CN113972586B - High-voltage transmission line unmanned aerial vehicle carrying laser foreign matter removing system and method - Google Patents
High-voltage transmission line unmanned aerial vehicle carrying laser foreign matter removing system and method Download PDFInfo
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- CN113972586B CN113972586B CN202111271980.5A CN202111271980A CN113972586B CN 113972586 B CN113972586 B CN 113972586B CN 202111271980 A CN202111271980 A CN 202111271980A CN 113972586 B CN113972586 B CN 113972586B
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
- B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
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Abstract
The utility model provides a high tension transmission line unmanned aerial vehicle carries on laser foreign matter clearance system and method, including patrolling unmanned aerial vehicle, clear away unmanned aerial vehicle and control platform, patrolling unmanned aerial vehicle and gathering transmission line's high definition image upload and fix a position unusual image, clear away unmanned aerial vehicle and carry on laser technology, can pinpoint and clear away the foreign matter unusual position, realize communication and mutual location between many unmanned aerial vehicles simultaneously, can in time support.
Description
Technical Field
The utility model belongs to the technical field of unmanned aerial vehicle carrying laser, and particularly relates to a high-voltage transmission line unmanned aerial vehicle carrying laser foreign matter removing system and method.
Background
The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.
The power grid system mainly utilizes a high-voltage overhead line and an ultrahigh-voltage overhead line to carry out remote power transmission and distribution, the safety of a power transmission line is an important guarantee for the stable operation of the whole power grid system, the power transmission line is easily hung and wound by foreign matters such as plastic films, kites or advertisement banners, the foreign matters are wetted in severe rainy and snowy weather, severe short circuits can be caused, power failure accidents are caused, the falling foreign matters and the burnt and damaged electric wires can also cause the casualties of people and animals, and the safety and the reliability of power supply are greatly threatened.
In the existing power transmission line clearing mode, the power transmission line is traditionally cleared manually, after power failure, an electrician is off on line or is off manually through an insulating bucket arm vehicle, an operating rod and an insulating rope during electrification, so that the danger is high, and the labor intensity is high; at present, the cleaning mode by means of external force, such as a robot, is adopted, but when the cleaning mode is required to be carried out in a plurality of places, the robot moves slowly and cannot timely carry out the cleaning treatment, if a plurality of robots are used for working, most of the robots independently work, cannot be mutually positioned, lack communication, and cannot timely provide corresponding support assistance.
Disclosure of Invention
In order to solve the problems, the invention provides a high-voltage transmission line unmanned aerial vehicle carrying laser foreign matter removing system and method.
According to some embodiments, the first scheme of the present disclosure provides a high tension transmission line unmanned aerial vehicle carrying laser foreign matter removing system and method, which adopts the following technical scheme:
a method for removing laser foreign matters carried by an unmanned aerial vehicle of a high-voltage transmission line comprises the following steps,
performing itinerant image acquisition on the power transmission line to obtain a complete power transmission line image in the whole process;
uploading the image of the power transmission line to an image processing center of a control platform;
processing and analyzing the power transmission line image, and identifying whether foreign matters exist in the power transmission line image;
transmitting the identification result to a control platform, and issuing an execution command by the control platform according to the identification result;
and issuing a positioning command, positioning the specific position of the power transmission line with the foreign matters, issuing a positioning result and executing a foreign matter removing step.
Further, a specific method for acquiring the image of the power transmission line is as follows: the unmanned aerial vehicle carrying the three-axis pan-tilt camera in a circulating mode is used for carrying out high-definition shooting on a target power transmission line along the line, so that high-definition images along the running laying line of the power transmission line are obtained, and the high-definition images are uploaded to an image processing center of the control platform.
Further, a specific way of identifying the foreign object in the image of the power transmission line is as follows: and comparing the reference image with a pre-stored reference image with foreign matters, wherein the reference image is an image obtained by shooting each reference foreign matter in advance, and obtaining a comparison and identification result.
Further, if the recognized result is that a foreign object exists at a certain position on the power transmission line, the abnormal condition is uploaded to a display of the control platform through the image processing center, an alarm is sent out, and the control center issues an instruction for positioning the abnormal position.
