地了解视频信息或者照片信息的传输过程。
[0036] 在图2示出的图像信息的传输过程中,固定翼无人机上配备的图像传送系统(也可称为图像发射端,包括图传天线和图像传输发射机)将摄像相装置拍摄的视频信号(视频信息)进行视频信息采集编码、信道编码,以及DA (数模)转换后经过上变频调制到指定的频点上,再经过高频功率放大后由图传天线(位于数传电台)发射出去;而地面站的图像接收系统(也可以称为图像接收端,主要包括图像传输接收机,当然,为了方便保存大量的视频信息,可以采用独立的存储装置,例如,硬盘、较大容量的存储卡等)通过高增益的接收天线将接收到的视频信号(视频信息)进行下变频调制、微波解调,以及视频信息解码后输出视频信号。在上述图传天线和图像传输发射机组成的图像传送系统、图像传输接收机构成的图像接收系统之间,视频信号的传输距离可以达到30km。
[0037] 图3是根据本发明优选实施例的固定翼无人机的主要结构示意图,如图3所示,该固定翼无人机主要包括:无人机机体100、遥感监测装置102、实时检测装置104、图像传送系统106、指令接收系统108、动力系统110,以及飞行控制系统112,当然还必须包括其他一些必须的装置或设备,例如,电池或电源114、电台116,及舵机118等飞行必需设备。
[0038] 无人机机体100、动力系统110、图像传送系统106、飞行控制系统112可以组成无人机空中平台。下面对各个部件或系统的功能进行介绍:
[0039] 1、天线,完成信号转换功能和定向发射(或接收)功能;
[0040] 2、遥感监测装置102(照相装置),用于定时、定距或定点拍摄照片,提供高清的照片,便于地面工作人员观查;
[0041] 3、实时检测装置104(摄像装置),用于实时拍摄视频,提供清晰的视频信息,便于地面工作人员观看;
[0042] 4、电池或电源114,用于为需电装置或设备提供电能或进行直流供电;
[0043] 5、电台116,为数据通信业务、信号控制传输通道所必需的发信机或收信机;
[0044] 6、飞行控制系统112(自动驾驶仪),由飞行控制系统中的导航设备接收地面导航信号,自动控制飞行器完成飞行动作,例如,三轴动作;[0045] 7、动力系统110(发动机),是动力系统的关键部件,用于产生飞行动力,直接带动旋翼或螺旋浆工作,使输进气缸内的燃料燃烧而发出动力;
[0046] 8、舵机118,可以改变飞机的翼面、产生相应扭矩,以及控制飞机转弯、爬升、俯冲、
横滚等动作。
[0047] 在实际应用中,为了满足固定翼无人机的高载荷的要求,无人机机体可以采用材质较轻的复合材料,这样可以减轻自身的重量,以使载荷达到5kg或5kg以上。
[0048] 优选地,在本发明的实施例中,对于固定翼无人机的动力系统而言,可以使用56cc双缸汽油发动机动力,该发动机的功率为5.5Hp,为了与该发动机匹配,可以采用IOL油箱,以使固定翼无人机的飞行时间达到3至4小时。
[0049] 优选地,在本发明的实施例中,照相设备可以采用高像素数码Canon 5D Mark II相机作为遥感CCD成像设备,该相机的像素可以达到2110万,当然,由于该相机的像素较高,其采集的照片在存储设备中也会占据较大的存储空间,因此,也必须采取容量较大的存储设备,例如,存储卡容量至少要大于4G。该相机采用EF 85mm f/1.8USM镜头,相机的电子快门线与飞行控制系统的自动驾驶仪相连。采用上述配置的相机的持续拍摄时间至少可以达到2小时、采用上述相机的照相设备的图像采集范围可以达到200平方公里及以上。
[0050] 优选地,在本发明的实施例中,摄像设备可以采用GoPro HD Helmet HERO 1080P的运动型摄像机,该摄像机的像素为1080万,其机身重量为800g,为了获得更好的摄像效果,摄像设备在采用该摄像机的基础上,又增加了 70mm镜头,该镜头的重量1025g,为了满足长时间的拍摄需要,为该摄像设备配置了容量为32G的存储卡,便于对其采集的视频信息进行后续分析。该摄像设备可以实时地将视频信息传送到地面站,地面站的工作人员可以对传回的视频信息数据进行实时观看。通过以上摄像设备,地面站可以获得所需区域的数据,进而达到分析输电线路信息、监测现场后进行布控指挥等操作的目的。
