CN115686073A - Unmanned aerial vehicle-based power transmission line inspection control method and system - Google Patents
Unmanned aerial vehicle-based power transmission line inspection control method and system Download PDFInfo
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Abstract
The invention discloses a power transmission line inspection control method and system based on an unmanned aerial vehicle, and relates to the technical field of power inspection, wherein the method comprises the following steps: the unmanned aerial vehicle flies above the power transmission line to be inspected according to the received inspection control instruction and flies according to the configured initial flying height and initial flying speed; detecting the distance between the unmanned aerial vehicle and the power transmission line in the flight process, and controlling the unmanned aerial vehicle to keep a safe distance with the power transmission line according to the detected distance; the unmanned aerial vehicle acquires an image of the power transmission line in the flying process, identifies and processes the power transmission line in the image of the power transmission line based on a Hough line detection algorithm, and controls the flying direction of the unmanned aerial vehicle to be consistent with the length direction of the power transmission line according to the identification result; whether a tower appears in the image of the power transmission line is detected, if the tower appears, the unmanned aerial vehicle is controlled to hover, and then the unmanned aerial vehicle continuously flies forwards according to the preset tower-passing height and the preset tower-passing flying speed.
Description
Technical Field
The invention relates to the technical field of power inspection, in particular to a power transmission line inspection control method and system based on an unmanned aerial vehicle.
Background
Unmanned aerial vehicle transmission line patrols and examines and generally become the main mode of patrolling and examining in the electric power patrols and examines, and unmanned aerial vehicle is automatic to be patrolled and examined will improve greatly and examine efficiency, alleviates patrolling and examining personnel's work burden.
In the process, the unmanned aerial vehicle can fly in real time according to the direction of a power transmission line, and when encountering a tower, the unmanned aerial vehicle can fly through the tower at a fixed height, the flight direction of the unmanned aerial vehicle is controlled by tower GPS position information at present, but in the environment of the power transmission line, the tower GPS position information is difficult to acquire because the number of towers is too large and the positions are mostly close to urban living areas, and the flight direction of the unmanned aerial vehicle cannot be adjusted and controlled by the tower GPS position information; in addition, the distance between the unmanned aerial vehicle and a power transmission conductor is controlled in a visual ranging mode, automatic line-copying inspection is achieved, however, the power transmission line environment is complex, and the visual ranging scheme is difficult to be reliable and practical in an actual scene; the distance between the unmanned aerial vehicle and the power transmission conductor and between the unmanned aerial vehicle and other obstacles is controlled in a three-dimensional laser radar ranging mode, and automatic line-tracing routing inspection is realized. For example, patent document CN113778137a discloses an unmanned aerial vehicle autonomous inspection method for a power transmission line, where a laser radar and a positioning module are mounted on an unmanned aerial vehicle, and the laser radar and the positioning module collect data in real time when the unmanned aerial vehicle performs autonomous inspection; generating three-dimensional real-time point cloud data of a corridor area of the power transmission line based on the laser radar and the data acquired by the positioning module; and identifying a preset target object based on the three-dimensional real-time point cloud data, and generating an automatic power line following scheme so as to control the unmanned aerial vehicle to fly along with the power line. The laser radar ranging mode has relatively stronger robustness, and the cost of the three-dimensional laser radar is very high.
Disclosure of Invention
The invention provides a power transmission line inspection control method and system based on an unmanned aerial vehicle, which can effectively reduce the cost of the unmanned aerial vehicle line-tracing flight inspection and have high reliability.
A power transmission line inspection control method based on an unmanned aerial vehicle comprises the following steps:
the unmanned aerial vehicle flies above the power transmission line to be inspected according to the received inspection control instruction and flies according to the configured initial flying height and initial flying speed;
detecting the distance between the unmanned aerial vehicle and the power transmission line in the flight process, and controlling the unmanned aerial vehicle to keep a safe distance with the power transmission line according to the detected distance;
the unmanned aerial vehicle acquires an image of the power transmission line in the flying process, identifies and processes the power transmission line in the image of the power transmission line based on a Hough line detection algorithm, and controls the flying direction of the unmanned aerial vehicle to be consistent with the length direction of the power transmission line according to the identification result;
and detecting whether a tower appears in the image of the power transmission line, if so, controlling the unmanned aerial vehicle to hover, and then continuing to fly forwards according to the preset tower-passing height and the preset tower-passing flying speed.
