Research On Power Line Inspection Technology Based On UAV

In recent years,in view of the problems of poor reliability,poor economy,and poor safety of inspection methods of artificial power systems,this paper puts forward a method of using aircraft to inspect power systems,and the main problems to be solved by using aircraft to inspect power systems are: Aircraft control and image processing problems of aircraft intake are studied in this paper.The power inspection technology based on aircraft is studied in detail.Firstly,aiming at the problem of aircraft control strategy,this paper constructs the whole frame from the design scheme of electric patrol aircraft,uses barometer to realize the fixed height patrol flight,and realizes the obstacle avoidance system design through the combination of microwave radar and laser sensor.The CCD camera module is used to photograph and collect wires,insulators and other systems along the line.Due to its long-term work at high altitude,the aircraft has strict requirements for wind resistance.In order to enhance the stability of flight control and anti-jamming capabilities,three control laws,PID,Stepping,and Stepping,have been used to control the rotor modes of the four-rotor aircraft.Attitude control loop is used to implement attitude tracking control,and the control effect is compared and analyzed by simulation.Then,the image processing process of the general equipment of the power system is given in this paper.In order to facilitate the subsequent processing of the image,the image taken by the aircraft was greased using a weighted mean method that can be enhanced for different equipment colors.In order to make the image taken by the aircraft more clear,the image is filtered,and the comparison of mean filtering method,median filtering method and Wiener filtering method is given.For the image enhancement method,an image enhancement method based on simulated annealing of the improved genetic algorithm(SAGA)Beta function is proposed,and the effectiveness of the algorithm is verified by simulation and experiment.In addition,in order to solve the problem of image marginalisation,a method of image marginalisation based on Sobel operator is presented.Finally,in order to solve the problem of power line extraction under complex background,a method of power line extraction based on Hough transform is proposed.The results of simulation and experiment are given.Finally,the hardware and software flow of drone patrol are briefly introduced.FH810 is used as camera controller,and STM32 is used as flight control system controller.On this basis,various interface circuits are added to form the entire hardware system.On this basis,the flow chart of four-rotor aircraft and the self-inspection flow are designed.By analyzing the remote control command,the fixed-height flight,autonomous obstacle avoidance and one-key return are realized,and the line image is collected and analyzed in real time during the flight.The paper has 63 figures,1 table,and 56 references.