CN103149569A - Method for recognizing high-voltage wire by laser radar based on wavelet transformation - Google Patents
Method for recognizing high-voltage wire by laser radar based on wavelet transformation Download PDFInfo
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Abstract
A method for recognizing a high-voltage wire by a laser radar based on wavelet transformation is characterized in that the ground is scanned by an airborne laser radar scanner to obtain reflected nebular laser point data densely distributed, the measurement data of an airborne laser radar system not only comprises coordinate information of coordinate points X, Y and Z, but also comprises object reflecting intensity information, output RGB (Red, Green, Blue) image data is converted to a grey-scale map and then compressed in a wavelet way, and the image is decomposed into low frequency components with a half resolution ratio and high frequency components with a full resolution ratio for multiple times. As a result, high frequency information on the edge of the high-voltage wire is greatly reserved, useless low frequency information is greatly compressed, the data of the image processed by wavelet compression and encoding is sent to a ground base station to be analyzed and recorded, and a command is sent back to airborne equipment by the base station to carry out diffusion scanning on a suspected high-voltage wire obstacle, find a high-voltage pylon and confirm whether the high-voltage wire really exists. The method has the advantages of simplicity, high accuracy and easiness in realization.
Description
Technical field
The present invention relates to a kind of small-sized unmanned aircraft low-latitude flying control technology, especially a kind of low-latitude flying control method, specifically a kind of laser radar high-tension line identification method based on wavelet transformation.
Background technology
As everyone knows, easily collide and the problem of air crash accident with high-tension bus-bar during the small-sized unmanned aircraft low-latitude flying, in order to address this problem, people have adopted several different methods and formality, are below the solutions of commonly using:
1.Robert?J?Fontana?,J?F?Larrick?,Jeffrey?E?Cade?,Eugene?P?Rivers?Jr?,An?Ultra?Wideband?Synthetic?Vision?Sensor?for?Airborne?Wire?Detection?,Proceedings?of?SPIE(Vol?3364),1998,2-10。
Use ULTRA-WIDEBAND RADAR, obtain higher resolution with extremely short pulse, wider frequency band also can detect more target, and interference free performance is also better.Shortcoming is that operating distance is limited because pulse energy is little.
2.Kazuo?Yamamoto,Kimio?Yamada,Obstacle?Detection?for?Helicopter?Flights?by?Infrared?Images,Proceeding?of?SPIE(Vol?4363),2001,76-85。
The author adopts high-resolution infrared acquisition camera (frequency response: 8-12um) obtain image, strengthen on this basis the contrast of target and background by the processing of image block, adaptive dynamic range expansion and anisotropic filter, represent target with the line that simulates level or level of approximation at last, operating distance is 100 ~ 500 meters.Shortcoming is the distance that can't judge target, is subject to the inclement weather impact.
3.K?Schulz,S?Scherbarth,U?Fabry,Hellas:Obstacle?Warning?System?for?Helicopters,Proceeding?of?SPIE(Vol?4723),2002,1-8。
Helicopter barrier early warning system (HELLAS) based on obstacle avoidance laser radar, use double track scanning 1.5mm laser radar detection target, distance adopts pulsed radar to measure, can survey 10mm diameter line of electric force, detection range is 300 ~ 900m, but when working by day, the interference of solar rays can reduce system performance, and fight capability also decreases under adverse weather condition.
4.?V?N?Danovskii?,V?Ya?Kim,?V?M?Lisitsyn?,?K?V?Obrosov?,S?V?Tikhonova。
Information?Support?of?Low-Altitude?Flight?Safety?,?Journal?of?Computer?and?Systems?Sciences?International?(Vol?46),2007。
Laser positioning radar with millimetre-wave radar station and 1.54um comes the detection of a target.The laser positioning radar can be optimized the low-latitude flying attitude, and detects plurality of target such as cable, column and electric wire etc.According to experiment, the line of electric force in 0.3 ~ 1.5km can be detected.
The Meng East China, Liu Yimin, Hu Chenxi, Wei the order Min, the high-tension line identification method of processing based on image, 2010
As input, once put the mark cohesion with radar plot figure, the some mark after cohesion is made domain analysis, each some mark cohesion is marked, judge high-tension line tower according to scoring, searching out continuous hi-line, and then the range of distribution of definite hi-line.The shortcoming degree of accuracy is inadequate, easily erroneous judgement.
