CN103149569B - 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
- Publication number
- CN103149569B CN103149569B CN201310058609.XA CN201310058609A CN103149569B CN 103149569 B CN103149569 B CN 103149569B CN 201310058609 A CN201310058609 A CN 201310058609A CN 103149569 B CN103149569 B CN 103149569B
- Authority
- CN
- China
- Prior art keywords
- data
- gps
- base station
- laser radar
- information
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
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, during small-sized unmanned aircraft low-latitude flying, easily collide and the problem of air crash accident with high-tension bus-bar, in order to address this problem, people have adopted several different methods and formality, are below conventional solutions:
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, with extremely short pulse, obtain higher resolution, 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。
Author adopts high-resolution infrared acquisition camera (frequency response: 8-12um) obtain image, by the processing of image block, adaptive dynamic range expansion and anisotropic filter, strengthen on this basis the contrast of target and background, finally with the line that simulates level or level of approximation, represent target, operating distance is 100 ~ 500 meters.Shortcoming is the distance that cannot judge target, is subject to 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 the interference of solar rays can reduce system performance while working by day, under adverse weather condition, fight capability also decreases.
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。
With the laser positioning radar of millimetre-wave radar station and 1.54um, carry out the detection of a target.Laser positioning radar can be optimized low-latitude flying attitude, and detects plurality of target 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 order Min, the high-tension line identification method of processing based on image, 2010
Using radar plot figure as input, once put mark cohesion, the some mark after cohesion is made to domain analysis, each some mark cohesion is marked, according to scoring, judge high-tension line tower, searching out continuous hi-line, and then the range of distribution of definite hi-line.Shortcoming degree of accuracy is inadequate, easily erroneous judgement.
Conventional sensor 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, measure continuously, and 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 hi-line determine effect to the object of the invention is for existing low flyer, easily produce erroneous judgement and collide with high-tension bus-bar, there is the problem of air crash accident, 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 by the feature of high-tension line tower, the position of location high-tension line tower, estimate hi-line position, then pass through Multi-resolution analysis of wavelet transform, the high-frequency information of multiple dimensioned reservation image border compresses low-frequency range data, reaches the object of edge extracting, and the positional distance information of calculating hi-line is also sent to ground base station.It utilizes 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, Z coordinate information, also comprise object reflection strength information, after converting gray-scale map to, output RGB image data passes through wavelet compression, image is repeatedly 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 retained, greatly compressed useless low-frequency information, view data after wavelet compression coding is sent to ground base station is analyzed and record, by base station passback order, to airborne equipment, doubtful hi-line barrier is done to diffusion scanning again, find high-tension line tower, with this, be confirmed whether to exist genuine hi-line.
Laser radar high-tension line identification method based on wavelet transformation of the present invention comprises the following steps:
First, by sync control device, send a synchronizing pulse regularly to attitude measuring and GPS dynamic difference device, GPS by the locating information synchronized transmission upgrading to attitude measuring;
Secondly, by attitude measuring, control laser radar scanner, distance mearuring equipment work;
The 3rd, stadimeter, by Emission Lasers, is measured echo, the distance of calculating and ground or barrier, and the data that record are sent to data collector; Laser radar scanner by the first gray processing of the place ahead clear image scanning after, carry out again three grades of wavelet transformations, to compress gibberish, retain crucial barrier edge contour information, to reduce the data volume of image, then also send to data collector;
The 4th, data collector sends to ground base station by the data of the scan image data of the processing of receiving and stadimeter collection; If find that there is the barrier of doubtful hi-line or transmission tower, 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 by aircraft sends to data acquisition unit; Dynamic difference GPS device is kept at the aircraft locating information of upgrading after difference in GPS interface module, and sends to ground base station;
The 5th, ground base station returns to attitude measuring and GPS flight navigation device after the aircraft data receiving is comprehensively analyzed;
Finally, GPS flight navigation device is corrected the position of aircraft and velocity information according to the data after ground base station analysis.
Described GPS dynamic difference device is comprised of the fixedly GPS base station on ground and the GPS rover station on aircraft, and fixedly 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 object of data between a plurality of instruments.
2. the present invention utilizes three grades of wavelet transformation techniques compression unwanted picture information in image processing, retains the high fdrequency component at hi-line edge, and compressing image data, reaches and accelerate 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 passes through high-tension line tower position, more further really identifies the position of hi-line.