[0051] 需要说明的是,在本发明实施例中,图像传送系统的视频传输采用扩频技术,发射端将相机拍摄到的视频信号经过视频采集编码,信道编码及DA (数模)转换后再上变频调制到指定的频点上,经过高频功率放大后由天线发射出去;接收端通过高增益的接收天线接收到的信号进行下变频、微波解调、视频解码输出视频信号,视频信号的传输距离可达30kmo
[0052] 在本发明的实施例中,在飞行控制系统中,其关键设备为自动驾驶仪,该自动驾驶仪集成了 3个加速度、3个角速度、空速、气压等飞行传感器、GPS导航系统,以及由卓越的控制算法设计的操控系统。该自动驾驶仪具有数据采集、数据存储、飞行控制及无线传输功能,还具有增稳控制功能,从而可以降低操作人员的作业难度;由于在应用实践中,各区域的电力局均保存有每条线路的GIS (Geographical Information System,地理信息系统)信息,可以通过GPS (Global Positioning System,全球定位系统)将GIS信息导入飞行控制系统系统,将局方标注好的经纬度坐标转换成固定翼无人机能够识别的信息代码,飞行控制系统可以通过GPS导航使固定翼无人机能够自主飞行,而且由于采用配置GIS信息的自动驾驶仪,可以使固定翼无人机的飞行精度可以达到12m。
[0053] 在本发明的实施例中,指令接收系统中的电台为MDS 900M的数传电台,再配置了大功率增益天线后,其通讯距离可以达到30km。
[0054] 优选地,地面站包括:地面控制系统、图像接收系统,以及数据处理系统,当然,为了减轻地面站工作人员的负担,还可以增加监测与决策系统,以实现对输电线路故障点位置的准确定位和情况评估。以下对地面站的各个系统进行介绍:
[0055] 1、地面控制系统
[0056] 在本发明实施例中,地面控制系统可以内置Google地图数据,通过内置的Google地图数据可以快速规划航线和指定返航地点。最为关键在于,地面控制系统可以控制遥感监测装置或者实施监测装置进行照片信息数据或者视频信息数据的采集,以备地面站的数据处理系统调用。同时,该地面站的控制系统通过计算机软件的配合可以轻易实现超视距遥控飞行或者自主飞行,还可以实现任务航线规划,对无人机双向数据控制,对飞行器航迹、航高、航速、航时、航向、机载温度、机载通讯设备及动力设备电压的实时监测,并且可专门地对固定翼无人机传回的图像信息与飞行轨迹实现显示记录,从而完成地面站的监控。
[0057] 2、图像接收系统
[0058]图像传输接收机是图像接收系统中其关键作用的设备,它用于接收图像发射机发送的遥感监测装置采集的图像信息,和实时监测装置采集的视频信息。至于图像的接收过程和其工作原理,在上文中已经予以具体介绍,在此不再进行赘述。
[0059] 3、数据处理系统
[0060] 在本发明实施例中,数据处理看由遥感数据处理模块、遥感数据浏览模块、遥感数据对比模块、遥感数据预测分析处理模块和报表模块五大模块组成。在数据处理系统中,遥感数据预测分析处理模块和报表模块已经可以起到监测与决策系统相同的作用,所以没有再增加监测与决策系统。
[0061] 在实际应用中,该系统除了包括固定翼无人机和地面站,还包括一些与现有技术中同样具有的装置或者设备。例如,为了方便地发射固定翼无人机,在对输电线路进行检测时还可以配备弹射器。
[0062] 本发明实施例提供的基于固定翼无人机的输电线路巡检系统的优点在于:
[0063] (I)采用惯性导航平台及全球卫星定位系统(GPS)双系统进行无人机的导航飞行,保证无人机在长时间飞行过程中的安全性,无飞机按预定航线自主飞行,并实时将飞行数据传回地面,携带数码相机、微型摄像头和图像传输系统,进行图像实时采集和传输;
