Unmanned aerial vehicle inspection head control method based on visual servo

Abstract

The invention discloses an unmanned aerial vehicle inspection head control method based on visual servo. The method comprises the steps of: 1, obtaining video information by an imaging device; 2, matching a frame real-time image with a template image, obtaining a pixel deviation and determining a deviation P of the image center; 3, judging whether P is greater than a deviation threshold, if not, indicating a normal situation, and finishing this detection, if so, turning to the next step; 4, determining a rotating direction through P, then rotating the holder for the minimal unit d; 5, obtaining the device image at a current position again; 6, trying a new target position by a tracing algorithm; determining the deviation P1 of the new position and the template image; 7, judging whether P is greater than the threshold according to the linear relationship between holder rotation and the pixel deviation in the image, if not, finishing this detection, and if so, returning to the step 5. Location filming of the target in the unmanned aerial vehicle inspection process is effectively solved, and the inspection efficiency and quality are improved.

Description

technical field [0001] The invention relates to a visual servo control method, in particular to a visual servo-based control method for a transmission line UAV inspection platform. Background technique [0002] In the process of traditional manned or unmanned helicopter inspection of power transmission lines and high-voltage towers, it is necessary to manually control the pan / tilt or pod equipped with detection equipment, which requires the inspection personnel to observe the video with a high degree of concentration and timely Adjust the pan / tilt or pod so that the detection target (that is, the power transmission line) can be within the viewing angle of the detection equipment. This is a severe test for the pilots of manned helicopters. At the same time, the adjustment of the pan / tilt by the ground workstation of the unmanned helicopter is restricted by factors such as time, which cannot meet the application requirements of unmanned helicopters in power inspections. Theref...

AI Technical Summary

Problems solved by technology

This is a severe test for the pilots of manned helicopters. At the same time, the adjustment of the pan / tilt by the ground workstation of the unmanned helicopter is restricted by factors such as time, which cannot meet the application requirements of unmanned helicopters in power inspections. Therefore, how to automatically It is very important to adjust the cloud platform to realize the automatic detection of the transmission line

[0003] Among the existing visual servo-based systems, the visual servo-based precise positioning pan / tilt system for mobile robots proposed by Zhejiang Electric Power Company (Patent No.: ZL 201020685635.7), although it involves the use of visual servo to accurately position the pan / tilt to improve The overall performance of the robot, but this patent is only theoretically analyzed to achieve precise positioning of the pan / tilt through image information, but it does not describe how to achieve the key step of converting image information to the control of the pan / tilt

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