Further, the specific method for locating the abnormal part is as follows:
the method comprises the steps of intercepting an image of an abnormal part with positioning from an acquired high-definition image, sending the image of the abnormal part to a positioning processing center, processing the image of the abnormal part into a recognizable feature description format after the positioning processing center receives the image of the abnormal part, comparing the processed image of the abnormal part with a geographical position marker image feature stored in a scene feature library in the positioning processing center to obtain the specific position of the image of the abnormal part, and then returning the obtained position of the image of the abnormal part and basic geographical information corresponding to the position in the scene library to a control platform.
Further, the method for acquiring the image features of the geographic position markers from the scene feature library in the positioning processing center comprises the following steps: collecting a geographical position marker to be identified, and classifying and processing the collected image according to the geographical position and a landmark scene;
and extracting image features of the geographical position markers, binding the image features with the geographical position information corresponding to the geographical position markers, generating scene feature character data, and storing the scene feature character data.
Further, after the specific position of the image of the abnormal part is obtained, the control platform issues a foreign matter removal instruction, and the specific removal mode is as follows: utilize carrying on fiber laser clear away unmanned aerial vehicle navigation to the target location, utilize to clear away high definition digtal camera on the unmanned aerial vehicle and shoot again the scene and observe the existence mode and the orientation of confirming the foreign matter, lock fiber laser to the target, set up and clear away the angle, set for corresponding power and launch angle, eliminate unmanned aerial vehicle and send the transmission instruction, control fiber laser aims and carries out the foreign matter and clear away.
Further, the foreign matter removing step further includes the steps that communication can be achieved between the unmanned aerial vehicles, the unmanned aerial vehicles are removed to send support request signals to other unmanned aerial vehicles working along the line, if the unmanned aerial vehicles which have completed self-cleaning tasks receive the support signals, and the unmanned aerial vehicles are positioned from the current positions by using signals, so that paths are planned automatically, and the unmanned aerial vehicles are supported;
if the unmanned aerial vehicle for clearing does not complete the self clearing task, the request supporting signal can be ignored, the signal is forwarded to the control platform, and the control platform dispatches the supporting unmanned aerial vehicle for clearing again.
According to some embodiments, a second aspect of the present disclosure provides a high voltage transmission line unmanned aerial vehicle carrying laser foreign matter clearing system, which includes a control platform, a circuit unmanned aerial vehicle and a clearing unmanned aerial vehicle;
the control platform realizes wireless communication with the unmanned clearing machine and the unmanned patrol machine;
further comprising: the system comprises an image processing center, a positioning processing center and a display, wherein the image processing center and the positioning processing center are connected with a control platform to realize communication;
the display is connected with the image processing center, the positioning processing center and the control platform.
Further, the tour unmanned aerial vehicle comprises a three-axis pan-tilt camera and a first pan-tilt, wherein the three-axis pan-tilt camera is connected with the pan-tilt;
the unmanned clearing machine comprises a high-definition camera, a positioning system and a second cloud deck, and the high-definition camera and the positioning system are connected with the second cloud deck;
the unmanned aerial vehicle patrols and clears away wireless communication between the unmanned aerial vehicle.
Compared with the prior art, the beneficial effect of this disclosure is:
the utility model discloses utilize unmanned aerial vehicle to carry on fiber laser and design beam collimation system and carry out the plastic to fiber laser, make it can launch farther place, adopt the aiming at the mode based on accurate cloud platform and camera, can realize that the telescope of remote target observes and accurate transmission is clear away.
Utilize the cloud platform to realize the support communication between unmanned aerial vehicle and the unmanned aerial vehicle, the usable cloud platform of unmanned aerial vehicle is clear away in the request support sends the request support signal, is received by near unmanned aerial vehicle on the line to can follow current position direct navigation to by the support department, need not to send new unmanned aerial vehicle by control platform again and support, saved the time, improve the foreign matter and clear away efficiency.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure and are not to limit the disclosure.
Fig. 1 is a flowchart of a method for removing foreign matter from a power transmission line according to the present disclosure;
FIG. 2 is a system architecture connection diagram of the present disclosure;
the specific implementation mode is as follows:
the present disclosure is further described with reference to the following drawings and examples.