Further, the unmanned aerial vehicle controls the unmanned aerial vehicle to keep a safe distance from the power transmission line based on a PID control algorithm.
Further, the unmanned aerial vehicle detects whether a tower appears in the power transmission line image based on a residual error neural network model.
Further, the method further comprises:
and the unmanned aerial vehicle receives the return flight instruction, hovers according to the return flight instruction, and then adjusts the flight direction to fly to the designated return flight point.
Further, identifying and processing the power transmission line in the power transmission line image based on a Hough line detection algorithm, comprising:
detecting line segments in the power transmission line image based on Hough line detection to obtain a primary line segment set;
screening and merging the line segments in the primary line segment set based on space and angle to obtain a merged line segment set;
and selecting the final longest line segment from the combined line segment set as the power transmission line.
Further, screening and merging the line segments in the preliminary line segment set based on space and angle to obtain a merged line segment set, including:
sequencing all line segments in the preliminary line segment set according to length to obtain a line segment sequence, wherein each line segment in the line segment sequence comprises endpoint coordinate information, length information and angle information;
determining an initial longest line segment in the sequence of line segments;
calculating the angle difference between other line segments in the line segment sequence and the initial longest line segment, and selecting the line segments with the angle difference not exceeding a preset angle to be added into a first similar line segment set;
traversing the first similar line segment set, calculating the Euclidean distance between the end point of each line segment in the first similar line segment set and the end point corresponding to the initial longest line segment, and adding the line segments of which the Euclidean distance does not exceed the preset distance into a second similar line segment set;
and merging the line segments according to the distance calculation result of the end point of the initial longest line segment and the end point of the line segment in the second similar line segment set to obtain a merged line segment set.
Further, the segment merging is performed according to the distance calculation result of the end point of the initial longest segment and the segment end point in the second similar segment set, and the segment merging comprises the following steps:
determining two end points of the initial longest line segment as a first end point and a second end point respectively, traversing the second similar line segment set, searching a third end point closest to the first end point, and defining the other end point of a line segment i where the third end point is located as a fourth end point;
calculating a first distance between the first endpoint and the third endpoint, a second distance between the first endpoint and the fourth endpoint, a third distance between the second endpoint and the third endpoint, and a fourth distance between the second endpoint and the fourth endpoint;
and comparing the first distance, the second distance, the third distance and the fourth distance, selecting the maximum distance, merging the initial longest line segment and the line segment i, and taking the end points corresponding to the maximum distance as two end points of a merged line segment.
The utility model provides a be applied to above-mentioned method based on transmission line of unmanned aerial vehicle and patrol and examine control system, includes ground control end and unmanned aerial vehicle, ground control end is used for sending and patrols and examines control command, unmanned aerial vehicle includes treater and storage device, storage device stores many instructions, the treater is used for reading many instructions and execution:
flying above the power transmission line to be inspected according to the received inspection control instruction, and flying according to the configured initial flying height and initial flying speed;
detecting the distance between the unmanned aerial vehicle and the power transmission line in the flying process, and controlling the unmanned aerial vehicle to keep a safe distance with the power transmission line according to the detected distance;
acquiring an image of the power transmission line in the flying process, identifying and processing the power transmission line in the image of the power transmission line based on a Hough line detection algorithm, and controlling the flying direction of the unmanned aerial vehicle to be consistent with the length direction of the power transmission line according to an identification result;
and detecting whether a tower appears in the image of the power transmission line, if so, controlling the unmanned aerial vehicle to hover, and then continuing to fly forwards according to the preset tower-passing height and the preset tower-passing flying speed.
