Abstract
Power line inspection is used for problem detection and routine maintenance, both of which are vital functions from an operational standpoint. Modern computational intelligence reduces the cost of processing and communication while also allowing these inspections to be automated to implement a predictive maintenance approach.
track and monitor power lines using an unmanned vehicle. The developed Unmanned Aerial Vehicle (UAV) is deployed near the power line to be tracked; from this, the UAV can locate the line. After the line's location, it goes above the line and maintains a certain distance from it while tracking it. It then counts the number of phases available, checks for obstructions in the line's path, and reports all information to the user. As the UAV moves, it constantly reports its current location, orientation, and health status to the user. The UAV has an Obstacle avoidance system built into it, so if an object approaches the vehicle while tracking the line, it can identify and avoid colliding with it. When it is safe, it returns to the main course. After line tracking is done and the user is satisfied with the work, the UAV returns to the user using the shortest distance possible. The UAV can do this even when the user changes his original position.
The UAV has a camera module connected to the Raspberry Pi module. As the user is standing next to the line during the start-up of the trip, the camera module takes video and sends this to the Raspberry Pi controller. The controller processes each frame in the video to detect power lines. The UAV flies over the line once the controller has located it and the user has validated that it is, in fact, the line. In this way, the detection of the line is achieved. During the flight, the UAV calculates its traveling speed, the distance it maintains between it and the lines, in this way being able to tell how far it has moved from its center position relative to the line from both left and right. It can also tell when the line is going to turn, to what distance it will turn, and in which direction it will turn too. With this technique, the tracking of the lines during flight is archived.
An Inertial Measurement Unit (IMU) that consists of an accelerometer and gyroscope is used to tell us the proper orientation of the UAV in terms of Yaw, Pitch, and Roll. The IMU's roll, pitch, and yaw become inputs to the Proportional Integral Derivative (PID) Controller. This controller uses these inputs to calculate the speeds each motor of the UAV should run to balance the UAV.
The UAV is equipped with Ultrasonic distance sensors, which are mounted on the edges of the development board, all looking outwards. They have a detection span of 4 meters. The sensors detect anything that is within this range. When an obstacle is detected, the UAV increases its altitude by a metre. While doing this, it ensures it does not lose the power line line-of-sight. When the obstacle is cleared from its "vision," it returns to a standard height relative to the power line. Obstacle avoidance of the UAV is achieved this way.
To achieve the return "home" trip, despite the change of location from the user/control station, the researcher uses two GPS modules, one on the UAV and another on the control station. From the GPS coordinates of both locations, one can calculate the distance and the user's bearing relative to the UAV. With this information, the UAV can calculate its waypoint and translate that to the vehicle's movement.
Global System for Mobile communications (GSM) is used to achieve constant communication between the UAV and the Control Station. The GSM module is connected to the central controller, which packages all the necessary information from the UAV and sends it to a web server. The web server is updated in real-time.
Keywords: Power Line Tracking Unmanned Aerial Vehicle (PLTUAV), Proportional Integral Derivate (PID) Controller, Global Positioning Unit (GPS), Global System for Mobile Communications (GSM), Obstacle Avoidance, Kalman filter, Image Processing