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present disclosure. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
The embodiments and features of the embodiments in the present disclosure may be combined with each other without conflict.
Example 1
As shown in fig. 1, the application discloses a method for removing laser foreign matters carried on an unmanned aerial vehicle of a high-voltage transmission line, and the specific steps of the method for removing the foreign matters are as follows:
s101: performing itinerant image acquisition on the power transmission line to obtain a complete power transmission line image in the whole process;
s102, uploading the image of the power transmission line to an image processing center of a control platform;
s103, processing and analyzing the power transmission line image, and identifying whether foreign matters exist in the power transmission line image;
s104: transmitting the identification result to a control platform, and issuing an execution command by the control platform according to the identification result;
s105: issuing a positioning command, positioning the specific position of the power transmission line with the foreign matters, issuing a positioning result and executing a foreign matter removing step.
In addition, in step S101, a specific manner of acquiring an image of the power transmission line is as follows: the unmanned aerial vehicle carrying the three-axis pan-tilt camera in a circulating mode is used for carrying out high-definition shooting on a target power transmission line along the line, so that high-definition images along the running laying line of the power transmission line are obtained, and the high-definition images are uploaded to an image processing center of the control platform.
Wherein, the collection work of image is accomplished to the round trip triaxial cloud platform camera, this camera has good anti-shake function, the shooting picture is more stable smooth, should round trip unmanned aerial vehicle is last including the cloud platform, can realize with the communication of other equipment or module, including the transmission line in the cloud platform, image acquisition and transmission use wireless link dynamic adaptation technique, can transmit the picture that the camera was shot in real time (low time delay), ground staff can look over through the display that links to each other with the unmanned aerial vehicle remote controller. The ground operator can clearly see the shot power transmission line and the condition of winding foreign matters, so that the worker can know the condition of the power transmission line.
In step S103, the specific way of identifying the foreign object in the power transmission line image is as follows: and comparing the reference image with a pre-stored reference image with foreign matters, wherein the reference image is an image obtained by shooting each reference foreign matter in advance, and obtaining a comparison and identification result.
This benchmark image with foreign matter is shot by the transmission line condition of circuit unmanned aerial vehicle to each kind of foreign matter, then saves in control center, transfers when comparing every image, compares every electric transmission line whether the abnormal conditions, acquires the result of discernment.
Further, if the recognized result is that a foreign object exists at a certain position on the power transmission line, the abnormal condition is uploaded to a display of the control platform through the image processing center, an alarm is sent out, and the control center issues an instruction for positioning the abnormal position.
In step S105, the specific method for locating the abnormal portion is:
the method comprises the steps of intercepting an image of an abnormal part with positioning in a collected high-definition image, sending the image of the abnormal part to a positioning processing center, processing the image of the abnormal part into a recognizable feature description format after the positioning processing center receives the image of the abnormal part, comparing the processed image data of the abnormal part with geographical position marker image features stored in a scene feature library in the positioning processing center to obtain the specific position of the image of the abnormal part, and then returning the obtained position of the image of the abnormal part and basic geographical information corresponding to the position in the scene library to a control platform.
The method for acquiring the image characteristics of the geographical position markers by the scene characteristic library in the positioning processing center comprises the following steps: collecting a geographical position marker to be identified, and classifying and processing the collected image according to the geographical position and a landmark scene;
and extracting image features of the geographical position markers, binding the image features with the geographical position information corresponding to the geographical position markers, generating scene feature character data, and storing the scene feature character data.
Specifically, the extracting the image features of the geographic position markers includes:
extracting image features of the geographical position markers by using an FCD (fast angular point detection) method;
and directly generating SIFT descriptors corresponding to the image feature points of the geographic position markers on a gray scale space by using an SIFT algorithm.
