A power line UAV inspection method based on human vision characteristics

Abstract

The invention discloses a power line unmanned aerial vehicle inspection method based on the visual characteristics of human eyes. The power line external force accident detection and early warning process is that the UAV video acquisition module uses the UAV to carry the binocular vision measurement equipment to obtain the power line distribution and environmental information, the image preprocessing module preprocesses the power line image entered into the system, and the power line detection module uses The human eye visual attention mechanism completes the segmentation of the power lines in the image. The binocular image registration module uses the SURF algorithm to accurately match the feature points. The obstacle detection and early warning module uses the binocular vision principle to calculate the three-dimensional space coordinates of the matching point and the power line, and the result is output The feedback module calculates the vertical distance from the matching point to the power line according to the spatial coordinate information, and completes the feedback work of the obstacle information that poses a threat to the power line. The method of the invention can accurately carry out quantitative analysis on the power line obstacle, and the analysis result is 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 traditional artificial power line inspection method often judges the state of the power line based on the experience of the staff through human observation. It relies too much on the state and experience of the staff, and cannot quantitatively analyze the distance between obstacles and power lines. It is very prone to false detection and missed detection, which cannot meet the accuracy requirements of power line inspection

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