Automated Inspection and Control of Transmission Line Drones Based on Vision and LiDAR
In order to quickly reach the designated location and improve the efficiency of transmission line inspec-tion,an automated inspection and control method for transmission line unmanned aerial vehicles based on vision and LiDAR is proposed.Using optical flow sensors to obtain unmanned aerial vehicle inspection speed information,deter-mining the height and attitude information of the unmanned aerial vehicle separately through LiDAR and IMU,using an extended Kalman filter to fuse data from each sensor,and completing the estimation of unmanned aerial vehicle inspection speed.Based on the results of multi-sensor data fusion,a series dual loop controller based on PID is de-signed to achieve unmanned aerial vehicle inspection height determination and fixed-point position control.The exper-imental results show that this method can achieve multi-sensor data fusion,reduce drone inspection interference,and enable it to inspect at a relatively stable speed.It can achieve unmanned aerial vehicle inspection and control,and the position curves in the X and Y directions are basically consistent with the actual results,with small position er-rors.During the inspection process,the pitch angle and roll angle errors of the drone are less than 1°.
NETL
NSTL
万方数据