The image acquisition task is to shoot a plurality of images of a scene to be identified as training samples, complete scene learning by using the training samples, specifically, divide and process the acquired images, classify and process the images according to geographical positions and landmark scenes, extract the characteristics of the processed geographical landmark scenes, extract the local non-deformable characteristics of the landmark images, use an FCD (fuzzy C-means) method as a characteristic point extraction method, directly generate the characteristics corresponding to the characteristic points in a gray scale space by using a scale-invariant characteristic conversion algorithm, bind the scene characteristics with the corresponding positions of the corresponding geographical information to generate scene characteristic descriptor data, store the characteristic data by using vector local aggregation descriptors, and store the characteristic data in a scene characteristic library, wherein the scene characteristic library is established.
Mainly, when a specific foreign matter removing step is implemented, the control platform issues a foreign matter removing instruction after the specific position of the target image is obtained, and the specific removing mode is as follows: utilize carrying on fiber laser clear away unmanned aerial vehicle navigation to the target location, utilize to clear away high definition digtal camera on the unmanned aerial vehicle and shoot again the scene and observe the existence mode and the orientation of confirming the foreign matter, lock fiber laser to the target, set up and clear away the angle, set for corresponding power and launch angle, eliminate unmanned aerial vehicle and send the transmission instruction, control fiber laser aims and carries out the foreign matter and clear away.
The optical fiber laser has the advantages of small volume, high efficiency, good beam quality and the like, and the optical path is output through the optical fiber, so that the whole system can be flexibly designed, and the optical fiber laser is an ideal foreign matter removing light source. And secondly, in the light beam collimation system, when the laser beam is transmitted to a long distance, the light beam divergence can cause the conditions of light spot area increase and power density reduction, and the energy loss can be caused by factors such as absorption and scattering when the light is transmitted in the air, so that the laser beam needs to be processed when remote foreign matter removal is carried out. And the third is a sighting system which consists of a high-precision numerical control holder, an electronic telescope type sighting telescope and a visible indication optical system.
The foreign matter removing step also comprises the steps that communication can be achieved between the unmanned aerial vehicles, the unmanned aerial vehicles are removed to send support request signals to other unmanned aerial vehicles working along the line, if the unmanned aerial vehicles which have completed self-cleaning tasks receive the support signals, and the unmanned aerial vehicles are positioned by using signals from the current position, the path is planned automatically, and the unmanned aerial vehicles are supported;
if the unmanned aerial vehicle for clearing does not complete the self clearing task, the request supporting signal can be ignored, the signal is forwarded to the control platform, and the control platform dispatches the supporting unmanned aerial vehicle for clearing again.
The second cloud deck arranged on the unmanned aerial vehicle can receive the request support signal and judge whether the unmanned aerial vehicle can execute the support, if so, the positioning navigation system on the unmanned aerial vehicle can be used for positioning the specific position of the unmanned aerial vehicle requested to be supported, and performing path navigation to directly execute the support, so that the time can be saved, and the foreign matter removal efficiency can be improved.
If the self task is not completed and the support cannot be carried out, the signal is directly ignored and forwarded to the control platform, and the control platform replans, dispatches to idle and clear the unmanned aerial vehicle for support.
Example 2
As shown in fig. 2, the application discloses another embodiment of the unmanned aerial vehicle carrying laser foreign matter removing system for the high-voltage transmission line,
the unmanned aerial vehicle cleaning system comprises a control platform, a patrol unmanned aerial vehicle and a cleaning unmanned aerial vehicle;
the control platform realizes wireless communication with the unmanned clearing machine and the unmanned patrol machine;
further comprising: the system comprises an image processing center, a positioning processing center and a display, wherein the image processing center and the positioning processing center are connected with a control platform to realize communication;
the display is connected with the image processing center, the positioning processing center and the control platform.
Further, the patrol unmanned aerial vehicle comprises a three-axis pan-tilt camera and a first pan-tilt, wherein the three-axis pan-tilt camera is connected with the pan-tilt;
the unmanned clearing machine comprises a high-definition camera, a positioning navigation system and a second cloud deck, and the high-definition camera and the positioning navigation system are connected with the second cloud deck;
the unmanned aerial vehicle patrols and clears away wireless communication between the unmanned aerial vehicle.
