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김석태,박준영,이재경,함지완,최민희,Kim, Seok-Tae,Park, Joon-Young,Lee, Jae-Kyung,Ham, Ji-Wan,Choi, Min-Hee 한국전력공사 2018 KEPCO Journal on electric power and energy Vol.4 No.2
Various types of robots running on power transmission lines have been developed for the purpose of line patrol monitoring. They usually have complex mechanism to run and avoid obstacles on the power line, but nevertheless did not show satisfactory performance for going over the obstacles. Moreover, they were so heavy that they could not be easily installed on the lines. To compensate these problems, flying robots have been developed and recently, multi-copter drones with flight stability have been used in the electric power industry. The drones could be remotely controlled by human operators to monitor power distribution lines. In the case of transmission line patrol, however, transmission towers are huge and their spans are very long, and thus, it is very difficult for the pilot to control the patrol drones with the naked eye from a long distance away. This means that the risk of a drone crash onto electric power facilities always resides. In addition, there exists another danger of electromagnetic interference with the drones on autopilot waypoint tracking under ultra-high voltage environments. This paper presents a patrol monitoring plan of autopilot drones for power transmission lines and its field tests. First, the magnetic field effect on an autopilot patrol drone is investigated. Then, how to build the flight path to avoid the magnetic interference is proposed and our autopilot drone system is introduced. Finally, the effectiveness of the proposed patrol plan is confirmed through its field test results in the 154 kV, 345 kV and 765 kV transmission lines in Chungcheongnam-do.
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송전선로 자동추적 카메라 짐벌 및 154 kV 송전선로 현장시험
김석태,박준영,이재경,함지완,Kim, Seok-Tae,Park, Joon-Young,Lee, Jae-Kyung,Ham, Ji-Wan 한국전력공사 2019 KEPCO Journal on electric power and energy Vol.5 No.3
In the field of maintenance of power transmission lines, drones have been used for their patrol and inspection by KEPCO since 2017. This drone technology was originally developed by KEPCO Research Institute, and now workers from four regional offices of KEPCO have directly applied this technology to the drone patrol and inspection tasks. In the drone inspection system, a drone with an optical zooming camera and a thermal camera can fly automatically along the transmission lines by the ground control system developed by KEPCO Research Institute, but its camera gimbal has been remotely controlled by a field worker. Especially the drone patrol and inspection has been mainly applied for the transmission lines in the inaccessible areas such as regions with river-crossings, sea-crossings and mountains. There are often communication disruptions between the drone and its remote controller in such extreme fields of mountain areas with many barriers. This problem may cause the camera gimbal be out of control, even though the inspection drone flies along the flight path well. In addition, interference with the reception of real-time transmitted videos makes the field worker unable to operate it. To solve these problems, we have developed the auto-tracking camera gimbal system with deep learning method. The camera gimbal can track the transmission line automatically, even when the transmitted video on a remote controller is intermittently unavailable. To show the effectiveness of our camera gimbal system, its field test results will be presented in this paper.
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김석태,박준영,이재경,최인혁,함지완,Kim, Seok-tae,Park, Joon-young,Lee, Jae-kyung,Choi, In-hyuk,Ham, Ji-wan 한국전력공사 2017 KEPCO Journal on electric power and energy Vol.3 No.2
기존의 송전탑 좌표 측정방식은 송전탑 지상중심에서 GPS를 이용하여 좌표를 측정하고 일반적으로 측정시간은 수십 분 정도 소요되었다. 그러나 이러한 방법은 종종 거대한 철골구조물인 송전탑 간섭으로 인해 수십 미터의 좌표 오차를 발생하거나 수 시간씩 측정시간이 소요되기도 한다. 이러한 문제점을 해결하기 위해 본 논문에서는 송전탑의 새로운 GPS 측정 방법을 제안한다. 먼저, 송전탑의 중앙을 측정하던 방법 대신, 3개의 GPS로 구성된 측정장치를 이용하여 송전탑 가장자리 4 지점의 GPS 좌표를 측정하고 그 값들을 평균하여 송전탑의 중앙을 구한다. 측정된 값이 전파간섭에 의해 상당히 벗어난 경우, 새롭게 제시하는 알고리즘이 부정확한 좌표를 걸러내고 다른 가장자리 좌표로 대체하여 송전탑의 중심을 효과적으로 계산할 수 있다. 현장 측정시험을 통해 본 논문에서 제시하는 새로운 알고리즘은 전파간섭 환경에서 송전탑 측정의 효율성과 정확도를 향상시킬 수 있다.
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