Sensor commonly used has two kinds at present: infrared sensor and ordinary radar.They respectively have relative merits: infrared sensor can record the image-forming information of target, and angle measurement accuracy is higher, measures continuously, and the target recognition capability is strong, but its operating distance is nearer, and the range information of target can not be provided; The advantages such as that ordinary radar has is round-the-clock, angle measurement and range finding, but angle measurement accuracy is low, and the data volume of image is very large simultaneously, in order to accelerate the data transmission between unmanned vehicle and base station, uses the wavelet coding of reserved high-frequency marginal information.
Summary of the invention
It is poor to the hi-line determine effect to the objective of the invention is for existing low flyer, easily produce erroneous judgement and collide with high-tension bus-bar, the problem of air crash accident occurs, invent a kind of laser radar high-tension line identification method based on wavelet transformation, it utilizes theory of wavelet transformation recognition image hi-line to extract edge feature, thereby is located.
Technical scheme of the present invention is:
A kind of laser radar high-tension line identification method based on wavelet transformation, it is characterized in that in the monitoring video of airborne laser radar the feature by high-tension line tower, the position of location high-tension line tower, estimate the hi-line position, then pass through Multi-resolution analysis of wavelet transform, the high-frequency information of multiple dimensioned reservation image border compresses the low-frequency range data, reaches the purpose of edge extracting, and the positional distance information of calculating hi-line also is sent to ground base station.it utilizes the airborne laser radar scanner by ground is scanned, obtain reflect be nebulous dense distribution laser spots data, the measurement data of airborne laser radar system not only comprises coordinate points X, Y, the Z coordinate information, also comprise object reflection strength information, after converting gray-scale map to, output RGB image data passes through wavelet compression, image repeatedly is decomposed into the low frequency component of half-resolution and the high fdrequency component of whole resolution, the very big so residing high-frequency information in hi-line edge that kept, greatly compressed useless low-frequency information, view data after wavelet compression coding is sent to ground base station is analyzed and record, to airborne equipment, doubtful hi-line barrier is done diffusion scanning by base station passback order again, seek high-tension line tower, be confirmed whether to exist genuine hi-line with this.
Laser radar high-tension line identification method based on wavelet transformation of the present invention comprises the following steps:
At first, send a synchronizing pulse regularly for attitude measuring and GPS dynamic difference device by sync control device, GPS with the locating information synchronized transmission that upgrades to attitude measuring;
Secondly, control laser radar scanner, distance mearuring equipment work by attitude measuring;
The 3rd, stadimeter is measured echo by Emission Lasers, the distance of calculating and ground or barrier, and the data that record are sent to data collector; Laser radar scanner with the first gray processing of the place ahead clear image that scans after, carry out again three grades of wavelet transformations, with the compression gibberish, keep crucial barrier edge contour information, to reduce the data volume of image, then also send to data collector;
The 4th, the data of the scan image data of the processing that data collector will be received and stadimeter collection send to ground base station; If find to have the barrier of doubtful hi-line or transmission tower, the base station is by GPS interface notice scanner diffusion scanning, judgement has or not the distribution of continuous high-tension line tower, further confirm the continuous distribution position of high-tension line tower, the scanning errors of getting rid of non-hi-line from the position of high-tension line tower, the clear height of high-voltage line range information that estimates; Attitude gps data information after attitude measuring is synchronous with aircraft sends to data acquisition unit; The aircraft locating information that dynamic difference GPS device upgrades after with difference is kept in the GPS interface module, and sends to ground base station;
The 5th, ground base station returns to attitude measuring and GPS flight navigation device after to the aircraft data analysis-by-synthesis that receives;
At last, the data of GPS flight navigation device after according to the ground base station analysis are corrected position and the velocity information of aircraft.
Described GPS dynamic difference device is comprised of the fixedly GPS base station on ground and the GPS rover station on aircraft, and fixedly the GPS base station sends data to the GPS rover station on aircraft in real time.
Described data collector has two mode of operations, one is logging mode, all data are recorded among magnetic tape station or hard disk, energy show image and data are also reported to the police, another mode of operation is monitoring mode, by man-machine interaction carry out Data Detection, systematic analysis, quality check, signal and backup system adjustment work give the alarm.
Beneficial effect of the present invention:
1. the present invention by adding synchronizing pulse, has reached the synchronous purpose of data between a plurality of instruments.
2. the present invention utilizes three grades of wavelet transformation techniques compression unwanted picture information in the image processing, keeps the high fdrequency component at hi-line edge, and compressing image data reaches and accelerates the time that image is processed and transmitted.
3. the present invention for the precision of promoting, has adopted real time differential.A GPS base station is set on ground, and the GPS on aircraft is called rover station, sends the relevant data on base station on machine GPS interface in real time.
4. the present invention is by the high-tension line tower position, the more further position of real identification hi-line.