Further, still be provided with quadrature radar module and image acquisition device on the unmanned aerial vehicle, unmanned aerial vehicle passes through the quadrature radar module and detects the distance with transmission line, through image acquisition device gathers the transmission line image.
Further, the quadrature radar module includes two single line radars and mount pendant, the scanning face mutual quadrature of two single line radars, the mount pendant is used for hanging two single line radars in unmanned aerial vehicle's bottom.
Further, the processor is further configured to perform: and controlling the unmanned aerial vehicle to keep a safe distance with the power transmission line based on a PID control algorithm.
Further, the processor is further configured to perform: and detecting whether the tower appears in the power transmission line image or not based on the residual error neural network model.
Further, the processor is further configured to perform: and receiving a return flight instruction, hovering according to the return flight instruction, and then adjusting the flight direction to fly to an appointed return flight point.
Further, the processor is further configured to perform:
detecting line segments in the power transmission line image based on Hough line detection to obtain a primary line segment set;
screening and merging the line segments in the primary line segment set based on space and angle to obtain a merged line segment set;
and selecting the final longest line segment from the combined line segment set as the power transmission line.
Further, the processor is further configured to perform:
sequencing all line segments in the preliminary line segment set according to length to obtain a line segment sequence, wherein each line segment in the line segment sequence comprises endpoint coordinate information, length information and angle information;
determining an initial longest line segment in the sequence of line segments;
calculating the angle difference between other line segments in the line segment sequence and the initial longest line segment, and selecting the line segments with the angle difference not exceeding a preset angle to be added into a first similar line segment set;
traversing the first similar line segment set, calculating the Euclidean distance between the end point of each line segment in the first similar line segment set and the end point corresponding to the initial longest line segment, and adding the line segments of which the Euclidean distance does not exceed the preset distance into a second similar line segment set;
and merging the line segments according to the distance calculation result of the end point of the initial longest line segment and the end point of the line segment in the second similar line segment set to obtain a merged line segment set.
Further, the processor is further configured to perform:
traversing the second similar line segment set, determining a first endpoint and a second endpoint which are closest to the ith line segment endpoint in the initial longest line segment and the second similar line segment set, and determining other third endpoints and fourth endpoints of the initial longest line segment and the ith line segment;
merging the initial longest line segment and the ith line segment, and calculating a first distance between a first endpoint and a third endpoint, a second distance between the first endpoint and a fourth endpoint, a third distance between the second endpoint and the third endpoint, and a fourth distance between the third endpoint and the fourth endpoint;
and comparing the first distance, the second distance, the third distance and the fourth distance, selecting the maximum distance, and taking the end points corresponding to the maximum distance as two end points of the combined line segment.
The power transmission line inspection control method and system based on the unmanned aerial vehicle at least have the following beneficial effects:
(1) The distance between the unmanned aerial vehicle and the power transmission line, the linear direction of the power transmission line and the tower identification are detected through the orthogonal radar module, so that the unmanned aerial vehicle can fly along the contour line, and the inspection cost of the unmanned aerial vehicle can be effectively reduced;
(2) Compared with a laser radar and a complex visual identification technology, the distance control is completed through a PID control algorithm, the unmanned aerial vehicle can fly along a curved line through Hough line detection and line segment processing, the method is simpler, the algorithm flow of an onboard computer of the unmanned aerial vehicle is saved, and the reliability is higher;
(3) The basic line segment of the power transmission line is obtained through Hough line detection, and then space and angle screening and combination are carried out on the basis of the longest line segment, so that the identified power transmission line is higher in accuracy, and a basis is provided for the flight direction of the unmanned aerial vehicle.
Drawings
Fig. 1 is a flowchart of an embodiment of a power transmission line inspection control method based on an unmanned aerial vehicle according to the present invention.
Fig. 2 is a flowchart of an embodiment of identifying and processing a power transmission line in the power transmission line inspection control method based on the unmanned aerial vehicle according to the present invention.
