摘要
Abstract
During the inspection of power sites,multi rotor unmanned aerial vehicles based on a single Beidou system or intelligent vision are prone to interference and deviate from their flight path targets.Therefore,based on the combination of Beidou positioning and intelligent vision,a offset control method for unmanned aerial vehicles in power field inspection was studied.A drone inspection image acquisition and processing system including cameras,LED modules,signal sensors,and a data manipulation platform.Meanwhile,in combination with the Beidou positioning system,a ground signal receiving tower is set up to achieve effective communication between the unmanned aerial vehicle(UAV)and the ground,thereby obtaining key information such as the ground speed,yaw,waypoint distance and take-off and landing speed of the UAV.Based on the Beidou positioning technology,the full coverage inspection program calculates the pose of the cruise point and performs preprocessing.Combined with the linear analysis method in intelligent images and Beidou satellite based enhancement technology,the UAV offset position is calculated.By adjusting the height and angle of the inspection route,the UAV's offset situation at the power site is controlled.Experimental data has shown that the average inspection accuracy of the designed method is as high as 95.341%,and the completion time of inspection tasks is within 15 ms,which has high practical value and a good control system.关键词
北斗星基增强技术/巡检系统/多旋翼无人机/LED模块/数据操控平台/偏移控制Key words
Beidou satellite based enhancement technology/inspection system/multi rotor unmanned aerial vehicle/LED module/data manipulation platform/offset control
