Cable tunnel routing inspection flight method for unmanned aerial vehicle

Abstract

The invention discloses a cable tunnel routing inspection flight method for an unmanned aerial vehicle. Along-line flight is involved and comprises the steps that a highlight color with an obvious contrast ratio to a surrounding environment of a cable tunnel is selected, and a guide line with the color is laid in the center of a flight area between a starting point and a terminal point of the tunnel which needs routing inspection; then, a camera is adopted for obtaining a front real-time image, an interest area is cut, and the real-time performance of the system is improved; then, color extraction is conducted, binaryzation is conducted, an image after binaryzation is subjected to morphological filtering, and noise is removed for guide line extraction; finally, the image after binaryzationis scanned, a least square method is used for fitting a straight line, and accordingly the position and posture of next-moment flight of the unmanned aerial vehicle are solved. According to the cabletunnel routing inspection flight method for the unmanned aerial vehicle, a rail does not need to be laid, the guide line with the highlight color only needs to be arranged, so that the routing inspection cost is low, and the problem can be solved that since equipment is placed in a dark and damp tunnel environment for a long time, the equipment is easily damaged.

Description

technical field [0001] The invention relates to the technical field of unmanned aerial vehicle inspection, in particular to an obstacle avoidance method when an unmanned aerial vehicle is used to inspect cables in a tunnel. Background technique [0002] A cable tunnel refers to a corridor or tunnel-like structure used to accommodate a large number of cables laid on cable supports. The cable tunnel not only allows the tunnel to better protect the cables, but also makes it easy for people to inspect and maintain the cables. In recent years, cable tunnels in large and medium-sized cities in my country have developed rapidly and become the main cable laying method, but the inspection work of cable tunnels mainly adopts manual inspection methods. Due to the narrow, dark space and great potential safety hazards in the cable tunnel, this undoubtedly increases the difficulty of the work of the cable inspection staff. [0003] In order to reduce the difficulty of inspection work, so...

AI Technical Summary

Problems solved by technology

[0005] In view of this, the purpose of the present invention is to provide a method for inspection and flight of UAV cable tunnels, to solve the technical problems of autonomous flight and obstacle avoidance of UAVs in the narrow space and complex environment of cable tunnels, and to solve the problems in cable tunnels. The technical problem of how to realize the autonomous flight of drones in the tunnel when there is a fire in the tunnel and there is a lot of smoke in the tunnel

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