Unmanned aerial vehicle-based autonomous polling method for towers

Abstract

The invention discloses an unmanned aerial vehicle-based autonomous polling method for towers. The method comprises the following steps of: S1, data acquisition: manually controlling an unmanned aerial vehicle to carry out polling, acquiring a track key point coordinate, a photographing point coordinate, a photographing point nose angle and cloud a deck angle of flight of the unmanned aerial vehicle in the polling process; S2, task generation: generating an autonomous flight line and an autonomous photographing task of the unmanned aerial vehicle according to acquired key data and a takeoff point of the unmanned aerial vehicle; and S3, polling operation: uploading the generated polling task to the unmanned aerial vehicle to ensure that the unmanned aerial vehicle autonomously flies according to the task flight line, when the photographing point is reached, automatically adjusting the nose heading and the cloud deck angle, after the adjustment is in place, triggering a camera to a takephoto, continuously executing subsequent tasks after the photographing until the task is completed, and returning to the takeoff point. The method is capable of improving the polling efficiency and isbeneficial to ensure the consistency and safety of the polling.

Description

technical field [0001] The invention relates to the inspection of power poles and towers, in particular to an autonomous inspection method for poles and towers based on an unmanned aerial vehicle. Background technique [0002] UAVs are applied to the inspection of power poles and towers, which greatly improves the inspection efficiency. The conventional inspection method is to manually control the UAV to a designated location, then adjust the angle of the gimbal to align the camera at the target location, and trigger the camera to take pictures. For the inspection of different types of power towers, there are usually more than ten key points, and the inspection personnel need to control the drone to take pictures of each key point one by one. In order to ensure the flight safety of UAVs, the operators need to be highly focused at all times, which causes great mental pressure on the operators. [0003] Moreover, even if the operator is careful, accidents such as the drone h...

AI Technical Summary

Problems solved by technology

In order to ensure the flight safety of the UAV, the operator needs to be highly focused at all times, which causes great mental pressure on the operator

[0003] Moreover, even if the operator is careful, accidents such as the drone hitting the line or hitting the tower will inevitably be caused by negligence; at the same time, it is difficult to ensure the consistency of the inspection due to manual control, resulting in the shooting results of the same position of the same tower at different times The difference is large, which is not conducive to the analysis and application of historical inspection data

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