Design And Implementation Of A Micro-line Patrol Drone Syste

With the continuous expansion of the scale of the power grid,UAV inspection operations are becoming increasingly popular.However,most of the existing inspection drones are for transmission line inspection in the open field environment,with the characteristics of large size and high quality,which are difficult to be directly applied to transmission line inspection in the peri-urban area.In this regard,this paper aims to realize the autonomous inspection operation of transmission lines in such areas and design a miniature patrol drone by combining image processing technology,and the main research contents are as follows:(1)The hardware platform of the miniature patrol drone is designed for the application scenario of the miniature patrol drone and combined with the performance requirements of the inspection operation.Firstly,we design the flight control system including the main control,image processing,GNSS and other modules;then we design the frame structure and select the power system to build the UAV hardware platform.(2)To design the image pre-processing and edge detection algorithm for the transmission line,and to remove the interference edges of transmission line edge map by mask processing method.Then the straight lines in the image are extracted using the Hough transform,and the interference straight line information is removed based on the characteristics of the transmission line.Finally,the offset angle and position of the transmission line in the image are obtained.(3)According to the UAV patrol operation process,the horizontal offset between the UAV and the transmission line is first calculated by combining the results of image processing;then the actual position of the transmission line is deduced by Kalman filtering using the real-time flight data of the UAV;finally the flight correction strategy is designed to realize the autonomous patrol operation of the UAV.(4)Through inspection flight experiments,the performance of the transmission line image recognition algorithm and the autonomous patrol flight designed in this paper are verified.The verification results show that the image processing can identify the target transmission line stably and realize the autonomous patrol flight with the horizontal deviation within ± 0.2m and the height deviation within ± 0.1m,which meets the design index requirements.In summary,the miniature patrol drone designed and produced in this paper can achieve high-precision flight along and at a fixed height for transmission lines under the premise of light weight and small size,and can meet the application requirements for inspection of transmission lines in urban peripheral areas.