Unmanned aerial vehicle power transmission line patrol vision obstacle avoiding method and system

Abstract

The invention discloses an unmanned aerial vehicle power transmission line patrol vision obstacle avoiding method and system. The method includes steps: acquiring a left eye video and a right eye video of a power transmission line by employing an unmanned aerial vehicle carrying a binocular camera; performing synchronous frame taking on the left eye video and the right eye video according to a setfrequency, and assembling a binocular image pair; detecting a left eye image and a right eye image in the binocular image pair, and obtaining a left eye image complete power transmission line set anda right eye image complete power transmission line set; matching the left eye image complete power transmission line set with the right eye image complete power transmission line set to obtain matched power transmission lines; calculating the distance between the power transmission lines and the unmanned aerial vehicle according to a matching point pair set on the matched power transmission lines; and comparing the distance between the power transmission lines and the unmanned aerial vehicle and a set safety threshold, and outputting an alarm if the distance exceeds the safety threshold. According to the method and system, the work intensity of tour inspection personnel during exploration can be reduced, the collision of the power transmission lines in a process of tour inspection of thepower transmission lines of the unmanned aerial vehicle is avoided, and the work efficiency and the security are improved.

Description

technical field [0001] The invention relates to a visual obstacle avoidance method and system for unmanned aerial vehicle transmission line inspection. Background technique [0002] With the development of the economy and the progress of the society, people's demand for electric energy is increasing day by day. As the most important part of the modern power system, the normal and efficient operation of electric equipment is the key to ensure the continuous power supply of the power grid. Overhead transmission lines are located in a complex environment, and are easily affected by natural factors such as bad weather, birds and animals, which will cause the circuit to age and break, leading to line failure and affecting the safety and stable operation of the power grid. Transmission line inspection is a basic task to ensure the safe and stable operation of the power system and continue to supply power to thousands of households. Through the inspection of the transmission line,...

AI Technical Summary

Problems solved by technology

[0003] In recent years, power grid companies have gradually adopted unmanned aerial vehicle inspections instead of manual inspections, which has significantly reduced the labor intensity of personnel and improved the efficiency of inspections. However, the inspection range of drones is large, and personnel cannot follow drones in real time. Within the visible range of the human eye, the safety of the UAV can be better guaranteed. Once the UAV flies out of the visible distance of the human eye, the inspectors can only use the video information on the display screen and the UAV. Its own obstacle avoidance system ensures the safety of the UAV's line patrol, but there are usually large errors in the judgment of the distance through the video information, and it is an extreme test of the experience of the operator and the level of UAV control; the existing UAV The advanced obstacle avoidance system cannot detect such a slender obstacle like a power line, and the safety factor is greatly reduced. Once the drone hits the power line, it will cause a serious electrical accident

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