5. the present invention utilizes independently GPS interface module, has realized base station to 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.
Accompanying drawing explanation
Fig. 1 is system theory of constitution block diagram of the present invention.
Fig. 2 is three grades of wavelet coding process schematic diagram of the present invention.
Fig. 3 is three grades of decomposing schematic representations of the embodiment of the present invention.
Fig. 4 is the striograph of common high-tension line tower.
Fig. 5 is continuous hi-line distribution striograph.
Embodiment
Below in conjunction with drawings and Examples, the present invention is further illustrated.
As Figure 1-5.
A laser radar high-tension line identification method based on wavelet transformation, it comprises the following steps:
First, utilize prior art to build a recognition system as shown in Figure 1, by the sync control device in recognition system, send a synchronizing pulse regularly to attitude measuring and GPS dynamic difference device, GPS by the locating information synchronized transmission upgrading to attitude measuring;
Secondly, by attitude measuring, control laser radar scanner, distance mearuring equipment work;
The 3rd, stadimeter, by Emission Lasers, is measured echo, the distance of calculating and ground or barrier, and the data that record are sent to data collector; Laser radar scanner by the first gray processing of the place ahead clear image scanning after, then carry out three grades of wavelet transformations, as shown in Figure 2,3, with compression gibberish, retain crucial barrier edge contour information, to reduce the data volume of image, then also send to data collector;
The 4th, data collector sends to ground base station by the data of the scan image data of the processing of receiving and stadimeter collection; If find that there is the barrier of doubtful hi-line or transmission tower, 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 by aircraft sends to data acquisition unit; Dynamic difference GPS device is kept at the aircraft locating information of upgrading after difference in GPS interface module, and sends to ground base station;
The 5th, ground base station returns to attitude measuring and GPS flight navigation device after the aircraft data receiving is comprehensively analyzed;
Finally, GPS flight navigation device is corrected the position of aircraft and velocity information according to the data after ground base station analysis.
The laser point cloud that airborne laser radar measuring system gathers while carrying out electric power line walking, can gather the situation in the output circuit corridor of moment, comprises that 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 to be more easily distinguished, and sees Fig. 4, and main frame is that a bound feet is large, the feature of triangular form framework, and there is correlativity on distributing.For hi-line lofty in environment, be easy to identify.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, obtain connected high-tension line tower and distribute, discrete hi-line point is got to the continuous camber line of a square error minimum, see Fig. 5.Computed altitude and distance, pass to ground base station analyzing and processing and determine 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 (3)
1. the laser radar high-tension line identification method based on wavelet transformation, it is characterized in that utilizing 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, Z coordinate information, also comprise object reflection strength information, after converting gray-scale map to, output RGB image data passes through wavelet compression, image is repeatedly 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 retained, greatly compressed useless low-frequency information, view data after wavelet compression coding is sent to ground base station is analyzed and record, by base station passback order, to airborne equipment, doubtful hi-line barrier is done to diffusion scanning again, find high-tension line tower, with this, be confirmed whether to exist genuine hi-line, concrete steps comprise:
First, by sync control device, send a synchronizing pulse regularly to attitude measuring and GPS dynamic difference device, GPS by the locating information synchronized transmission upgrading to attitude measuring;
Secondly, by attitude measuring, control laser radar scanner, distance mearuring equipment work;
The 3rd, stadimeter, by Emission Lasers, is measured echo, the distance of calculating and ground or barrier, and the data that record are sent to data collector; Laser radar scanner by the first gray processing of the place ahead clear image scanning after, carry out again three grades of wavelet transformations, to compress gibberish, retain crucial barrier edge contour information, to reduce the data volume of image, then also send to data collector;
The 4th, data collector sends to ground base station by the data of the scan image data of the processing of receiving and stadimeter collection; If find that there is the barrier of doubtful hi-line or transmission tower, 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 by aircraft sends to data acquisition unit; Dynamic difference GPS device is kept at the aircraft locating information of upgrading after difference in GPS interface module, and sends to ground base station;
The 5th, ground base station returns to attitude measuring and GPS flight navigation device after the aircraft data receiving is comprehensively analyzed;
Finally, GPS flight navigation device is corrected the position of aircraft and velocity information according to the data after ground base station analysis.
