Intelligent Inspection Method of Transmission Line Multi Rotor UAV Based on Lidar Technology

Aiming at the problem of visual positioning information lag in transmission line inspection, an intelligent inspection method of transmission line multi rotor UAV is designed based on lidar technology. In order to realize autonomous transmission line patrol, UAV mainly needs to identify the current position, model the dynamics of multi rotor UAV and estimate its position and attitude information. According to the range and azimuth of the target that can be returned by the lidar, the pose between the current frame and the reference frame is optimized. The intelligent inspection model of multi rotor UAV is designed, and two-layer features are extracted through depth separable convolution. The final positioning information is the depth and height of the target from the UAV and the offset angle of the target relative to the UAV in the horizontal direction. The experimental results show that the designed inspection method can obtain the real-time spatial position of multi rotor UAV according to the distance information in horizontal and vertical directions, and can eliminate the influence caused by the lag of visual positioning information.