【摘要】：隨著技術的進步,近年來無人機在架空輸電線路巡檢中占據了非常重要的地位。國內外圍繞無人機拍攝影像的自動檢測處理展開了大量的研究和應用,但是巡檢時輸電線目標極容易脫離鏡頭畫面,造成漏檢問題。為了使無人機巡檢更具有實用性,影像的智能采集是研究的關鍵,必須解決無人機的長距離自主巡航以及巡航過程中機載相機準確跟隨線路拍攝等問題。本文針對這一問題提出了一種基于空間視覺檢測的新型巡檢方案,依托衛(wèi)星導航的長航時多旋翼無人機搭載紅外相機和可見光相機同時拍攝線路,紅外相機則負責跟蹤輸電線路,通過對線路特征較清晰的紅外圖像進行分析處理,輸出控制信號及時調整云臺的角度,保證輸電線目標不會移出鏡頭畫面�？梢姽庀鄼C同步拍攝線路、金具、絕緣子等細節(jié)照片,達到高質量巡檢的目的。文中采用權值窗口優(yōu)化的光流法進行紅外圖像處理,特別研究了桿塔轉角時出現的短暫不等距斜視問題,提出了基于桿塔標志校正的方法,且對所涉及算法進行了分析與實驗驗證。提出了一種基于k-b參數空間的模板集合匹配對直線檢測和擬合的圖像處理算法,提高了對線路和桿塔的提取清晰度。完成了云臺角度調整的理論驗證。本文針對上述問題搭建了硬件實驗平臺,制作八旋翼無人機、可見光相機、紅外相機以及云臺、飛控等設備,進行了相關的理論驗證和實驗分析。通過仿真實驗發(fā)現,上述方法可以有效的保證無人機搭載相機對輸電線巡檢圖像的采集,在沒有不可控因素出現的條件下,能夠很好捕獲輸電線和桿塔,且計算有效的云臺調整參數,對輸電線路實現較好的跟蹤,從而為無人機視覺追蹤巡檢提供一定理論參考。
[Abstract]:With the development of technology, UAV plays an important role in overhead transmission line inspection in recent years. A large number of researches and applications have been carried out around the automatic detection and processing of UAV images at home and abroad, but transmission line targets are very easy to detach from the lens picture during patrol inspection, which results in the problem of missing detection. In order to make the UAV patrol more practical, the intelligent image acquisition is the key to the research. It is necessary to solve the long distance autonomous cruise of UAV and the accurate track shooting of the airborne camera during the cruise. In order to solve this problem, a new inspection scheme based on space vision detection is proposed in this paper. The multi-rotor UAV based on satellite navigation is equipped with infrared camera and visible light camera to shoot the line simultaneously. The infrared camera is responsible for tracking the transmission lines. By analyzing and processing the infrared images with clear line features, the output control signal adjusts the angle of the cloud head in time, so as to ensure that the transmission line targets will not move out of the lens. Visible-light camera synchronously takes details such as lines, hardware, insulators and so on to achieve high-quality inspection. In this paper, the weight window optimized optical flow method is used for infrared image processing, especially the problem of transient non-isometric squint in the rotation angle of the tower is studied, and a method based on pole and tower marking correction is proposed. The algorithm is analyzed and verified by experiments. An image processing algorithm based on k-b parameter space is proposed to detect and fit straight lines by template set matching, which improves the clarity of line and tower extraction. The theoretical verification of the angle adjustment of the cloud head is completed. In order to solve the above problems, this paper builds a hardware experimental platform, and makes eight rotary-wing UAV, visible light camera, infrared camera, cloud head, flight control and other equipment, and carries out relevant theoretical verification and experimental analysis. Through simulation experiments, it is found that the above method can effectively ensure that the UAV can carry the camera to collect the image of the transmission line patrol inspection, and can capture the transmission line and tower very well without any uncontrollable factors. The effective parameters of cloud head adjustment are calculated, and the transmission line is tracked well, which provides a certain theoretical reference for the visual tracking inspection of UAV.
【學位授予單位】：蘭州理工大學
【學位級別】：碩士
【學位授予年份】：2017
【分類號】：TM755

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