5. the present invention utilizes independently GPS interface module, has realized the base station to the Airborne GPS guider, GPS dynamic difference device, the control of attitude measuring with synchronize.
6. the inventive method is simple, and precision is high, is easy to realize.
Description of drawings
Fig. 1 is system of the present invention theory of constitution block diagram.
Fig. 2 is three grades of wavelet coding process schematic diagram of the present invention.
Fig. 3 is that three grades of the embodiment of the present invention decompose schematic diagram.
Fig. 4 is the striograph of common high-tension line tower.
Fig. 5 is continuous hi-line distribution striograph.
Embodiment
The present invention is further illustrated below in conjunction with drawings and Examples.
As shown in Fig. 1-5.
A kind of laser radar high-tension line identification method based on wavelet transformation, it comprises the following steps:
At first, utilize prior art to build a recognition system as shown in Figure 1, send a synchronizing pulse regularly for attitude measuring and GPS dynamic difference device by the sync control device in recognition system, GPS with the locating information synchronized transmission that upgrades to attitude measuring;
Secondly, control laser radar scanner, distance mearuring equipment work by attitude measuring;
The 3rd, stadimeter is measured echo by Emission Lasers, the distance of calculating and ground or barrier, and the data that record are sent to data collector; Laser radar scanner with the first gray processing of the place ahead clear image that scans after, then carry out three grades of wavelet transformations, as shown in Fig. 2,3, with the compression gibberish, keep crucial barrier edge contour information, to reduce the data volume of image, then also send to data collector;
The 4th, the data of the scan image data of the processing that data collector will be received and stadimeter collection send to ground base station; If find to have the barrier of doubtful hi-line or transmission tower, the base station is by GPS interface notice scanner diffusion scanning, judgement has or not the distribution of continuous high-tension line tower, further confirm the continuous distribution position of high-tension line tower, the scanning errors of getting rid of non-hi-line from the position of high-tension line tower, the clear height of high-voltage line range information that estimates; Attitude gps data information after attitude measuring is synchronous with aircraft sends to data acquisition unit; The aircraft locating information that dynamic difference GPS device upgrades after with difference is kept in the GPS interface module, and sends to ground base station;
The 5th, ground base station returns to attitude measuring and GPS flight navigation device after to the aircraft data analysis-by-synthesis that receives;
At last, the data of GPS flight navigation device after according to the ground base station analysis are corrected position and the velocity information of aircraft.
The laser point cloud that the airborne laser radar measuring system gathers when carrying out the electric power line walking can gather the situation in the output circuit corridor of moment, comprises that the corridor is out of shape, atural object and line facility device space information, comprises shaft tower, mount point position, electric wire sag etc.As shown in Figure 4.
Hi-line shaft tower external form is relatively fixing more easily to be distinguished, and sees Fig. 4, and main frame is that a bound feet is large, the characteristics of triangular form framework, and have correlativity on distributing.Be easy to identify for hi-line lofty in environment.Then locate the zone line of high-tension line tower, rescan the hi-line data that obtain many opposing parallel, see Fig. 5.
Further to periphery diffusion scanning, the high-tension line tower that obtains being connected distributes, and discrete hi-line point is got the continuous camber line of a square error minimum, sees Fig. 5.Computed altitude and distance are passed to the ground base station analyzing and processing and are determined whether to want change of flight height and speed.
The part that the present invention does not relate to all prior art that maybe can adopt same as the prior art is realized.
Claims (4)
1. laser radar high-tension line identification method based on wavelet transformation, it is characterized in that utilizing the airborne laser radar scanner by ground is scanned, obtain reflect be nebulous dense distribution laser spots data, the measurement data of airborne laser radar system not only comprises coordinate points X, Y, the Z coordinate information, also comprise object reflection strength information, after converting gray-scale map to, output RGB image data passes through wavelet compression, image repeatedly is decomposed into the low frequency component of half-resolution and the high fdrequency component of whole resolution, the very big so residing high-frequency information in hi-line edge that kept, greatly compressed useless low-frequency information, view data after wavelet compression coding is sent to ground base station is analyzed and record, to airborne equipment, doubtful hi-line barrier is done diffusion scanning by base station passback order again, seek high-tension line tower, be confirmed whether to exist genuine hi-line with this.
