Unmanned aerial vehicle automatic line releasing system based on visual recognition and line releasing method thereof

Abstract

The invention provides an unmanned aerial vehicle automatic line releasing system based on visual recognition and a line releasing method thereof. The unmanned aerial vehicle automatic line releasing system comprises an unmanned aerial vehicle, a visual acquisition system and a fixed cross bar identification device. The unmanned aerial vehicle comprises a control module. The visual acquisition system comprises a front camera, a rear camera and a visual processing module. The front camera and the rear camera are respectively arranged at the front and rear ends of the unmanned aerial vehicle. The fixed cross bar identification device comprises a left side identification board, a right side identification board, a fixed cross bar and a central identification zone. The left side identification board and the right side identification board are arranged at the two ends of the fixed cross bar. The central identification zone is arranged at the central position of the fixed cross bar. Identification marks are arranged on the front and reverse surfaces of the left side identification board and the right side identification board. According to the system, the tower, the fixed cross bar identification device and other targets can be recognized, and flight control of the unmanned aerial vehicle can be automatically realized according to the recognition result so that the unmanned aerial vehicle is enabled to autonomously complete the whole line erecting task without intervention of ground operation personnel, the efficiency can be enhanced and the labor cost can be reduced.

Description

technical field [0001] The invention relates to the technical field of erection of power transmission lines, in particular to a visual recognition-based automatic wire-laying system and a wire-laying method for an unmanned aerial vehicle. Background technique [0002] When traditional UAVs are used to carry out transmission line stringing operations, the UAV is responsible for pulling the primary guide rope, and the ground operator controls the UAV to approach the transmission line tower, fly to the tower to fix the crossbar, and pull the primary guide rope. Fly directly above the fixed crossbar. When the traction rope reaches the correct position of the fixed crossbar, the operator on the tower will fix the traction line, and then the drone will continue to pull the guideline and fly to the next level of the tower to complete the same operation . There are the following problems in the wiring of the above-mentioned unmanned aerial vehicle: [0003] (1) When the UAV pulls ...

AI Technical Summary

Problems solved by technology

[0003] (1) When the UAV pulls the primary guide rope and flies to the tower, it needs to be controlled by ground operators in real time. In order to ensure safety and accuracy, the ground operators need to control the UAV at an ideal observation position on the ground. However, when the transmission line corridor is located in complex terrain such as mountains, rivers, and forests, the control operation will be greatly disturbed, making it difficult to ensure the safety and accuracy of the wiring operation

[0004] (2) One flight sortie of UAV stringing operations needs to fly over multiple towers, so ground operators need to follow the UAV and perform real-time control throughout the whole process. Usually, the movement speed of ground operators is much slower than that of UAVs in the air. Therefore, in order to cooperate with the ground personnel, the UAV needs to wait for the ground operator to enter the ideal observation point before continuing to perform the task. This mechanism will cause a great waste of time, so it will increase the entire wiring operation time. And the number of wiring tasks that the UAV can complete in each flight sortie is greatly reduced, and the efficiency is very low

[0005] (3) When the ground personnel operate the UAV to fly over the tower, due to factors such as long-term fatigue and other factors, operational errors and wiring failures may occur, and serious cases may even cause safety hazards

Images