Routing inspection unmanned aerial vehicle visual navigation-oriented electric transmission line direction detection method
A transmission line and direction detection technology, applied in the fields of aircraft navigation and computer vision, which can solve problems such as complex backgrounds
Active Publication Date: 2015-05-13
GUANGXI UNIV
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[0004] The visual navigation technology of unmanned vehicles is not suitable for inspection drones on transmission lines. The main reason is that the characteristics of roads are different from those of transmission lines: 1) Unmanned vehicles assume that the color of the road surface is uniform and there are parallel textures pointing to the direction of the road. These textures are easy to identify, but they are not necessarily connected in a straight line (except for the two ends of the road); the power transmission line runs through the entire image, but the background is complex, and the texture direction of the pixel where the wire is located is not necessarily the direction of the wire
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[0036] The specific embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings, but it should be understood that the protection scope of the present invention is not limited by the specific embodiments.
[0037] Unless expressly stated otherwise, throughout the specification and claims, the term "comprise" or variations thereof such as "includes" or "includes" and the like will be understood to include the stated elements or constituents, and not Other elements or other components are not excluded.
[0038] Such as figure 1 As shown, according to a specific embodiment of the present invention, a method for detecting the direction of a power transmission line oriented to the visual navigation of an inspection drone includes the following steps:
[0039] Step S100: collecting a color image in RGB format (that is, a color image including a power transmission line) by the UAV, and converting the color image in RGB format i...
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The invention discloses a routing inspection unmanned aerial vehicle visual navigation-oriented electric transmission line direction detection method which comprises the following steps: 1) collecting colored images in format of RGB and converting the colored images in GRB format into colored images in CIE LAB format; 2) computing the similarity of each pixel in the colored images in CIE LAB format and an electric transmission line (S is greater than 0 and less than or equal to 1), and gathering the similarity S of each pixel to obtain a similarity graph S (x and y); 3) converting the similarity graph S (x and y) into a linear spatial graph L (r and theta); 4) computing the possibility D (theta) of the direction of the electric transmission line according to the linear spatial graph L (r and theta); 5) determining the direction of the electric transmission line according to the possibility of the direction of the electric transmission line. The method can be used for detecting the direction of the electric transmission line and the distances deviating from the image centers, and is used for routing inspection unmanned aerial vehicle visual navigation.
Description
technical field [0001] The invention relates to the fields of computer vision and aircraft navigation, in particular to a method for detecting the direction of a power transmission line oriented to the visual navigation of an inspection drone. Background technique [0002] UAV inspection of transmission lines is an application developed in recent years with the maturity of UAV technology. In order to grasp the operation status of the transmission line and the changes in the surrounding environment, and discover potential equipment failure factors and hidden dangers that endanger the safety of the line, the drone flies along the transmission line and uses imaging equipment to collect images of the transmission line and towers. UAVs usually use GPS for navigation, but GPS navigation is discrete point navigation, which cannot guarantee that UAVs can collect images of power transmission lines on the route between two navigation points. [0003] The use of visual navigation can ...
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IPC IPC(8): G01C1/00
CPCG01C11/04
Inventor 林靖宇龙军卢子广胡立坤卢泉
Owner GUANGXI UNIV