Method for inspecting electric power lines by aid of unmanned aerial vehicle on basis of human vision characteristics

Abstract

The invention discloses a method for inspecting electric power lines by the aid of an unmanned aerial vehicle on the basis of human vision characteristics. Distribution and environment information of the electric power lines are acquired by an unmanned aerial vehicle video acquisition module by the aid of binocular vision measurement equipment carried on the unmanned aerial vehicle in procedures for detecting and warning electric power line accidents due to external force, electric power line images recorded into a system are preprocessed by an image preprocessing module, electric power lines in the images are segmented by an electric power line detection module by the aid of human-eye vision attention mechanisms, feature points are accurately matched with one another by a binocular image registration module by the aid of SURF (speeded-up robust feature) algorithms, three-dimensional spatial coordinates of matched points and the electric power lines are computed by an obstacle detection and warning module by the aid of binocular vision principles, the perpendicular distances from the matched points to the electric power lines are computed by a result output feedback module according to spatial coordinate information, and feedback work on information of obstacles which can threaten the electric power lines can be completed. The method has the advantages that the obstacles of the electric power lines can be accurately quantitatively analyzed, and analysis results are stable and objective.

Description

technical field [0001] The invention relates to a power line unmanned aerial vehicle inspection method based on human visual characteristics, and belongs to the field of digital image processing and automatic power line inspection. Background technique [0002] With the vigorous development of my country's economy, the demand for electric energy is becoming more and more vigorous. In order to meet the domestic demand for electric power, it is necessary to continue to expand in the direction of power lines, high voltage, and large capacity. On the one hand, with the construction of a large number of power lines, the coverage becomes wider and wider, and the terrain conditions become more complex and diverse. How to maintain lines across terrains in power grid construction is a difficult problem to solve; on the other hand, the environment where power lines are located varies with regions and time. The changes are constantly changing. The entire power line system is highly co...

AI Technical Summary

Problems solved by technology

[0004] The traditional power line inspection mode is usually manual inspection. This mode consumes a lot of human resources. However, under the large coverage area of ​​power lines and the needs of diverse environments, manual inspection of power lines has low efficiency and poor real-time performance, which often cannot meet the requirements. Coverage and immediacy requirements of power line inspection

In addition, the t

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