A visual obstacle avoidance method and system for unmanned aerial vehicle transmission line inspection

Abstract

The invention discloses a visual obstacle avoidance method and system for unmanned aerial vehicle transmission line inspection. The video and the right-eye video are framed synchronously to form a binocular image pair; the left-eye image and the right-eye image in the binocular image pair are detected respectively, and the complete power line set in the left-eye image and the complete power line set in the right-eye image are obtained; the left-eye image is Match the complete transmission line set in the right eye image with the complete transmission line set in the right eye image to obtain the matching transmission line; calculate the distance between the transmission line and the UAV according to the matching point pair set on the matching transmission line; The distance between the machine and the set safety threshold is compared, and if the distance exceeds the safety threshold, an alarm will be output. The invention can reduce the work intensity of inspection personnel during inspection, avoid transmission line collisions during the inspection process of the UAV transmission line, and improve work efficiency and safety.

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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