Adaptive imaging quality optimization method for unmanned aerial vehicle autonomous inspection of power transmission line

Abstract

The invention discloses an adaptive imaging quality optimization method for the unmanned aerial vehicle autonomous inspection of a power transmission line. According to the present invention, an eventtrigger loop control technology based on an unmanned aerial vehicle spatial position error threshold, an event trigger loop control technology based on a pan-tilt attitude position error threshold and an event trigger loop focusing technology based on a Laplace operator image definition threshold are used in sequence, the imaging quality of the inspection photos is detected at the aspects of photo shooting angle, lens focusing condition, photo clarity and the like, and a corresponding method is adopted for optimization, so that the final imaging quality of the photos is ensured. An iterativethought is adopted, the photo shooting angle is gradually optimized from the shooting position, the head direction and the pan-tilt camera attitude information, and the photo shooting angle precisionis improved, so that a target device is located at the image center position as much as possible, the subsequent focusing, definition adjustment and the like are facilitated, and the imaging quality is ensured. Meanwhile, the adjustment amplitude of the pan-tilt camera attitudes is reduced, and the mechanical loss is reduced.

Description

technical field [0001] The invention relates to the technical field of transmission line UAV inspection and shooting technology, in particular to a power transmission line UAV self-adaptive imaging quality optimization method for inspection. Background technique [0002] UAV has been a research hotspot in the field of aviation in recent years. It has the advantages of convenient use, low cost, high flight accuracy, flexible maneuverability, and easy intelligence. It has been more and more widely used, such as image shooting, disaster detection, etc. , power inspection, agricultural plant protection and other fields. In recent years, the application of drones in power inspections has made considerable achievements. Compared with the traditional manual inspection, relying on manual climbing to check the tower equipment, such as insulator damage, bolt aging phenomenon, high work intensity, high risk, and low inspection efficiency, UAV relies on its stable spatial position cont...

AI Technical Summary

Problems solved by technology

However, when large-scale data needs to be processed, it is often not feasible to rely on purely manual inspection.

For example, using oblique photography technology to make a high-precision 3D model for an area requires thousands or even tens of thousands of photos. If it is manually screened, it will be a huge workload

However, when processing images through image recognition algorithms, due to the errors in the algorithm itself, the screening results are also unsatisfactory.

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