UAV autonomous inspection method based on rtk high-precision positioning and machine vision fusion
A technology of machine vision and positioning method, applied in vehicle position/route/height control, instrument, use feedback control, etc., can solve problems such as high professional level requirements for UAV pilots, large frame occupation, incomplete shooting, etc. Achieve the effect of taking into account inspection efficiency and inspection accuracy, reducing waypoint accuracy errors, and improving flight efficiency
Active Publication Date: 2021-09-28
JIANGSU FRONTIER ELECTRIC TECH +1
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Problems solved by technology
Some inspection targets occupy a large frame in the photo, and the vertical height accuracy of the drone may be slightly poor, which may lead to incomplete photos
Furthermore, since the UAV has a certain position deviation when it reaches each hover position during the inspection process, the reflection in the photo will cause the target device to deviate from the lens acquisition range, resulting in data acquisition failure
There is a need for an autonomous inspection method for drones to solve the problems of low intelligence in existing drone inspections, complete reliance on manual operations, and high requirements for the professional level of drone pilots.
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[0073] In order to solve the problems of low intelligence level of existing UAV patrol inspection, complete reliance on manual operation, and high professional level requirements for UAV pilots, an autonomous UAV inspection technology based on RTK high-precision navigation is proposed to reduce Manual intervention in the inspection process maximizes the drone's autonomous inspection capabilities. The following problems need to be solved during the UAV inspection process: First, track selection; how to collect the route information of the transmission line, obtain key trajectory waypoints, and reduce redundant waypoints will determine the autonomy of the UAV. Inspection efficiency and safety. Second, positioning control; how to ensure that the UAV flies along the route accurately, and how to control the UAV to accurately take pictures at the equipment photo point determines the quality of the UAV's autonomous inspection tasks, and even determines the subsequent state perception...
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The present invention is an autonomous inspection method based on RTK high-precision positioning and machine vision fusion. The method can select routes before the automatic inspection of the UAV, and perform redundant inspections through the trajectory screening method based on key points and trajectory angles. The remaining points are filtered to output the optimized inspection route; when the UAV is flying close to the photo point, the UAV adjusts the spatial position of the UAV through the RTK-based high-precision positioning method to accurately reach the photo point; the UAV passes The dynamic optimization positioning method based on the difference characteristics of the inspection objects controls the rotation of the pan-tilt before taking pictures, and takes pictures after the target device picture is located in the center of the picture. This kind of UAV autonomous inspection method solves the problem of route collection and positioning optimization, runs through the process of route learning to autonomous inspection, takes into account the efficiency and accuracy of inspection, and provides high efficiency of refined inspection solution.
Description
technical field [0001] The invention relates to the technical field of automatic control of unmanned aerial vehicles, in particular to an autonomous inspection method for unmanned aerial vehicles based on the fusion of RTK high-precision positioning and machine vision. Background technique [0002] The UAV traverses and flies according to the set of known route points to complete the inspection task. The set of waypoints includes redundant points, so the efficiency and safety of UAV autonomous inspection will be affected. After the UAV arrives at the inspection and shooting point, it will perform gimbal focusing and take pictures of the target, but the accuracy of the waypoints is not enough, resulting in insufficient shooting accuracy. At the same time, the size of power equipment is different, and the shooting requirements are different. In the process of standardized operation, the characteristics of different equipment determine its size in the screen. Some inspection ...
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IPC IPC(8): G05D1/10G05D3/12G01C21/20
CPCG01C21/20G05D1/0094G05D1/101G05D3/12
Inventor 黄郑王红星翟学锋陈晟王永强姜海波
Owner JIANGSU FRONTIER ELECTRIC TECH