Transmission line direction detection method for inspection UAV visual navigation
A transmission line and direction detection technology, applied in the fields of computer vision and aircraft navigation, can solve problems such as complex background
Active Publication Date: 2017-01-18
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 with reference to 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 otherwise expressly stated otherwise, throughout the specification and claims, the term "comprising" or its transformations such as "including" or "including" will be understood to include the stated elements or components, 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 transmission line for visual navigation of a patrol drone includes the following steps:
[0039] Step S100: Collect color images in RGB format (that is, color images containing power transmission lines) by the drone, and convert the color images in RGB format into color images in CIE LAB format;
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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 field of computer vision and aircraft navigation, in particular to a method for detecting the direction of transmission lines for visual navigation of inspection drones. Background technique [0002] UAV inspection of transmission lines is an application developed in recent years as UAV technology matures. In order to grasp the operating 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 navigation, but GPS navigation is a discrete point navigation, and there is no guarantee that the UAV can collect images of the transmission line on the route between two navigation points. [0003] Using visual navigation, the drone can collect target images at close r...
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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