Unmanned aerial vehicle power wiring system based on combined navigation and computer vision

Abstract

The invention discloses an unmanned aerial vehicle power wiring system based on combined navigation and computer vision, which is characterized in that GPS satellite positioning is combined with priorinertial navigation positioning to update the pose state and adjust the position and the pose so as to achieve the optimal wiring pose; an unmanned aerial vehicle ground monitoring station system adopts a particle swarm optimization algorithm, can provide a one-key addressing function for a user, and achieves automatic flight path planning of the unmanned aerial vehicle; then according to a binocular vision positioning principle, a binocular camera acquisition module extracts the pulley position and the pulley threading hole information by using a neural network depth learning method, sends the pulley position information to an unmanned aerial vehicle controller, and automatically adjusts the pose of the unmanned aerial vehicle, the unmanned aerial vehicle system is navigated to an area which is 0.5m away from the trolley; and the information of the pulley threading hole is transmitted to an aiming device, and the aiming device ejects a guide wire counterweight block into the pulley hole according to the position analysis and dynamic analysis of the relative position of each pulley trained in advance, so as to complete the unfolding of the guide wire.

Description

technical field [0001] The invention relates to an unmanned aerial vehicle electric wiring system, in particular to an unmanned aerial vehicle electric wiring system based on integrated navigation and computer vision, which belongs to emerging electric electric wiring technology. Background technique [0002] In the process of UHV power grid construction, wiring has become a key step. However, the most important thing in wiring is to build traction lines. How to set up traction lines in a simple, safe and low-cost way has become a difficult point in current research. [0003] At present, in the stringing construction, aircrafts such as airships, powered parachutes, and small manned helicopters are generally used to set up the traction lines, but there are some major drawbacks in the above-mentioned aircrafts. The airship is relatively dependent on the weather environment, is easily affected by the wind, and has poor control; the powered parachute needs a run-up runway, which...

AI Technical Summary

Problems solved by technology

The airship is relatively dependent on the weather environment, is easily affected by the wind, and has poor control; the powered parachute needs a run-up runway, which has high requirements for the venue, and cannot hover in the air at a fixed point, and the technical requirements for the pilot are too high; Helicopter rental costs are high, the volume is large, and it is difficult to adjust the side flight attitude during fixed-point hovering operations in the air, and the technical requirements for pilots are also too high

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