Fig. 3 is a flowchart of an embodiment of screening and merging line segments in the power transmission line inspection control method based on the unmanned aerial vehicle according to the present invention.
Fig. 4 is a schematic diagram of an embodiment of merging line segments in the unmanned aerial vehicle-based power transmission line inspection control method provided by the invention.
Fig. 5 is a schematic structural diagram of an embodiment of the power transmission line inspection control system based on the unmanned aerial vehicle provided by the invention.
Fig. 6 is a schematic structural diagram of an embodiment of an unmanned aerial vehicle in the power transmission line inspection control system based on the unmanned aerial vehicle provided by the invention.
Detailed Description
In order to better understand the technical solution, the technical solution will be described in detail with reference to the drawings and the specific embodiments.
Referring to fig. 1, in some embodiments, there is provided a power transmission line inspection control method based on an unmanned aerial vehicle, including:
s1, the unmanned aerial vehicle flies above a power transmission line to be patrolled according to a received patrolling control instruction and flies according to a configured initial flying height and an initial flying speed;
s2, detecting the distance between the unmanned aerial vehicle and the power transmission line in the flight process, and controlling the unmanned aerial vehicle to keep a safe distance with the power transmission line according to the detected distance;
s3, the unmanned aerial vehicle acquires an image of the power transmission line in the flight process, identifies and processes the power transmission line in the image of the power transmission line based on a Hough line detection algorithm, and controls the flight direction of the unmanned aerial vehicle to be consistent with the length direction of the power transmission line according to the identification result;
s4, detecting whether a tower appears in the power transmission line image, controlling the unmanned aerial vehicle to hover if the tower appears, and then continuing to fly forwards according to the preset tower-passing height and the preset tower-passing flying speed.
Specifically, in step S1, send to unmanned aerial vehicle through the ground control end and patrol and examine control command, unmanned aerial vehicle is provided with wireless communication module, as an optional implementation mode, this wireless communication module is 2.4GHz wireless transmission module, carry out communication connection through this wireless communication module and ground control end, unmanned aerial vehicle sets up initial flying height in advance, initial flying speed, cross tower height and cross tower flying speed, unmanned aerial vehicle receives to patrol and examine the control command after the flight to treating to patrol and examine transmission line top, and fly according to the initial flying height and the initial flying speed of configuration.
Further, in step S2, unmanned aerial vehicle detects and transmission line' S distance, keeps safe distance according to the distance control unmanned aerial vehicle that detects and transmission line, wherein, is provided with the quadrature radar module on the unmanned aerial vehicle, detects the distance with transmission line through this quadrature radar model.
As an optional implementation mode, the orthogonal radar module comprises two single line radars and a mounting pendant, the scanning surfaces of the two single line radars are orthogonal to each other, and the mounting pendant is used for mounting the two single line radars on the bottom of the unmanned aerial vehicle.
The unmanned aerial vehicle is provided with an embedded computer, and the logic calculation is carried out through the embedded computer.
As an optional implementation manner, the unmanned aerial vehicle controls the unmanned aerial vehicle to keep a safe distance from the power transmission line based on a PID control algorithm.
And PID control, which forms a control deviation through a given value and an actual output value, and forms a control quantity through linear combination of proportional, integral and differential deviation to control a controlled object. The robustness is good, and the reliability is high.
Unmanned aerial vehicle passes through the distance of quadrature radar module collection with transmission line, carries out dynamic control to it for unmanned aerial vehicle keeps safe distance with transmission line.
The distance control unmanned aerial vehicle that gathers through the orthogonal radar module keeps safe distance with transmission line, and for three-dimensional laser radar, control method is simple, the good reliability and with low costs, nevertheless still need further control unmanned aerial vehicle according to transmission line direction flight.
Further, in step S3, referring to fig. 2, identifying and processing the power transmission line in the power transmission line image based on a hough line detection algorithm includes:
s31, detecting line segments in the power transmission line image based on Hough line detection to obtain a primary line segment set;
s32, screening and combining the line segments in the primary line segment set based on space and angle to obtain a combined line segment set;
and S33, selecting the final longest line segment from the combined line segment set as the power transmission line.