The unmanned aerial vehicle carrying laser foreign matter removing system for the high-voltage transmission line executes the following foreign matter removing steps:
s101: performing itinerant image acquisition on the power transmission line to obtain a complete power transmission line image in the whole process;
s102, uploading the image of the power transmission line to an image processing center of a control platform;
s103, processing and analyzing the power transmission line image, and identifying whether foreign matters exist in the power transmission line image;
s104: transmitting the identification result to a control platform, and issuing an execution command by the control platform according to the identification result;
s105: issuing a positioning command, positioning the specific position of the power transmission line with the foreign matters, issuing a positioning result and executing a foreign matter removing step.
In addition, the three-axis pan-tilt camera of patrolling accomplish the collection work of image, this camera has good anti-shake function, and the picture of shooing is more stable smooth, including the cloud platform on this unmanned aerial vehicle of patrolling, can realize with the communication of other equipment or module, including the transmission line in the cloud platform, image acquisition and transmission use wireless link dynamic adaptation technique, can be in real time (low time delay) the picture that the transmission camera was shot, ground staff can look over through the display that links to each other with the unmanned aerial vehicle remote controller. The ground operator can clearly see the shot power transmission line and the condition of winding foreign matters, so that the worker can know the condition of the power transmission line.
The optical fiber laser has the advantages of small volume, high efficiency, good beam quality and the like, and the optical path is output through the optical fiber, so that the whole system can be flexibly designed, and the optical fiber laser is an ideal foreign matter removing light source. And secondly, in the light beam collimation system, when the laser beam is transmitted to a long distance, the light beam divergence can cause the conditions of light spot area increase and power density reduction, and the energy loss can be caused by factors such as absorption and scattering when the light is transmitted in the air, so that the laser beam needs to be processed when remote foreign matter removal is carried out. And the third one is a sighting system, which consists of a high-precision numerical control holder, an electronic telescope type sighting telescope and a visible indicating light system. The foreign matter removing device has the advantages that the foreign matter removing efficiency is improved, the working risk and the labor intensity are reduced, the problem that the foreign matter of the power grid is difficult to remove is solved, and the intelligent removing level of the foreign matter of the power grid is improved.
The above description is only a preferred embodiment of the present disclosure and is not intended to limit the present disclosure, and various modifications and changes may be made to the present disclosure by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present disclosure should be included in the protection scope of the present disclosure.
Although the present disclosure has been described with reference to specific embodiments, it should be understood that the scope of the present disclosure is not limited thereto, and those skilled in the art will appreciate that various modifications and changes can be made without departing from the spirit and scope of the present disclosure.
Claims (8)
1. A high tension transmission line unmanned aerial vehicle carries on laser foreign matter clearing method, its characterized in that includes:
performing itinerant image acquisition on the power transmission line to obtain a complete power transmission line image in the whole process;
uploading the image of the power transmission line to an image processing center of a control platform;
processing and analyzing the power transmission line image, and identifying whether foreign matters exist in the power transmission line image;
transmitting the identification result to a control platform, and issuing an execution command by the control platform according to the identification result;
issuing a positioning command, positioning the specific power transmission line position with the foreign matter, issuing a positioning result, and executing a foreign matter removing step;
the specific method for positioning the abnormal part is as follows:
intercepting an image of an abnormal part with positioning from a collected high-definition image, sending the image of the abnormal part to a positioning processing center, processing the image of the abnormal part into a recognizable feature description format after the positioning processing center receives the image of the abnormal part, comparing the processed image of the abnormal part with a geographical position marker image feature stored in a scene feature library in the positioning processing center to obtain a specific position of the image of the abnormal part, and then returning the obtained position of the image of the abnormal part and basic geographical information corresponding to the position in the scene library to a control platform;
the foreign matter removing step includes: the unmanned aerial vehicles are cleared to realize communication, the unmanned aerial vehicles are cleared to send request support signals to other unmanned aerial vehicles working along the line, if the unmanned aerial vehicles which have finished self clearing tasks receive the support signals, the unmanned aerial vehicles are positioned from the current position by using the signals, the path is planned by themselves, and the unmanned aerial vehicles are supported;
if the unmanned aerial vehicle does not finish the self-cleaning task, the unmanned aerial vehicle can ignore the request support signal, and forwards the signal to the control platform, and the control platform dispatches the support to clean the unmanned aerial vehicle again.
