Unmanned aerial vehicle automatic patrolling method for direct current single-circuit tension tower

Abstract

The invention discloses an unmanned aerial vehicle automatic patrolling method for a direct current single-circuit tension tower. The method comprises the steps that S1, key patrolling points of the direct current single-circuit tension tower are determined; S2, shooting key points and flight path key points in the patrolling process are selected, and a patrolling flight route is set; S3, manual patrolling is conducted according to the set patrolling flight route, and in the patrolling process, coordinates of the flight path key points, coordinates of the shooting key points and angles of thehead of an unmanned aerial vehicle and a cloud deck at the shooting key points are collected; S4, according to the data collected in the manual patrolling process, an automatic flight task and an automatic shooting task of the unmanned aerial vehicle are generated; S5, the generated patrolling tasks are uploaded to the unmanned aerial vehicle, the unmanned aerial vehicle is controlled to automatically fly completely according to the tasks, when the unmanned aerial vehicle arrives at the shooting key points, the flight direction of the head of the unmanned aerial vehicle and the angle of the cloud deck are automatically adjusted, after in-place adjustment, a camera is trigged to shoot, and the unmanned aerial vehicle returns to the taking off point until all the tasks are completed. The method effectively solves the problems that manual patrolling for the direct current single-circuit tension tower is large in stress, low in safety and not high in efficiency.

Description

technical field [0001] The present invention relates to the inspection of power poles and towers, in particular to an autonomous inspection method of drones for DC single-circuit tension towers. Background technique [0002] UAVs are applied to the inspection of power poles and towers, which greatly improves the inspection efficiency. For the inspection of the DC single-circuit tension tower, the conventional inspection method is to manually control the UAV to approach the DC single-circuit tension tower, and constantly move the position to reach the inspection parts in turn, and then adjust the angle of the pan / tilt to make the camera Accurate target position, and trigger the camera to take pictures. [0003] Since the DC single-circuit tension tower is designed to meet the tension requirements of the transmission line, the design is more complicated and there are many inspection parts, and there is a certain angle between the tension section wire and the tower. In order t...

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to overcome the deficiencies of the prior art, to provide an autonomous inspection method for direct current single-circuit tension towers by drones, which effectively solves the problem of high manual inspection pressure, low safety, and Poor consistency and low efficiency

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