Distance detection method of ground objects under power lines based on UAV monocular sequence images

Abstract

The embodiment of the invention provides a UAV sequence monocular image based method for distance detection ground feature under a power line. The method is characterized in that GPS-assisted aerotriangulation is performed through sequence monocular camera image with absolute GPS positioning information; then dense three-dimensional point cloud and a stereo measurement conductor vector model of the ground feature under the power line are obtained based on the aerotriangulation result; and then the safe distance detection of the ground feature under the power line can be realized based on the conductor vector model and the dense three-dimensional point cloud of the ground feature under the power line. Therefore, the safe distance detection of the ground feature under the power line can be quickly automatically achieved with high accuracy, and as a result, the technical problem that an existing method for the distance detection of the ground feature under the power line can realize accurate measuring under high measuring condition or needs manual assistance can be solved. The embodiment of the invention also provides a UAV sequence monocular image based device for the distance detection of the ground feature under the power line.

Description

technical field [0001] The invention relates to the technical field of unmanned aerial vehicle detection, in particular to a method for detecting distances of ground objects below power lines based on unmanned aerial vehicle monocular sequence images. Background technique [0002] The current high-voltage power lines in my country's power grid have complex structures and large scales, and the line channel environment is very complicated. Foreign objects, trees under the lines, illegal construction, and illegal buildings can easily lead to insufficient line safety distances and short-circuit accidents. Once an accident occurs, the consequences will be serious. The huge current may cause serious injury to personnel, and the fault will cause damage to line equipment, tripping and outage, which will impact the operation of the power grid. At the same time, the fault will affect the power supply in urban areas and disrupt the normal production and life of enterprises and residents...

AI Technical Summary

Problems solved by technology

[0011] The embodiment of the present invention provides a method for detecting the distance of ground objects under the power line based on the monocular sequence image of the UAV, which realizes the fast, automatic and high-precision detection of the safe distance of the ground objects under the power line, and solves the existing distance of the ground objects under the power line. The detection method requires higher measurement conditions to measure accurately or still requires manual assisted measurement technical problems

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