Propuesta de un sistema de evasión de obstáculos para un drone aplicado a la inspección en redes de distribución y transmisión para la Empresa Eléctrica Riobamba S.A.

Abstract

The research work centered in the construction of an evasion system of obstacles for a drone dedicated to the inspection in grids of distribution and transmission for Empresa Eléctrica Riobamba S.A, because each element of the electricity grids is prone to suffer defects that may lead to energetic losses or greater safety risks. Therefore, it is convenient to carry out inspections that allow capturing visual and thermographic images of the elements of the grid. However, this process is dangerous and expensive due to the security it demands. In order to replace the traditional inspection process to capture images on high safely and economically. Prior to the construction of the prototype, the process of inspection of electrical distribution and transmission grids was studied. The implementation of the system is based on three Lidar sensors and a master processor for obstacle detection that communicates with the slave processor that is responsible for the evasion; the ground station has three screens for: FPV, obstacle monitoring and thermo - graphic pictures. The prototype incorporates a system of detection and evasion of obstacles capable of detecting electric cables that facilitates maneuverability that improves the safety of the drone and staff. Also incorporates a wireless communication system that guarantees the control and visualization of data and images on the ground. The tests gave as results: a range 0.60m to 3.6m for cable detection and 0.5m to 2m for lateral detection, 150m as the maximum optimum communication distance between the prototype and the ground station, with a flight range of 12 minutes and a maximum weight of 3.6 kg. It is recommended for future work to increase the angle of vision and use artificial vision algorithms that incorporate 3D mapping functions.