Pole tower model matching and visual navigation-based power unmanned aerial vehicle and inspection method

Abstract

The invention discloses a pole tower model matching and visual navigation-based power unmanned aerial vehicle and an inspection method. In an unmanned aerial vehicle, a depth image of a front end of the unmanned aerial vehicle is acquired by a dual-eye visual sensor, distance between the unmanned aerial vehicle and a front object is further measured, a surrounding image is acquired by a cloud deckand a camera, the object is further identified, and the flight gesture of the unmanned aerial vehicle is controlled by flight control of unmanned aerial vehicle. The method comprises the steps of performing pole tower model building on different types of power transmission line pole towers; automatically identifying the power transmission line pole towers and pole tower types by the unmanned aerial vehicle during the flight process, matching and loading a pre-built pole tower model; performing visual positioning on the power transmission line pole towers by the unmanned aerial vehicle, and acquiring relative positions of the unmanned aerial vehicle and the pole towers; and performing flight inspection by the unmanned aerial vehicle according to optimal flight path. By the unmanned aerialvehicle, the modeling workload is greatly reduced, and the model universality is improved; and the inspection method does not dependent on absolute coordinate flight, the flexibility is greatly improved, the cost is reduced, and the power facility safety is improved.

Description

technical field [0001] The invention relates to an electric unmanned aerial vehicle and inspection method based on pole-tower model matching and visual navigation, and belongs to the technical field of inspection of power transmission lines. Background technique [0002] Overhead transmission lines are the main way of long-distance power transmission. Due to long-term exposure in the wild, transmission lines and tower accessories are affected by continuous mechanical tension, electrical flashover, and material aging, and are prone to damage such as strand breakage, wear, and corrosion, such as If it is not repaired and replaced in time, the original small defects may expand, eventually leading to serious accidents, large-scale power outages and huge economic losses. Therefore, it is necessary to conduct regular inspections of overhead transmission lines to prevent and eliminate faults in time , The damage and defect of the tower, arrange maintenance and repair to ensure the ...

AI Technical Summary

Problems solved by technology

[0012] Since the absolute geographic location coordinates of the transmission line facilities are recorded in the model f

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