2. the laser radar high-tension line identification method based on wavelet transformation according to claim 1 is characterized in that it comprises the following steps:
At first, send a synchronizing pulse regularly for attitude measuring and GPS dynamic difference device by sync control device, GPS with the locating information synchronized transmission that upgrades to attitude measuring;
Secondly, control laser radar scanner, distance mearuring equipment work by attitude measuring;
The 3rd, stadimeter is measured echo by Emission Lasers, the distance of calculating and ground or barrier, and the data that record are sent to data collector; Laser radar scanner with the first gray processing of the place ahead clear image that scans after, carry out again three grades of wavelet transformations, with the compression gibberish, keep crucial barrier edge contour information, to reduce the data volume of image, then also send to data collector;
The 4th, the data of the scan image data of the processing that data collector will be received and stadimeter collection send to ground base station; If find to have the barrier of doubtful hi-line or transmission tower, the base station is by GPS interface notice scanner diffusion scanning, judgement has or not the distribution of continuous high-tension line tower, further confirm the continuous distribution position of high-tension line tower, the scanning errors of getting rid of non-hi-line from the position of high-tension line tower, the clear height of high-voltage line range information that estimates; Attitude gps data information after attitude measuring is synchronous with aircraft sends to data acquisition unit; The aircraft locating information that dynamic difference GPS device upgrades after with difference is kept in the GPS interface module, and sends to ground base station;
The 5th, ground base station returns to attitude measuring and GPS flight navigation device after to the aircraft data analysis-by-synthesis that receives;
At last, the data of GPS flight navigation device after according to the ground base station analysis are corrected position and the velocity information of aircraft.
3. the laser radar high-tension line identification method based on wavelet transformation according to claim 2, it is characterized in that described GPS dynamic difference device is comprised of the fixedly GPS base station on ground and the GPS rover station on aircraft, fixedly the GPS base station sends data to the GPS rover station on aircraft in real time.
4. the laser radar high-tension line identification method based on wavelet transformation according to claim 2, it is characterized in that described data collector has two mode of operations, one is logging mode, all data are recorded among magnetic tape station or hard disk, energy show image and data are also reported to the police, another mode of operation is monitoring mode, by man-machine interaction carry out Data Detection, systematic analysis, quality check, signal and backup system adjustment work give the alarm.
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Cited By (7)
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| CN105173095A (en) * | 2015-09-07 | 2015-12-23 | 国网通用航空有限公司 | Barrier avoiding system of helicopter |
| CN108195358A (en) * | 2017-11-10 | 2018-06-22 | 广东电网有限责任公司教育培训评价中心 | The transmission line of electricity collecting method of simulation training system is maked an inspection tour based on unmanned plane |
| CN109061658A (en) * | 2018-06-06 | 2018-12-21 | 天津大学 | Laser radar data melts method |
| WO2020007274A1 (en) * | 2018-07-06 | 2020-01-09 | 江苏慧光电子科技有限公司 | Light beam scanning control method and device, system and corresponding medium |
| CN111553930A (en) * | 2020-05-08 | 2020-08-18 | 吴修文 | Online somatosensory self-adaptive interaction method combined with video intelligent analysis |
| CN112084955A (en) * | 2020-09-11 | 2020-12-15 | 中国航空工业集团公司雷华电子技术研究所 | High-voltage line detection and identification method and device and electronic equipment |
| WO2021035720A1 (en) * | 2019-08-30 | 2021-03-04 | 深圳市大疆创新科技有限公司 | Power line detection method, millimeter wave radar, system, and storage medium |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105173095A (en) * | 2015-09-07 | 2015-12-23 | 国网通用航空有限公司 | Barrier avoiding system of helicopter |
| CN108195358A (en) * | 2017-11-10 | 2018-06-22 | 广东电网有限责任公司教育培训评价中心 | The transmission line of electricity collecting method of simulation training system is maked an inspection tour based on unmanned plane |
| CN109061658A (en) * | 2018-06-06 | 2018-12-21 | 天津大学 | Laser radar data melts method |
| CN109061658B (en) * | 2018-06-06 | 2022-06-21 | 天津大学 | Laser radar data fusion method |
| WO2020007274A1 (en) * | 2018-07-06 | 2020-01-09 | 江苏慧光电子科技有限公司 | Light beam scanning control method and device, system and corresponding medium |
| WO2021035720A1 (en) * | 2019-08-30 | 2021-03-04 | 深圳市大疆创新科技有限公司 | Power line detection method, millimeter wave radar, system, and storage medium |
| CN111553930A (en) * | 2020-05-08 | 2020-08-18 | 吴修文 | Online somatosensory self-adaptive interaction method combined with video intelligent analysis |
| CN112084955A (en) * | 2020-09-11 | 2020-12-15 | 中国航空工业集团公司雷华电子技术研究所 | High-voltage line detection and identification method and device and electronic equipment |
| CN112084955B (en) * | 2020-09-11 | 2024-04-05 | 中国航空工业集团公司雷华电子技术研究所 | High-voltage line detection and identification method and device and electronic equipment |
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