Unmanned aerial vehicle power tower detection and autonomous cruise method based on image recognition

Abstract

The invention belongs to the technical field of automatic inspection of power transmission lines, and particularly relates to an unmanned aerial vehicle power transmission line detection and autonomous cruise method based on image recognition for autonomous inspection of power towers. According to the method, a power transmission line is photographed, the position of a power tower is identified through an image identification method based on deep learning, a first power tower target to be inspected by an unmanned aerial vehicle is determined, the unmanned aerial vehicle sails towards the target power tower, and the distance between the unmanned aerial vehicle and the power tower is judged through a video image; when the unmanned aerial vehicle flights to a location near to the power tower, the electric power tower is identified through a fine identification mode, then the angle position of the electric power tower relative to the unmanned aerial vehicle is judged through calibration of key parts of the electric power tower, and routing inspection is started according to the judged distance and angle. According to the method disclosed by the invention, the unmanned aerial vehicle can automatically inspect the power tower without participation of a flying hand or data processing personnel, so that the circuit inspection efficiency is improved, and the inspection cost is reduced.

Description

technical field [0001] The invention belongs to the technical field of automatic inspection of power transmission lines, and in particular relates to an image recognition-based UAV transmission line detection and autonomous inspection method for autonomous inspection of power poles and towers. Background technique [0002] In recent years, with the rapid development of my country's economy and the gradual improvement of manufacturing capacity, the country and society's demand for electricity is increasing day by day. Under the background of the increasing development of large-scale transmission lines such as high voltage, ultra high voltage and ultra high voltage, these transmission lines are generally built in sparsely populated areas, and the terrain is relatively complex, and the environment is relatively harsh, which is easy to cause aging and damage of equipment, resulting in Defects in the transmission capacity of transmission lines affect the normal operation of trans...

AI Technical Summary

Problems solved by technology

However, due to the high-precision laser ranging equipment is expensive, the maintenance cost is high, the effective distance is limited, the equipment is heavy, and the power consumption is high, which cannot meet the battery life requirements of long-distance inspection operations.

At the same time, after the point cloud data collection is completed, 3D modeling requires a lot of manual participation, the operation workload is heavy, time-consuming and laborious, the production cost is high, and the efficiency is low

[0004] At the same time, manual operation of the UAV needs to rely on the pilot and the observer's own vision for observation, which has high requirements for ambient light and weather conditions, and when the pilot observes the UAV on the ground, the observation angle is narrow Due to restrictions, the position of some key equipment is easily blocked, which leads to a long time for the positioning operation of the UAV. At the same time, because there is a safe working distance between the power pole tower and the cable, if the distance judgment is wrong, the UAV will be affected. Risk of damage due to high voltage effects

Images