[0064] (2)地面测控系统实时接收并处理各项飞行数据,将各项数据图形化,测控人员根据需要对无人机发出指令控制无人机的飞行状态或执行新的任务等;
[0065] (3)对输电线路进行定点定时监控,发现隐患及时处理,提供输电线路及铁塔周边精准清晰地影像数据,提高观测质量,分析不同时期影像数据变换,为线路维护工作及今后电力设计提供科学依据,为电网管理者快速处理应急突发事件提供决策依据,为电力线路勘测设计提供最精确的数据。
[0066] 从以上的描述中,可以看出,本发明实现了如下技术效果:通过无人机与机载设备(尤其是摄像设备、拍照设备等)的融合,对输电线路定期进行巡检,从而能够及时发现输电线路周围的违规建筑物、违规植树等,使电力工作人员提早停止破坏线路的活动,为保护线路起到预防的作用;同时,对输电线路的应急情况能够快速巡视,能够快速寻找事故发生点,更能够实现迅速、准确的定位冰灾、水灾震灾、滑坡、泥石流等自然灾害对输电线路造成的破坏位置,及时掌握破坏程度等信息,为后续抢修工作赢取时间,确保供电部门的供电安全。[0067] 以上所述仅为本发明的优选实施例而已,并不用于限制本发明,对于本领域的技术人员来说,本发明可以有各种更改和变化。凡在本发明的精神和原则之内,所作的任何修改、等同替换、改进等,均应包含在本发明的保护范围之内。

Claims (10)

1.一种基于固定翼无人机的输电线路巡检系统,其特征在于,包括:地面站、固定翼无人机;其中, 所述地面站包括:地面控制系统、图像接收系统,以及数据处理系统; 所述固定翼无人机包括:无人机机体、遥感监测装置、实时检测装置、图像传送系统、指令接收系统、动力系统,以及飞行控制系统;其中, 所述遥感监测装置用于定时、定距,或定点采集所述输电线路所在区域的图像信息,所述实时检测装置用于实时采集所述输电线路所在区域的视频信息; 所述遥感监测装置和所述实时检测装置以前后相邻、正射地面的方式设置在所述无人机机体上。
2.根据权利要求1所述的系统,其特征在于,所述图像传送系统包括:图传天线和图像传输发射机,其中, 所述图像传输发射机,用于通过所述图传天线将所述遥感监测装置采集的所述图像信息,和所述实时监测装置采集的所述视频信息发送给所述地面站的所述图像接收系统。
3.根据权利要求2所述的系统,其特征在于,所述图像接收系统包括: 图像传输接收机,用于接收所述图像发射机发送的所述遥感监测装置采集的所述图像信息,和所述实时监测装置采集的所述视频信息。
4.根据权利要求3所述的系统,其特征在于, 所述遥感监测装置包括:(XD成像设备,其中,所述CXD成像设备的像素为2110万,所述CXD成像设备的镜头长度为85mm ; 所述CCD成像设备的电子快门线与所述飞行控制系统中的自动驾驶仪相连。
5.根据权利要求4所述的系统,其特征在于,所述CCD成像设备的拍摄时间大于2小时、拍摄范围大于200平方公里。
6.根据权利要求5所述的系统,其特征在于,所述实时监测装置包括:视频采集设备,其中, 所述视频采集设备设置有一个70mm的镜头,所述视频采集设备的像素为1080万。
7.根据权利要求6所述的系统,其特征在于, 所述数据处理系统,用于对所述图像接收系统接收的所述遥感监测装置采集的所述图像信息,和所述实时监测装置采集的所述视频信息进行分析、处理操作。
8.根据权利要求7所述的系统,其特征在于,所述数据处理系统包括: 遥感数据处理模块、遥感数据浏览模块、遥感数据对比模块、预测分析处理模块,以及报表模块。
9.根据权利要求4所述的系统,其特征在于,所述自动驾驶仪包括:飞行传感器和GPS导航仪,其中, 所述飞行传感器集成3个加速度、3个角速度、空速,以及气压; 所述GPS导航仪配置所述输电线路所处区域的位置信息。
10.根据权利要求1至9中任一项所述的系统,其特征在于,所述指令接收系统包括:电台、指令天线,其中, 所述电台,用于通过所述指令天线接收所述地面站的所述地面控制系统发送的控制指令,和向所述地面站发送反馈指令。
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