Design And Implementation Of Power Line Inspection System Based On 3D Vision Of Unmanned Aerial Vehicle

With the rapid increase of China's power infrastructure construction,the growth rate of cable length and coverage of power grid ranks first in the world.However,the current patrol work of power grid mainly depends on manual mode,which has the characteristics of large workload,long patrol period and low efficiency,and it is difficult to cover the patrol artificially in complex terrain and harsh environment.Based on the advantages of UAV,such as flexible operation,low cost,high efficiency and fast speed,it has been recognized in the power grid,and has gradually become a new direction of power system patrol.This paper completed the design and implementation of UAV visual three-dimensional power line patrol system.Firstly,the purpose,significance and the latest development trend of UAV line patrol at home and abroad were analyzed.Then,the three-dimensional geographic information system,UAV vision and key technologies of UAV line patrol were analyzed and expounded.Based on the above contents,UAV line patrol system was discussed.The overall design was carried out,and the software design of UAV patrol system was emphasized.At the same time,the hardware design of UAV patrol system was completed.The static and ground control systems of UAV and the control points of UAV were designed.Then the three-dimensional data processing of UAV patrol system was realized,and the information acquisition and model workers of UAV patrol corridor are completed.The process data was constructed,the architecture was designed and implemented,the point cloud of image matching was extracted and the camera calibration was completed.Finally,the UAV patrol system was realized comprehensively,the UAV parameters were deduced and calculated,and the baseline length and flight interval length of the photography were calculated.Finally,the experimental contents and results are analyzed and evaluated emphatically.This paper completed the development of patrol system based on Skyline platform,and generates three-dimensional patrol scene data based on UAV vision and tilt photography.It realized the functions of patrol planning,patrol parameter setting,patrol data visualization,patrol data processing and fault point analysis.The inspection system developed in this paper could achieve 3-D accuracy of 0.2 meters by using single camera and lidar at the altitude of 100 meters,so that the inspection process can be clearly restored and visualized.Therefore,it could make up for the shortcomings and shortcomings of traditional manual patrol,realize the visualization of patrol,and provide reference for the construction of smart grid in China.