Image intelligent acquisition system and method for power transmission line UAV patrol inspection

Abstract

The invention discloses an image intelligent acquisition system and an image intelligent acquisition method for power transmission line UAV patrol inspection. The image intelligent acquisition methodcomprises the steps of: performing coarse positioning on a pole tower when a UAV patrol inspection system arrives at a hovering point along a planned track route so as to realize automatic adjustmentof a pod or a camera holder, aligning data acquisition equipment with a pole tower target to obtain a frame of pole tower image information, carrying out optimization and improvement on loss of a regional extraction network and a classification network of a convolutional neural network, and identifying typical appurtenances attached on the pole tower by utilizing an improved convolutional neural network algorithm; determining a position of the target relative to a whole image according to a target position obtained through identification, calculating a pixel-level deviation amount of the target away from an image center when the target position is not in the image center, and completing position adjustment of the target in the image through converting a pixel value into a camera rotation amount; and determining an area proportion of the target in the image, and performing zooming on the camera or pushing the position of a UAV away from the target forward for photographing if the proportion is less than a set value.

Description

technical field [0001] The invention relates to the field of digital image processing, in particular to an image intelligent acquisition system and method for unmanned aerial vehicle inspection of transmission lines. Background technique [0002] Transmission lines are the backbone support of the power grid. With the increase of transmission line history, especially the rapid development of ultra-high voltage and ultra-high voltage lines, more severe challenges are posed for the daily inspection of transmission lines. As a new and efficient inspection method, drones are applied to daily inspections. However, during the inspection process of drones, two staff members are usually required to cooperate to complete the inspection task. One operator is responsible for controlling the UAV platform, and the other operator is responsible for controlling the airborne pod or gimbal to complete the observation and collection of target information. This inspection mode, on the one hand...

AI Technical Summary

Problems solved by technology

[0003] In the existing automatic collection system of transmission lines, the Vision Servo-based UAV Inspection PTZ Control for Transmission Lines (ZL201210302421.0) proposed by the Electric Power Research Institute of Shandong Electric Power Group, although the target matching method realizes the cloud The automatic control of the platform, but it can only be applied to the situation where the target template is known, and the robustness is poor

[0004] The standardized acquisition method and system for line inspection (CN201510504379.4) proposed by Aerospace Image (Beijing) Technology Co., Ltd. uses the set route data and camera parameters to achieve fixed-point acquisition for specific equipment. However, it is affected by the field operation environment ( Light, wind speed) and the influence of GPS positioning accuracy lead to deviations in the collected image information of transmission lines

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