A survey of intelligent transmission line inspection based on unmanned aerial vehicle

Lightweight visual localization algorithm for UAVs

The Lightv8nPnP lightweight visual positioning algorithm model has been introduced to make deep learning-based drone visual positioning algorithms more lightweight. The core objective of this research is to develop an efficient visual positioning algorithm model that can achieve accurate 3D positioning for drones. To enhance model performance, several optimizations are proposed. Firstly, to reduce the complexity of the detection head module, GhostConv is introduced into the detection head module, constructing the GDetect detection head module. Secondly, to address the issues of imbalanced sample difficulty and uneven pixel quality in our custom dataset that result in suboptimal detection performance, Wise-IoU is introduced as the model's bounding box regression loss function. Lastly, based on the characteristics of the drone aerial dataset samples, modifications are made to the YOLOv8n network structure to reduce redundant feature maps, resulting in the creation of the TrimYOLO network structure. Experimental results demonstrate that the Lightv8nPnP algorithm reduces the number of parameters and computational load compared to benchmark algorithms, achieves a detection rate of 186 frames per second, and maintains a positioning error of less than 5.5 centimeters across the X, Y, and Z axes in three-dimensional space.

An Infrared and Visible Image Alignment Method Based on Gradient Distribution Properties and Scale-Invariant Features in Electric Power Scenes

In grid intelligent inspection systems, automatic registration of infrared and visible light images in power scenes is a crucial research technology. Since there are obvious differences in key attributes between visible and infrared images, direct alignment is often difficult to achieve the expected results. To overcome the high difficulty of aligning infrared and visible light images, an image alignment method is proposed in this paper. First, we use the Sobel operator to extract the edge information of the image pair. Second, the feature points in the edges are recognised by a curvature scale space (CSS) corner detector. Third, the Histogram of Orientation Gradients (HOG) is extracted as the gradient distribution characteristics of the feature points, which are normalised with the Scale Invariant Feature Transform (SIFT) algorithm to form feature descriptors. Finally, initial matching and accurate matching are achieved by the improved fast approximate nearest-neighbour matching method and adaptive thresholding, respectively. Experiments show that this method can robustly match the feature points of image pairs under rotation, scale, and viewpoint differences, and achieves excellent matching results.

Application of improved grey wolf model in collaborative trajectory optimization of unmanned aerial vehicle swarm

With the development of science and technology and economy, UAV is used more and more widely. However, the existing UAV trajectory planning methods have the limitations of high cost and low intelligence. In view of this, grey Wolf algorithm is being used to achieve collaborative trajectory optimization of UAV groups. However, it is found that the Grey Wolf optimization algorithm (GWO) has the problem of weak cooperation. In this study, based on the traditional GWO pheromone factor is introduced to improve it.. Aiming at the problem of unstable performance of swarm intelligence optimization algorithm under dynamic threat, deep reinforcement learning is used to optimize the model. An unmanned aerial vehicle swarm trajectory planning model was constructed based on the improved grey wolf algorithm. Through experimental analysis, the optimal fitness value of the improved grey wolf algorithm was lower than 0.43 of the grey wolf algorithm. Compared with other algorithms, the fitness value of this algorithm is significantly reduced and the stability is higher. In complex scenarios, the improved grey wolf algorithm had a trajectory length of 70.51 km and a planning time of 5.92 s, which was clearly superior to other algorithms. The path length planned by the research and design model was 58.476 km, which was significantly smaller than the other three models. The planning time was 5.33 s and the number of path extension points was 46. The indicator values of the Unmanned Aerial Vehicle swarm trajectory planning model designed by this research were all smaller than the other three models. By analyzing the results, the model can achieve low-cost trajectory optimization, providing more reasonable technical support for unmanned aerial vehicle mission execution.

The transmission line foreign body detection algorithm based on weighted spatial attention

Introduction

The secure operation of electric power transmission lines is essential for the economy and society. However, external factors such as plastic film and kites can cause damage to the lines, potentially leading to power outages. Traditional detection methods are inefficient, and the accuracy of automated systems is limited in complex background environments.

Methods

This paper introduces a Weighted Spatial Attention (WSA) network model to address the low accuracy in identifying extraneous materials within electrical transmission infrastructure due to background texture occlusion. Initially, in the model preprocessing stage, color space conversion, image enhancement, and improved Large Selective Kernel Network (LSKNet) technology are utilized to enhance the model's proficiency in detecting foreign objects in intricate surroundings. Subsequently, in the feature extraction stage, the model adopts the dynamic sparse BiLevel Spatial Attention Module (BSAM) structure proposed in this paper to accurately capture and identify the characteristic information of foreign objects in power lines. In the feature pyramid stage, by replacing the feature pyramid network structure and allocating reasonable weights to the Bidirectional Feature Pyramid Network (BiFPN), the feature fusion results are optimized, ensuring that the semantic information of foreign objects in the power line output by the network is effectively identified and processed.

Results

The experimental outcomes reveal that the test recognition accuracy of the proposed WSA model on the PL (power line) dataset has improved by three percentage points compared to that of the YOLOv8 model, reaching 97.6%. This enhancement demonstrates the WSA model's superior capability in detecting foreign objects on power lines, even in complex environmental backgrounds.

Discussion

The integration of advanced image preprocessing techniques, the dynamic sparse BSAM structure, and the BiFPN has proven effective in improving detection accuracy and has the potential to transform the approach to monitoring and maintaining power transmission infrastructure.

Overview of Image Datasets for Deep Learning Applications in Diagnostics of Power Infrastructure

The power sector is one of the most important engineering sectors, with a lot of equipment that needs to be appropriately maintained, often spread over large areas. With the recent advances in deep learning techniques, many applications can be developed that could be used to automate the power line inspection process, replacing previously manual activities. However, in addition to these novel algorithms, this approach requires specialized datasets, collections that have been properly curated and labeled with the help of experts in the field. When it comes to visual inspection processes, these data are mainly images of various types. This paper consists of two main parts. The first one presents information about datasets used in machine learning, especially deep learning. The need to create domain datasets is justified using the example of the collection of data on power infrastructure objects, and the selected repositories of different collections are compared. In addition, selected collections of digital image data are characterized in more detail. The latter part of the review also discusses the use of an original dataset containing 2630 high-resolution labeled images of power line insulators and comments on the potential applications of this collection.

Power Tower Inspection Simultaneous Localization and Mapping: A Monocular Semantic Positioning Approach for UAV Transmission Tower Inspection

Realizing autonomous unmanned aerial vehicle (UAV) inspection is of great significance for power line maintenance. This paper introduces a scheme of using the structure of a tower to realize visual geographical positioning of UAV for tower inspection and presents a monocular semantic simultaneous localization and mapping (SLAM) framework termed PTI-SLAM (power tower inspection SLAM) to cope with the challenge of a tower inspection scene. The proposed scheme utilizes prior knowledge of tower component geolocation and regards geographical positioning as the estimation of transformation between SLAM and the geographic coordinates. To accomplish the robust positioning and semi-dense semantic mapping with limited computing power, PTI-SLAM combines the feature-based SLAM method with a fusion-based direct method and conveys a loosely coupled architecture of a semantic task and a SLAM task. The fusion-based direct method is specially designed to overcome the fragility of the direct method against adverse conditions concerning the inspection scene. Experiment results show that PTI-SLAM inherits the robustness advantage of the feature-based method and the semi-dense mapping ability of the direct method and achieves decimeter-level real-time positioning in the airborne system. The experiment concerning geographical positioning indicates more competitive accuracy compared to the previous visual approach and artificial UAV operating, demonstrating the potential of PTI-SLAM.