Research On Transmission Line Inspection Tracking Control System Based On Quadrotor UAV

Transmission lines are often exposed to the natural environment,foreign body suspension,ice and fire,will influence the normal operation of the transmission line,the traditional way of electric power inspection work is carried out using artificial inspection,but there is a lot of disadvantages,manual checking with the gradually mature of quadrotor UAV technology,the quadrotor UAV technology is widely used in power transmission line inspection,Improve the speed of electric power maintenance and inspection,reduce labor costs,but also can well adapt to a variety of complex environment,meet the requirements of electric power inspection.Firstly,this thesis analyzes the flight system,ground base station,network communication and positioning system modules in detail in view of the composition of quadrotor UAV transmission line inspection system,and describes the inspection tasks and requirements accordingly.Secondly,in view of the transmission line detection,transmission lines is proposed based on binocular vision perception and detection system,introduces the camera imaging model,using Zhang’s calibration method in MATLAB to calibration of monocular camera inside,for binocular cameras adopted based on uncalibrated hand-eye calibration plate method proposed online foreign and joint calibration calibration;Thirdly,in view of image feature extraction,the Hough transform principle is proposed to process the image,and the transmission line and foreign body tracking and positioning are realized according to the position solution between the transmission line and the UAV.In addition,a finite time position control algorithm of the quadrotor UAV is designed for the inspection of the quadrotor UAV in the transmission line.Finally,an experimental platform of power transmission inspection tracking control system based on quadrotor UAV was built.With UAV as the carrier,image information was acquired through binocular camera and sent to UAV to realize the detection,tracking and hovering of UAV,and the overdetection and tracking experiments of UAV on power transmission lines in three states were completed.Aiming at transmission line detection,the transmission inspection tracking control system of quadrotor UAV is proposed.The main innovation points are as follows:(1)Considering that the speed of the quadrotor UAV should not be too fast in the process of tracking the transmission line from the perspective of safety,a finite time position controller is proposed in this thesis,which can track the desired position trajectory of the quadrotor UAV in a limited time and improve the control performance of the UAV.The quadrotor UAV position control experiment platform is built to verify the feasibility of the scheme.(2)In the process of the actual inspection,UAV of the transmission line distance distance may be change,to make transmission lines in the region of the camera imaging plane fixed,needs to adjust position,binocular camera calibration in real time through online correction of relative coordinates.Therefore,this article mainly uses the joint calibration method based on online hand-eye calibration of binocular camera calibration.