Specifically, in step S31, the line segments in the image of the power transmission line are detected based on hough line detection to obtain a preliminary line segment set D, and due to the complex environment of the power transmission line, the hough line detection results are not necessarily all composed of power transmission lines, and the same power transmission line may be represented by multiple broken line segments. Therefore, the detected line segments are subjected to screening and merging processing from both spatial and angular aspects.
Further, in step S32, referring to fig. 3, screening and merging the line segments in the preliminary line segment set based on space and angle to obtain a merged line segment set, including:
s321, sequencing all line segments in the primary line segment set D according to length to obtain a line segment sequence
N is the number of line segments, and each line segment in the line segment sequence L comprises endpoint coordinate information, length information and angle information;
s322, determining the initial longest line segment in the line segment sequence
Wherein, in the step (A),
、
、
、
respectively a left end point coordinate, a right end point coordinate, a length and an angle of the longest line segment;
s323, when the sequence line segment L is not empty, calculating the angle difference between other line segments in the line segment sequence L and the initial longest line segment, selecting the line segment with the angle difference not exceeding the preset angle, and adding the line segment into a first similar line segment set Q 1 (ii) a I.e. other segments in the sequence of segments
Angle and angle of
Comparing to obtain a difference value not exceeding a preset angle
Line segment of
Deleting from the line segment sequence, and adding a first similar line segment set Q 1 . Otherwise, the screening and merging process is completed,
s324, traversing the first similar line segment set Q 1 Calculating Euclidean distances between the end points of all the line segments in the first similar line segment set and the end point corresponding to the initial longest line segment, and adding the line segments with the Euclidean distances not exceeding a preset distance into a second similar line segment set Q 2 ；
S325, merging the line segments according to the distance calculation result of the end point of the initial longest line segment and the end point of the line segment in the second similar line segment set to obtain a merged line segment set M.
Specifically, referring to fig. 4, merging the line segments according to the calculation result of the distance between the end point of the initial longest line segment and the end point of the line segment in the second similar line segment set includes:
determining two end points of the initial longest line segment as a first end point a and a second end point b respectively, traversing the second similar line segment set, searching a third end point c closest to the first end point a, and defining the other end point of a line segment i where the third end point c is located as a fourth end point d;
calculating a first distance between the first end point a and the third end point c, a second distance between the first end point a and the fourth end point d, a third distance between the second end point b and the third end point c, and a fourth distance between the second end point b and the fourth end point d;
and comparing the first distance, the second distance, the third distance and the fourth distance, selecting the maximum distance, merging the initial longest line segment and the line segment i, and taking the end points corresponding to the maximum distance as two end points of a merged line segment.
Through the calculation, the identified longest line segment is used as a reference, and the screening and merging processing is carried out from two aspects of space and angle, so that the power transmission line is identified, and a basis is provided for the flight direction of the unmanned aerial vehicle.
Further, in step S4, the unmanned aerial vehicle detects whether a tower appears in the power transmission line image based on the residual error neural network model.
Specifically, be provided with image acquisition device on the unmanned aerial vehicle, can be for visible light high definition digtal camera, can support two directions of level and perpendicular and rotate for the imitative line flight in-process of unmanned aerial vehicle is to transmission line image acquisition.
Further, when the unmanned aerial vehicle electric quantity is not enough or the unmanned aerial vehicle has finished the condition that the unmanned aerial vehicle needs to return to the air such as patrol and examine the task, the accessible ground control end sends the instruction of returning to the air to unmanned aerial vehicle, and unmanned aerial vehicle receives the instruction of returning to the air, according to the instruction of returning to the air hovers, later adjusts the direction of flight and flies to appointed point of returning to the air.
