A wire-laying method of an automatic wire-laying system for unmanned aerial vehicle based on visual recognition

Abstract

The invention provides a visual recognition-based automatic pay-off system and a pay-out method for unmanned aerial vehicles, including unmanned aerial vehicles, visual acquisition systems and fixed crossbar identification devices, unmanned aerial vehicles include a control module, and visual acquisition systems include The front camera, the rear camera and the visual processing module, the front camera and the rear camera are respectively arranged at the front and rear ends of the UAV; The central identification belt, the left identification plate and the right identification plate are arranged at the two ends of the fixed cross bar, the central identification belt is arranged at the center of the fixed cross bar, and the front and back sides of the left identification plate and the right identification plate are both Set the identification tag. The system can identify targets such as pole towers and fixed crossbar marking devices, and automatically realize the flight control of the UAV according to the recognition results, so that the UAV can complete the entire wiring task by itself without the intervention of ground operators, which improves efficiency. Reduced labor costs.

Description

technical field [0001] The invention relates to the technical field of erection of power transmission lines, in particular to a wire-laying method of an unmanned aerial vehicle automatic wire-laying system based on visual recognition. 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 the ...

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

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