Adaptive imaging quality optimization method for UAV autonomous inspection of transmission lines

Abstract

The invention discloses a self-adaptive imaging quality optimization method for unmanned aerial vehicle (UAV) inspection of power transmission lines, which sequentially uses the event-triggered cycle control technology based on the error threshold of the space position of the UAV, and the event-triggered cycle control based on the error threshold of the attitude position of the pan / tilt. Technology, event-triggered cyclic focusing technology based on the Laplacian image definition threshold, the imaging quality of the inspection photos was tested from several aspects such as photo shooting angle, lens focus, and photo clarity, and adopted The corresponding method is optimized to ensure the final imaging quality of the photo; the iterative thinking is adopted to gradually optimize the shooting angle of the photo from the shooting position, the direction of the nose, and the attitude information of the gimbal camera, so as to improve the accuracy of the shooting angle of the photo and make the target device as close as possible to the The central position of the image is convenient for subsequent focus and definition adjustments, ensuring image quality; at the same time, it reduces the adjustment range of the gimbal camera attitude and reduces mechanical loss.

Description

technical field [0001] The invention relates to the technical field of UAV patrol inspection and photography of transmission lines, in particular to an adaptive imaging quality optimization method for autonomous inspection of transmission line UAVs. 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 and disaster detection. , power inspection, agricultural plant protection and other fields. In recent years, the application of UAVs in power inspection has achieved considerable success. Compared with the traditional manual inspection, relying on manual tower climbing to check electrical tower equipment, such as broken insulators, aging bolts, high work intensity, high risk, and low inspection efficiency, drones rely on their stable spatial posi...

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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