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Unmanned aerial vehicle line inspection control system based on video image processing

A technology of video image and control system, applied in control/adjustment system, vehicle position/route/altitude control, non-electric variable control and other directions, can solve the problems of signal difference and large error, reduce costs, solve signal difference, The effect of less disturbance from the external environment

Inactive Publication Date: 2019-04-09
NANJING UNIV OF SCI & TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] Compared with the prior art, the present invention has the following significant advantages: (1) The system of the present invention realizes the flight control of the quadrotor UAV through the analysis and calculation of the image information of the ground line, and then realizes the tracking flight of the ground target, Effectively solve the defects of poor signal and large error of GPS navigation under special geographical environment conditions

Method used

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  • Unmanned aerial vehicle line inspection control system based on video image processing
  • Unmanned aerial vehicle line inspection control system based on video image processing
  • Unmanned aerial vehicle line inspection control system based on video image processing

Examples

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Effect test

Embodiment 1

[0017] Vision-based quadrotor UAV path tracking system, which consists of a quadrotor UAV platform figure 2 , PC ground station image 3 , camera 1, PC 11, wireless image transmission equipment 2, wireless data transmission equipment 3 and other modules. Turn on the remote control, plug in the battery 4, press and hold the safety switch on the drone, wait until the switch indicator light is on, the drone is in standby mode, push the left joystick of the remote control to the lower right corner, unlock the drone, and push The left control stick controls the throttle and yaw to make the drone take off, push the right control stick of the remote control to control the roll and pitch of the drone, and place the drone above the target.

[0018] The camera 1 located on the four-rotor UAV platform 9 collects ground video images, extracts path information, and sends them to the wireless image transmission receiving device 13 in real time through the four-rotor UAV platform equipped ...

Embodiment 2

[0021] The drone can be set to automatically take off and land at a fixed height with one button, and it can also be used to take off manually. When one-button automatic take-off, when the drone enters the standby state, after the drone is unlocked by remote control, the control switch on the left side of the remote control can be toggled upwards, and a signal is sent to the drone through the remote control antenna, and the control program starts to automatically take off at a fixed height. Use Sonar 8 to determine the altitude, and set the flight altitude through the program. In this case, the left control stick only controls the yaw of the drone and cannot control the throttle. Use the right control stick to control the roll and pitch of the drone. After flying above the guide line, toggle the control switch on the right side of the remote control to start the automatic flight mode to realize automatic line inspection.

Embodiment 3

[0023] Vertical Movement: Vertical movement is relatively easy. exist Figure 4 Among them, because there are two pairs of motors that turn in opposite directions, their counter torque to the fuselage can be balanced. When the output power of the four motors is increased at the same time, the increase in the rotor speed will increase the total pulling force. When the total pulling force is enough to overcome the weight of the whole machine , the quadrotor aircraft will rise vertically from the ground; otherwise, the output power of the four motors will be reduced at the same time, and the quadrotor aircraft will descend vertically until it lands smoothly, realizing the vertical motion along the z-axis. When the external disturbance is zero and the lift generated by the rotor is equal to the weight of the aircraft, the aircraft will remain in a hovering state.

[0024] Pitch movement: in Figure 4 , the speed of motor 1 increases, the speed of motor 3 decreases, and the speed...

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Abstract

The invention discloses an unmanned aerial vehicle line inspection control system based on video image processing, comprising a four-rotor unmanned aerial vehicle platform, a video acquisition module,a PC, a flight control board, a wireless image transmission module, and a wireless data transmission device. A video acquisition module mounted on the four-rotor unmanned aerial vehicle platform acquires a video image. The image is transmitted to the PC through the wireless image transmission module, and is processed by using an upper computer image processing program of the PC end. A line inspection flight control command is obtained, and transmitted to the unmanned aerial vehicle by the wireless data transmission device, is input to a flight control board as a navigation command, and corrects the PD control error of the flight attitude to realize the autonomous line inspection flight control. The unmanned aerial vehicle line inspection control system based on the video image processingcan be used for the electric maintenance line inspection, and realizes the line inspection flight of the ground guide by a digital camera loaded by the unmanned aerial vehicle itself and a wireless image transmission system.

Description

technical field [0001] The invention belongs to the technical field of electric power inspection line inspection, in particular to an automatic line inspection system for unmanned aerial vehicles based on video image processing. Background technique [0002] At present, in the field of UAV line inspection, common methods include target tracking based on GPS navigation technology, and laser ranging or infrared thermal imager methods for positioning measurement. However, as far as the current research is concerned, the autonomous line inspection flight of small UAVs has not yet been realized. Most methods of UAV line inspection have a high cost, and UAVs are large in size, which is not convenient for flight detection in many environments. Doing a good job in this project can fill the gap in this technology in our country, further improve efficiency and reduce costs. Contents of the invention [0003] In order to reduce the cost of UAV line inspection, reduce the size of UAV...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/10
CPCG05D1/101
Inventor 刘家材王静波张伟林勇戚国庆
Owner NANJING UNIV OF SCI & TECH
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