High-precision positioning method and system for autonomous inspection unmanned aerial vehicle in power transmission tower scene

Abstract

The invention discloses a high-precision positioning method for an autonomous inspection unmanned aerial vehicle in a power transmission tower scene. The method comprises the following steps of S1, extracting data in an inertial navigation device of the inspection unmanned aerial vehicle, and calculating the absolute attitude and position of the unmanned aerial vehicle in the power transmission tower scene; S2, performing data acquisition on the surrounding environment of the power transmission tower by using a visual sensor on the inspection unmanned aerial vehicle, calculating the displacement of pixels in two adjacent frames of images to obtain the relative pose change of the unmanned aerial vehicle, obtaining the movement condition of the optical flow of the unmanned aerial vehicle through time and pixel gradient analysis, and performing auxiliary navigation positioning; and S3, calculating the pose of the unmanned aerial vehicle according to the absolute pose and position of the unmanned aerial vehicle obtained in the step S1 and the relative pose change data obtained in the step S2 in combination with the acquired feature point information of the image so that the unmanned aerial vehicle obtains more accurate pose information. The invention further discloses a high-precision positioning system. The method can automatically inspect the power transmission tower of the powersystem.

Description

technical field [0001] The invention relates to the technical field of unmanned aerial vehicles, in particular to a high-precision positioning method and system for autonomous inspection unmanned aerial vehicles in the scene of transmission towers. Background technique [0002] At present, the inspection of ultra-high voltage transmission lines mainly relies on manual inspection, supplemented by manned helicopter and drone inspection. The manual inspection method not only has high work intensity, poor working conditions, and low work efficiency, but also has the risk of personal safety, especially some failures with unknown reasons and inaccurate distance measurement will increase the workload, and some lines are also affected by terrain factors. This makes line inspection difficult; and manned helicopters are restricted by factors such as aviation control, weather, and operating costs, so they cannot find accidents and abnormalities in a timely manner, and it is also diffic...

AI Technical Summary

Problems solved by technology

The manual inspection method not only has high work intensity, poor working conditions, and low work efficiency, but also has the risk of personal safety, especially some failures with unknown reasons and inaccurate distance measurement will increase the workload, and some lines are also affected by terrain factors. It makes it difficult to patrol the line; and manned helicopters are restricted by factors such as aviation control, weather, and operating costs, so they cannot find accidents and abnormalities in a timely manner, and it is also difficult to meet the inspection cycle stipulated in the operating regulations.

[0003] Multi-rotor drones have the characteristics of flexible maneuverability, good hovering stability, and easy control. At present, they have been popularized and applied in transmission line inspections. However, such drones are non-intelligent and still require personnel to control and Perform defect identification

In the actual operation process, the traditional multi-rotor line patrol UAV uses a high-definition camera to shoot the scene, transmits it to the receiving terminal through the image transmission system, and then manually checks it through the staff, which is often time-consuming and laborious, and does not completely solve the labor problem. intense problem

At this stage, basically three people work together, one aircraft remote operator, one video inspector or liaison officer. For large towers or lines, it is necessary to use a walkie-talkie to direct the drone operator to carry out the operation, but due to the field of view and coordinates Different departments often have lower communication efficiency

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