Unmanned aerial vehicle autonomous inspection method based on power transmission channel three-dimensional radar scanning data

Abstract

The invention discloses an unmanned aerial vehicle autonomous inspection method based on power transmission channel three-dimensional radar scanning data, comprising the following steps: establishinga power transmission channel three-dimensional model, and realizing autonomous flight path optimization of unmanned aerial vehicle inspection by combining historical inspection and shooting point position features; and making an inspection photo storage path and an automatic naming rule according to the path book account and the routing inspection information. By optimizing the flight path of theunmanned aerial vehicle, the distance of flight of the unmanned aerial vehicle is reduced on the premise of guaranteeing flight safety, and the inspection efficiency of the unmanned aerial vehicle isgreatly improved; in addition, the automatic shooting points can be preset for inspection targets, and the inspection photos can be stored and named according to the rule, so that the unmanned aerialvehicle path inspection task which is completed by multiple persons in cooperation originally is completed only by one person, and the skill requirements of inspection personnel for the flight controloperation of the unmanned aerial vehicle are reduced.

Description

technical field [0001] The invention relates to the technical field of unmanned aerial vehicles, in particular to an autonomous inspection method for unmanned aerial vehicles based on three-dimensional mine sweep data of power transmission channels. Background technique [0002] With the rapid construction of ultra-high voltage transmission lines, there are more and more line sections across complex terrain such as mountains, rivers, and canyons, and line inspection work is becoming more and more difficult. At present, the line inspection is still mainly manual inspection. This method is difficult to find small defects in the parts above the bottle mouth of the tower, which is easy to form work blind spots and loopholes, and the tower verification has high labor intensity, low efficiency, and great safety risks. And other issues. In addition, the expansion of line scale has led to increasingly prominent contradictions between line operation and maintenance work and structur...

AI Technical Summary

Problems solved by technology

However, the implementation of the existing UAV line inspection operation still needs to be completed by professional flight controllers, and the technical level and business ability of the inspection operators are relatively high.

At the same time, line inspection is a long-term, heavy, and repetitive task. Manual operation of drones for line inspections not only has the possibility of drones touching wires, but also does not fundamentally solve line inspection operations. The contradiction between the heavy tasks and the lack of professional inspection operators

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