中文摘要：

为了能实现输电线路上无人机的自动巡检,提出了无人机自动飞行及相机自动拍摄的控制方法。自动飞行控制是基于测量无人机与输电线路相对距离的一种PID控制,但输电线路本身是一种镂空的线状结构且无人机巡检的环境比较复杂使得传统视觉测距方法的应用受限。通过结合输电线路姿态及拍摄角度,建立了符合应用场景的测距模型并测量了无人机相对输电线路的水平及垂直飞行距离,而且在此测距模型的基础上建立了自动拍摄的PID控制机制。最后,通过对无人机自动飞行及自动拍摄的控制进行仿真验证了无人机自动巡检的可行性。

英文摘要：

In order to realize the autonomous inspection of the UAV on the transmission line,a control method of the automatic flight of the UAV and the automatic shooting of the camera were proposed.The PID control of automatic flight was based on the relative distance between the transmission line and UAV,but traditional visual measurements were limited due to complex environment and hollow linear structure of transmission line.By combining the attitude of the transmission line and the camera angle,the measurement model which conforms the practical application was established to measure the vertical distance and the horizontal distance between the UAV and the transmission line.And a PID control mechanism also based on the distance measurement model was built for the automatic shooting of UAV.Finally,the feasibility of automatic inspection of UAV was verified by the control simulation of the automatic flight and the automatic shooting.