Referring to fig. 5, in some embodiments, an unmanned aerial vehicle-based power transmission line inspection control system applied to the above method is provided, and includes a ground control terminal 1 and an unmanned aerial vehicle 2, where the ground control terminal 1 is configured to send an inspection control instruction, the unmanned aerial vehicle 2 includes a processor 21 and a storage device 22, the storage device 22 stores a plurality of instructions, and the processor 21 is configured to read the plurality of instructions and execute:
flying above the power transmission line to be inspected according to the received inspection control command, and flying according to the configured initial flying height and initial flying speed;
detecting the distance between the unmanned aerial vehicle and the power transmission line in the flying process, and controlling the unmanned aerial vehicle to keep a safe distance with the power transmission line according to the detected distance;
acquiring an image of the power transmission line in the flying process, identifying and processing the power transmission line in the image of the power transmission line based on a Hough line detection algorithm, and controlling the flying direction of the unmanned aerial vehicle to be consistent with the length direction of the power transmission line according to an identification result;
and detecting whether a tower appears in the image of the power transmission line, if so, controlling the unmanned aerial vehicle to hover, and then continuing to fly forwards according to the preset tower-passing height and the preset tower-passing flying speed.
Referring to fig. 6, the unmanned aerial vehicle 2 is further provided with an orthogonal radar module 23 and an image acquisition device 24, and the unmanned aerial vehicle 2 detects the distance from the power transmission line through the orthogonal radar module 23 and acquires the image of the power transmission line through the image acquisition device 24.
Wherein, orthogonal radar module 23 includes two single line radars and mount pendant, two single line radars's scanning face mutual orthogonality, and the mount pendant is used for hanging two single line radars in unmanned aerial vehicle's bottom.
The power transmission line inspection control method and system based on the unmanned aerial vehicle provided by the embodiment at least have the following beneficial effects:
(1) The distance between the unmanned aerial vehicle and the power transmission line, the linear direction of the power transmission line and the tower identification are detected through the orthogonal radar module, so that the unmanned aerial vehicle can fly along the contour line, and the inspection cost of the unmanned aerial vehicle can be effectively reduced;
(2) Compared with a laser radar and a complex visual identification technology, the distance control is completed through a PID control algorithm, the unmanned aerial vehicle can fly along a curved line through Hough line detection and line segment processing, the method is simpler, the algorithm flow of an onboard computer of the unmanned aerial vehicle is saved, and the reliability is higher;
(3) The basic line segment of the power transmission line is obtained through Hough line detection, and then space and angle screening and combination are carried out on the basis of the longest line segment, so that the identified power transmission line is higher in accuracy, and a basis is provided for the flight direction of the unmanned aerial vehicle.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the invention. It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (10)
1. The utility model provides a transmission line inspection control method based on unmanned aerial vehicle which characterized in that includes:
the unmanned aerial vehicle flies above the power transmission line to be inspected according to the received inspection control instruction and flies according to the configured initial flying height and initial flying speed;
the unmanned aerial vehicle detects the distance between the unmanned aerial vehicle and the power transmission line in the flying process, and the unmanned aerial vehicle is controlled to keep a safe distance with the power transmission line according to the detected distance;
the unmanned aerial vehicle acquires an image of the power transmission line in the flying process, identifies and processes the power transmission line in the image of the power transmission line based on a Hough line detection algorithm, and controls the flying direction of the unmanned aerial vehicle to be consistent with the length direction of the power transmission line according to the identification result;
and detecting whether a tower appears in the image of the power transmission line, if so, controlling the unmanned aerial vehicle to hover, and then continuing to fly forwards according to the preset tower-passing height and the preset tower-passing flying speed.
2. The method of claim 1, wherein the drone is controlled to maintain a safe distance from the power transmission line based on a PID control algorithm.
3. The method of claim 1, wherein the drone detects whether a tower is present in the transmission line image based on a residual neural network model.
4. The method of claim 1, further comprising:
and the unmanned aerial vehicle receives the return flight instruction, hovers according to the return flight instruction, and then adjusts the flight direction to fly to the designated return flight point.
