基于无人机巡线的智能追踪导航系统研究

Research on Intelligent Tracking Navigation System Based on UAV Inspection Line

无人机巡线作为电力行业一种全新的运维方式,是对直升机和人工巡线的有力补充,不仅减轻了输电线路运维人员的工作强度,而且提高了巡检质量、效益和效率,将是今后输电线路运维管理的发展方向。提出并研制了一套基于无人机的配网自主巡线导航系统,系统主要包含毫米波雷达模块、超声波雷达模块、RTK实时动态测量系统、广角摄像头和深度相机,通过运用互补滤波的姿态解算,融合陀螺仪、加速度计、GPS/RTK的数据得到无人机与水平面的夹角;利用相机和机载计算机进行实时图像处理和模式识别进行导线特征获取,提出了改进的Canny边缘检测算法,并结合图像分割技术实现了导线的特征提取和识别。现场测试结果表明,系统可完成对无人机的远程控制,实现了输电线路无人机智能导航巡视。

UAV inspection line is a new patrol operation and maintenance method for the power industry.It can complement helicopter inspections and manual inspections.It not only reduces the labor intensity of transmission line operation and maintenance personnel,but also improves the quality,efficiency and economic benefits.It is the direction of maintenance management of transmission lines for power grids in the future.This paper proposes and develops a self-guided navigation system based on UAV.The system mainly includes millimeter wave radar module,ultrasonic radar module,RTK real-time dynamic measurement system,wide-angle camera and depth camera.The attitude calculation uses a complementary filtering algorithm,which combines the data of the gyroscope,accelerometer and GPS/RTK to obtain the angle between the drone and the horizontal plane;real-time image processing and pattern recognition using the camera and the onboard computer to obtain the wire characteristics,and improve The canny edge detection and image segmentation technology realizes the identification of the wires,and the edge detection technology is used to extract the features of the wires.Experimental result shows that the system can realize the remote control of a UAV,and the intelligent tracking navigation tour of the drone.