Abstract
With the rapid development of microelectronics, unmanned aerial vehicles (UAVs) for electric inspection tasks have become popular. Among these tasks, transmission line inspections are more complicated than component and tower inspections owing to the small size, poor functionality, and severe magnetic field interference of transmission lines. Existing solutions invariably use high-precision devices and maintain safety distances during inspections. However, capturing detailed transmission line information over long distances is challenging. Moreover, sophisticated equipment implies high costs and considerable value risks. This work proposes a method using RGB cameras and mm-wave radar to accomplish close-range transmission line inspections. A heading correction and two correction modules address waypoint mission mismatch and wind interference during tracking. In addition, adaptive complementary fusion is designed to solve anomaly identification. Finally, the proposed method validated in a 10 kV transmission line environment demonstrates successful close-range inspection while acquiring high-definition (HD) images. The validation results prove the practical feasibility of the proposed low-cost transmission line inspection method, which is of great significance for reducing inspection costs and promoting the popularization of UAV inspections.
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