A transmission line automatic measurement method for UAV inspection
A transmission line, automatic measurement technology, applied in the direction of measuring device, overhead line/cable equipment, photogrammetry/video measurement, etc., can solve background interference, image matching method is difficult to effectively identify the transmission line and other problems, to achieve accurate The effect of extraction
Active Publication Date: 2021-06-29
STATE GRID CORP OF CHINA +1
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[0004] The purpose of the present invention is to provide a transmission line automatic measurement method for UAV inspection, using the UAV image to extract the geometric relationship of the transmission line, and using the automatic detection method based on epipolar line constraints to extract the two-dimensional line from the data image Vector, and generate the three-dimensional coordinates of the transmission line to solve the problem that it is difficult to effectively identify the transmission line by using the image matching method due to the complex background interference proposed in the above background technology
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[0035] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.
[0036] In the embodiment of the present invention: provide a kind of transmission line automatic measurement method of unmanned aerial vehicle inspection, comprise the following steps:
[0037] Step 1: Extract the two-dimensional vectors of the power lines in the left and right images from the data images taken by the drone; the specific algorithms include:
[0038] (1) The diameter of the transmission line is small, and the background on both sides tends to b...
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The invention discloses a transmission line automatic measurement method for UAV inspection. First, the vector extraction algorithm is used to obtain the transmission line vector on the left and right epipolar images, and the interference noise is filtered out; secondly, the transmission line with the same name is determined. , according to the object space coordinates obtained by the intersection as the space coordinates of the transmission line, a 3D vector line is generated to complete the 3D reconstruction of the transmission line. Compared with the general edge detection method, the present invention detects the characteristics of the transmission line based on the gray scale ratio, combines the characteristics of the transmission line on the UAV image, detects the characteristics of the transmission line more accurately, and suppresses other edge features, and realizes the power transmission Automatic and accurate extraction of the two-dimensional vector of the line; in addition, based on the epipolar line constraint method, the geometric conditions of the transmission line are used to directly obtain the coordinates of the image point with the same name through calculation, and the measurement problem of the three-dimensional coordinates of the transmission line is converted into a two-dimensional vector on the epipolar line image The extraction problem solves the problem that image matching is difficult to obtain the image points with the same name of the transmission line.
Description
technical field [0001] The invention relates to the technical field of electric power operation and maintenance, in particular to an automatic measurement method for transmission lines for patrol inspection by drones. Background technique [0002] In recent years, with the increase in the demand for electricity in modern society, the scale of the power grid has been expanding day by day, and the distribution of transmission lines has become more extensive. However, many complex terrain conditions, such as lakes, mountains and rivers, have brought great challenges to power inspections using traditional manual methods. In the face of complex environments, the use of manual inspection methods will be subject to many constraints. Not only will the operation become more difficult, but the safety of operators will not be guaranteed. Therefore, the use of drones to replace manual inspections has attracted more and more attention. Compared with manual methods, drone inspections hav...
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IPC IPC(8): H02G1/02G01C11/00G07C1/20
CPCG01C11/00G07C1/20H02G1/02
Inventor 杨冬张宿新唐磊鲍杰王凯
Owner STATE GRID CORP OF CHINA