5. The method according to claim 1, wherein identifying and processing the transmission line in the transmission line image based on a Hough line detection algorithm comprises:
detecting line segments in the power transmission line image based on Hough line detection to obtain a primary line segment set;
screening and merging the line segments in the primary line segment set based on space and angle to obtain a merged line segment set;
and selecting the final longest line segment from the combined line segment set as the power transmission line.
6. The method of claim 5, wherein screening and merging segments of the preliminary segment set based on space and angle to obtain a merged segment set comprises:
sequencing all line segments in the preliminary line segment set according to length to obtain a line segment sequence, wherein each line segment in the line segment sequence comprises endpoint coordinate information, length information and angle information;
determining an initial longest line segment in the sequence of line segments;
calculating the angle difference between other line segments in the line segment sequence and the initial longest line segment, and selecting the line segments with the angle difference not exceeding a preset angle to be added into a first similar line segment set;
traversing the first similar line segment set, calculating the Euclidean distance between the end point of each line segment in the first similar line segment set and the end point corresponding to the initial longest line segment, and adding the line segments of which the Euclidean distance does not exceed the preset distance into a second similar line segment set;
and merging the line segments according to the calculation result of the distance between the end point of the initial longest line segment and the end point of the line segment in the second similar line segment set to obtain a merged line segment set.
7. The method of claim 6, wherein merging segments according to the distance calculation between the end of the initial longest segment and the end of a segment in a second set of similar segments comprises:
determining two end points of the initial longest line segment as a first end point and a second end point respectively, traversing the second similar line segment set, searching a third end point closest to the first end point, and defining the other end point of a line segment i where the third end point is located as a fourth end point;
calculating a first distance between the first endpoint and the third endpoint, a second distance between the first endpoint and the fourth endpoint, a third distance between the second endpoint and the third endpoint, and a fourth distance between the second endpoint and the fourth endpoint;
and comparing the first distance, the second distance, the third distance and the fourth distance, selecting the maximum distance, merging the initial longest line segment and the line segment i, and taking the end points corresponding to the maximum distance as two end points of a merged line segment.
8. An unmanned aerial vehicle-based power transmission line inspection control system applied to the method according to any one of claims 1 to 7, comprising a ground control end and an unmanned aerial vehicle, wherein the ground control end is used for sending inspection control instructions, the unmanned aerial vehicle comprises a processor and a storage device, the storage device is used for storing a plurality of instructions, and the processor is used for reading the plurality of instructions and executing:
flying above the power transmission line to be inspected according to the received inspection control instruction, and flying according to the configured initial flying height and initial flying speed;
detecting the distance between the unmanned aerial vehicle and the power transmission line in the flying process, and controlling the unmanned aerial vehicle to keep a safe distance with the power transmission line according to the detected distance;
acquiring an image of the power transmission line in the flying process, identifying and processing the power transmission line in the image of the power transmission line based on a Hough line detection algorithm, and controlling the flying direction of the unmanned aerial vehicle to be consistent with the length direction of the power transmission line according to an identification result;
and detecting whether a tower appears in the image of the power transmission line, if so, controlling the unmanned aerial vehicle to hover, and then continuing to fly forwards according to the preset tower-passing height and the preset tower-passing flying speed.
9. The system according to claim 8, wherein the unmanned aerial vehicle is further provided with an orthogonal radar module and an image acquisition device, the unmanned aerial vehicle detects the distance from the power transmission line through the orthogonal radar module, and the image acquisition device acquires the power transmission line image.
10. The system of claim 9, wherein the orthogonal radar module comprises two single line radars and a mount pendant, scanning planes of the two single line radars are orthogonal to each other, and the mount pendant is configured to mount the two single line radars on the bottom of the drone.
Priority Applications (1)
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| CN116958841A (en) * | 2023-09-18 | 2023-10-27 | 众芯汉创(江苏)科技有限公司 | Unmanned aerial vehicle inspection system for power distribution line based on image recognition |
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