Application Study Of Fixed-wing UAV Patrol System In The Electric Transmission Line

Automatic inspection for transmission line has become an important development direction in maintaining power system.And unmanned aerial vehicle(UAV)patrol has the superiorities of higher speed and efficiency as well as accuracy when compared to manual foot method and expensive helicopter tour,which has become a hot research topic in the field of patrol for helicopter tour in recent years.However,the research of automatic positioning,detection and tracking of UAV for applications in complex terrain and weather conditions is not mature enough because of lacking appropriate theoretical and technical guidance,and the poor effects in quality and stability for the transmission line as a result.In our paper,the overviews of current research status and major achievements at home and abroad in the field of transmission line were firstly conducted,and the method of automatic inspection of fixed-wing UAV was further to be applied to implement real-time detection,positioning and tracking for transmission tower by adopting a strategy in combining traditional computer vision and machine technology of learning and cognition.The detected method was achieved by multiple trainings for two-stage multilayer perceptron(MLP)neural network in order to recognize tower-backgrounds of power transmission line.This two-stage MLP was then applied to photographic equipment images with various screen jitters until detected the towers of transmission line,and the detected transmission line towers would lead to responses of the tracker.The real-time tracking method of transmission line towers was based on an inverse compositional algorithm of multi-tiered parameters and multi-resolution,which was used as spot track and maintenance for transmission line towers.Our proposed strategy was consisted of detection and tracking of transmission line towers simultaneously,and the evaluation and comparison results with helicopter patrol image based on manual operation shows that the proposed strategy can detect and track all types of transmission line towers in a variety of complex terrain and weather conditions outside.