UAV transmission line transfer-acceptance technology based on vision

Abstract

To address the challenges of manual transmission line inspection and UAV line-following flights, this study presents a systematic UAV line tracking method based on binocular vision. The proposed method involves several key steps. First, the camera captures images of the transmission lines during flight, and these visual inputs are continually updated in realtime. Second, the images undergo pre-processing using Gaussian blur and bilateral filtering algorithms to mitigate the impact of light and noise interference on image detection. Subsequently, the 3D nodes of the line within the image are detected and extracted using the Hough transform and BM algorithm. The 3D pose of the specified tracking line is then determined using the least squares algorithm. Lastly, a visual guidance strategy is presented for the UAV to effectively track the designated line. The real-time capability and accuracy of the method are validated through experimental verification.