Intelligent and accurate inspection method and system for power tower by unmanned aerial vehicle

Abstract

The invention discloses an intelligent and accurate inspection method and system for a power tower by an unmanned aerial vehicle. The method comprises the steps: designing and achieving the inclined frame detection of a target based on a target detection algorithm, and extracting an inclined frame target object; designing a target three-dimensional detection network, namely fusing a target inclined frame detection task and a depth estimation network, running on embedded equipment in a multi-thread mode, and obtaining position information and depth information of a target; calculating a pose vector group of the target by using the position information and the depth information of the target; and calculating a distance correction amount and a holder angle correction amount of the unmanned aerial vehicle according to the pose vector group of the target, so that the unmanned aerial vehicle performs inspection photographing after correction. The system comprises an inclined frame target detection unit, a position and depth information acquisition unit, a pose vector group acquisition unit and a distance and holder angle correction unit. According to the invention, the problem of perspective distortion of an image during inspection shooting of the unmanned aerial vehicle can be solved, and the quality of the inspection shooting image is improved.

Description

technical field [0001] The invention relates to the field of unmanned aerial vehicle inspection technology, in particular to an intelligent and precise inspection method and system for power poles and towers by an unmanned aerial vehicle. Background technique [0002] With the continuous advancement of artificial intelligence, the role of drones in the inspection field has become increasingly prominent. The goals of drone inspections are mainly aimed at some man-made targets, such as high-voltage transmission towers, photovoltaic solar panels, and wind power generation systems. Among them, most of the research is on the inspection of high-voltage transmission towers, and the inspection methods are constantly realizing autonomy. For the inspection of power poles and towers, how to improve the quality of UAV inspections and achieve precise inspections has always been a topic of discussion and research. [0003] The initial research method is to use the laser radar method with...

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Problems solved by technology

[0005] Aiming at the problems existing in the above-mentioned prior art, the present invention proposes an intelligent and precise inspection method and system for power poles and towers by UAVs, which can effectively solve the problem of perspective distortion of images when UAVs inspect and take pictures, and improve It improves the quality of the image taken during the inspection and is more conducive to the follow-up image defect diagnosis and analysis tasks.

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