2. The unmanned aerial vehicle-mounted laser foreign matter removing method for the high-voltage transmission line according to claim 1, wherein the specific mode of collecting images of the transmission line is as follows: the unmanned aerial vehicle carrying the three-axis pan-tilt camera in a circulating mode is used for carrying out high-definition shooting on a target power transmission line along the line, so that high-definition images along the running laying line of the power transmission line are obtained, and the high-definition images are uploaded to an image processing center of the control platform.
3. The unmanned aerial vehicle-mounted laser foreign matter removing method for the high-voltage transmission line according to claim 1, wherein the specific mode for identifying foreign matters in the image of the transmission line is as follows: and comparing the reference image with a pre-stored reference image with foreign matters, wherein the reference image is an image obtained by shooting each reference foreign matter in advance, and obtaining a comparison and identification result.
4. The unmanned aerial vehicle-mounted laser foreign matter removing method for the high-voltage transmission line according to claim 3, wherein if the recognized result is that foreign matter exists at a certain position on the transmission line, the abnormal condition is uploaded to a display of the control platform through the image processing center, an alarm is given, and the control center issues an instruction for positioning the abnormal part.
5. The method for removing the laser foreign matter carried on the unmanned aerial vehicle of the high-voltage transmission line according to claim 1, wherein the method for acquiring the image characteristics of the geographical position markers from the scene characteristic library in the positioning processing center comprises the following steps: collecting a geographical position marker to be identified, and classifying and processing the collected image according to the geographical position and a landmark scene;
and extracting image features of the geographical position markers, binding the image features with the geographical position information corresponding to the geographical position markers, generating scene feature character data, and storing the scene feature character data.
6. The method for removing the laser foreign matter carried on the unmanned aerial vehicle of the high-voltage transmission line according to claim 1, wherein after the specific position of the image of the abnormal part is obtained, the control platform issues a foreign matter removal instruction, and the specific removal mode is as follows: utilize carrying on fiber laser clear away unmanned aerial vehicle navigation to the target location, utilize to clear away high definition digtal camera on the unmanned aerial vehicle and shoot again the scene and observe the existence mode and the orientation of confirming the foreign matter, lock fiber laser to the target, set up and clear away the angle, set for corresponding power and launch angle, eliminate unmanned aerial vehicle and send the transmission instruction, control fiber laser aims and carries out the foreign matter and clear away.
7. An unmanned aerial vehicle-mounted laser foreign matter removal system for a high-voltage transmission line, which is characterized by executing the method of any one of claims 1-6 and comprises a control platform, a cruise unmanned aerial vehicle and a removal unmanned aerial vehicle;
the control platform realizes wireless communication with the unmanned clearing machine and the unmanned patrol machine;
further comprising: the system comprises an image processing center, a positioning processing center and a display, wherein the image processing center and the positioning processing center are connected with a control platform to realize communication; the specific method for positioning the abnormal part is as follows:
intercepting an image of an abnormal part with positioning from a collected high-definition image, sending the image of the abnormal part to a positioning processing center, processing the image of the abnormal part into a recognizable feature description format after the positioning processing center receives the image of the abnormal part, comparing the processed image of the abnormal part with a geographical position marker image feature stored in a scene feature library in the positioning processing center to obtain a specific position of a target image, and then returning the obtained position of the image of the abnormal part and basic geographical information corresponding to the position in the scene library to a control platform;
the display is connected with the image processing center, the positioning processing center and the control platform.
8. The unmanned aerial vehicle-mounted laser foreign matter removal system for the high-voltage transmission line according to claim 7, wherein the traveling unmanned aerial vehicle comprises a three-axis pan-tilt camera and a first pan-tilt, and the three-axis pan-tilt camera is connected with the pan-tilt;
the unmanned clearing machine comprises a high-definition camera, a positioning navigation system and a second holder, and the high-definition camera and the positioning navigation system are connected with the second holder;
the unmanned aerial vehicle patrols and clears away wireless communication between the unmanned aerial vehicle.
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| CN211810233U (en) * | 2020-02-27 | 2020-10-30 | 东南大学 | Unmanned aerial vehicle multi-machine cooperative power transmission line fault identification full-automatic system for inspection |
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