Research on Obstacle Avoidance of Six-Rotor Aircraft Transmission Line Based on Image

摘要：

　　Aiming at the problem that the real-time obstacle avoidance of power line by power line patrol UAV is difficult to achieve,this paper takes the image of power line captured by dynamic camera as the object,proposes an algorithm based on EDLines to identify the power line and realize the distance estimation with the power line according to the change of feature points.Firstly,the ED algorithm detects the edge of the image,and then a model is built according to the characteristics of the transmission line.The identified lines are screened and detected to reduce the interference of the complex background.At the same time,the linear growth method connects the discontinuous transmission lines.Finally,the feature points on the transmission line are extracted,the matching relationship between frames in the image sequence is used to track the feature points,and combined the position of UAV obtains the distance relationship,and the corresponding control strategy is proposed.Ordinary background and complex background images verifies the accuracy of the proposed algorithm,and the actual distance obtained is compared with the estimated distance.Experiments show that the matching accuracy and recognition speed of this algorithm are improved compared with Hough transform algorithm in the process of detecting transmission lines.

关键词： Algorithm of EDLines Transmission line model Straight line growth Feature points Control strategy

作者: Rong-bao CHEN Sheng WEI Yu-ting SHENG Dong-bo WENG Da-wei TANG

作者单位: School of Electrical Engineering and Automation,Hefei University of Technology,Hefei 230009 Huainan Power Supply Company,State Grid,Huainan,China 232007

会议类型: 国际会议

会议名称: 2019 International Conference on Informatics, Control and Robotics 2019信息学、控制和机器人学国际会议(ICICR2019)

会议地点: 上海

会议语种:英文

页码: 11-17

在线出版日期: 2019-06-16（万方平台首次上网日期，不代表论文的发表时间）