基于摄像头的输电线无人机自主巡线方案设计

摘要

In order to meet the demand of the transmission line inspection,and improve the efficiency,safety and automation of inspection,this paper puts forward a method of Unmanned Air Vehicle (UAV) independent inspection on transmission line based on the camera.UAV uses STM32F407 as the main control chip in this system,with a black-and-white camera collecting the gray image information of the transmission line and the background,followed by Iteration threshold of binary image,median filtering and transmission line extraction,and planning route of UAV inspection.In addition,the UAV is also equipped with 433 MHz wireless communication module,the user can control from a distance through the wireless handle.Simulation experiments show that,this method can effectively achieve UAV autonomous inspection,providing a good platform for UAV inspection equipped with equipment,such as embedded visible-light image acquisition device and UV imaging detector.%为满足输电线的巡检需求,提高输电线巡检效率、安全性以及自动化程度,提出了一种基于摄像头的输电线无人机自主巡线方案.无人机采用STM32F407为主控制芯片,用黑白摄像头采集输电线与背景的灰度图像信息,然后依次对图像进行二值化、中值滤波和输电线提取处理,规划无人机的巡线路径.此外,无人机还搭配433 MHz无线通信模块,用户可以通过无线手柄远距离遥控.仿真实验表明,此方案能有效地实现无人机自主巡线飞行,为无人机搭载可见光视频采集、紫外成像等装置及进行输电线航拍巡检搭建了良好的平台.