摘要：
在利用无人机对地面管道巡查时,一般较理想的作业飞行高度是100 m左右,无人机在飞行时会沿初设高度进行定高飞行,如果在飞行途中遇到起伏地形,需要人为提前探查地形,调整飞行高度,这种方法会加大工作量,而且遇到GPS信号较弱区域容易产生较大误差.另外,也可以采用自动测距的方式来实现智能飞行,通过在无人机上搭载激光测距仪、声纳测距仪等设备进行主动测距,其优点是精度高,但这种形式会增加无人机载荷及其成本.针对以上问题,提出一种基于单目定焦摄像机图像的视觉测距方法,根据小孔成像原理对管道图像特征进行提取分析,得到无人机距离管道的实际距离.该方法简单高效,有利于实现巡线工作自动化.%In the use of unmanned ground pipeline inspection, general ideal operation flight height is about 100m, and the UAV will set the height along the initial fixed altitude in flight.If you encounter rugged terrain in flight, you need the advance exploration of topography and altitude adjustment.This method will increase the workload, but also meet the GPS signal weak areas prone to error;in addition, it can also be used in automatic measuring mode to realize the intelligent flight.And active ranging through the equipment in the UAV is equipped with a laser rangefinder, sonar range finder, which has the advantages of high precision, but this will increase the load and cost of UAV.This paper presents a monocular vision measuring method focusing camera based on image extracted according to the analysis of the principle of pinhole imaging characteristics of pipeline image and gets the actual distance of the UAV distance pipeline.The method is simple and efficient, and is conducive to realize the line automation.
