关键词: 无人机巡检, 单目视觉, 目标检测, 大疆SDK, 实时定位

Abstract:

Unmanned Aerial Vehicle（UAV） will become the main tool for future power inspections. At present, its flight path is mainly designed based on GPS. Low GPS positioning accuracy and weak GPS signals in some areas are the main bottlenecks preventing the widespread application of UAV power inspection. Aiming at the situation awareness of transmission lines in complex environments, an UAV autonomous inspection system based on monocular vision is proposed to realize autonomous navigation without GPS. The system identifies and detects the target based on deep learning and uses the projection relationship of monocular vision to perform three-dimensional positioning on a detection target with a known size. Then, the drone flight control program based on the DJI SDK is used to adjust the drone’s flight attitude and autonomously navigate to achieve real-time inspection by the drone. The experimental results show that the positioning errors of the system in the three directions of the world coordinate system [X,][Y] and [Z] are 0.31 m, 0.06 m, and 0.24 m, and the processing speed is 0.76 frames per second when it is 10 meters away from the target. The accuracy and feasibility have been verified.

Key words: UAV inspection, monocular vision, object detection, DJI SDK, real-time positioning