【摘要】 为实现无人机自主电线挂载，提出一种基于视觉伺服的电线挂载无人机控制算法。该算法依托机载双目相机实现电线的视觉检测与定位，依据电线理想位姿预先标定结果，以电线的斜率、截距差值作为控制系统的主要输入，实时解算无人机的位置和姿态控制量，控制无人机靠近待挂载电线，并使电线进入机载挂载机构挂载范围。试验结果表明：该方法在误差允许范围内可满足无人机挂载电线的精度要求。更多还原

【Abstract】 In order to realize autonomous wire-mounted UAV, a control algorithm based on visual servoing for wire-mounted UAV is proposed. The algorithm relies on the airborne binocular camera to realize the visual detection and location of the wire, according to the pre-calibration results of the ideal position and attitude of the wire, takes the slope and intercept difference of the wire as the main input of the control system, calculates the position and attitude control quantity of the UAV in real time, controls the UAV to approach the wire to be mounted, and makes the wire enter the mounting range of the airborne mounting mechanism. The test results show that the method can meet the accuracy requirements of the UAV wire within the allowable error range.更多还原