2. the laser radar high-tension line identification method based on wavelet transformation according to claim 1, 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 GPS base station sends data to the GPS rover station on aircraft in real time.
3. the laser radar high-tension line identification method based on wavelet transformation according to claim 1, 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.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310058609.XA CN103149569B (en) | 2013-02-25 | 2013-02-25 | Method for recognizing high-voltage wire by laser radar based on wavelet transformation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310058609.XA CN103149569B (en) | 2013-02-25 | 2013-02-25 | Method for recognizing high-voltage wire by laser radar based on wavelet transformation |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103149569A CN103149569A (en) | 2013-06-12 |
| CN103149569B true CN103149569B (en) | 2014-12-10 |
Family
ID=48547754
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310058609.XA Active CN103149569B (en) | 2013-02-25 | 2013-02-25 | Method for recognizing high-voltage wire by laser radar based on wavelet transformation |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103149569B (en) |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105173095B (en) * | 2015-09-07 | 2017-06-16 | 国网通用航空有限公司 | A kind of helicopter obstacle avoidance system |
| CN108195358B (en) * | 2017-11-10 | 2020-07-14 | 广东电网有限责任公司教育培训评价中心 | Power transmission line data acquisition method based on unmanned aerial vehicle inspection simulation training system |
| CN109061658B (en) * | 2018-06-06 | 2022-06-21 | 天津大学 | Laser radar data fusion method |
| CN110687516B (en) * | 2018-07-06 | 2022-10-04 | 江苏慧光电子科技有限公司 | Control method, device and system for light beam scanning and corresponding medium |
| CN112262319A (en) * | 2019-08-30 | 2021-01-22 | 深圳市大疆创新科技有限公司 | Detection method of power line, 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 |
| 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 |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101776760A (en) * | 2010-02-09 | 2010-07-14 | 中国科学院上海技术物理研究所 | Laser three-dimensional imaging device based on single-photon detector |
| CN102138163A (en) * | 2008-08-29 | 2011-07-27 | 三菱电机株式会社 | Bird's-eye image forming device, bird's-eye image forming method, and bird's-eye image forming program |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8471895B2 (en) * | 2008-11-25 | 2013-06-25 | Paul S. Banks | Systems and methods of high resolution three-dimensional imaging |
-
2013
- 2013-02-25 CN CN201310058609.XA patent/CN103149569B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102138163A (en) * | 2008-08-29 | 2011-07-27 | 三菱电机株式会社 | Bird's-eye image forming device, bird's-eye image forming method, and bird's-eye image forming program |
| CN101776760A (en) * | 2010-02-09 | 2010-07-14 | 中国科学院上海技术物理研究所 | Laser three-dimensional imaging device based on single-photon detector |
Non-Patent Citations (2)
| Title |
|---|
| 李朝阳.高压线路走廊特征物提取和高程计算研究.《中国博士学位论文全文数据库》.2006,正文第14，22，18，19，28，30，53，60-65页. * |
| 高压线路走廊特征物提取和高程计算研究;李朝阳;《中国博士学位论文全文数据库》;20061115;正文第14，22，18，19，28，30，53，60-65页 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103149569A (en) | 2013-06-12 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103149569B (en) | Method for recognizing high-voltage wire by laser radar based on wavelet transformation | |
| CN105812733B (en) | A kind of scene monitoring guiding system of air traffic control | |
| CN106049210B (en) | A kind of track condition Intelligent Measurement platform | |
| CN105905132B (en) | A kind of track condition intelligent patrol detection apparatus and method | |
| CN203786891U (en) | Mobile monitoring convergence platform based on GIS (Geographic Information System) | |
| CN101833099B (en) | Locked tracking method of helicopter in the inspection process of electric power circuits | |
| CN105487082A (en) | Laser radar for long-distance object detection | |
| CN110068655A (en) | A kind of air-ground integrated atmospheric monitoring system in day | |
| Zhang et al. | Background filtering and vehicle detection with roadside lidar based on point association | |
| CN103149563A (en) | Two-dimension detection system and method for airport pavement foreign matter | |
| CN112285709B (en) | Atmospheric ozone remote sensing laser radar data fusion method based on deep learning | |
| CN115236673A (en) | Multi-radar fusion sensing system and method for large vehicle | |
| Kucharczyk et al. | Pre-disaster mapping with drones: An urban case study in Victoria, British Columbia, Canada | |
| US9401093B2 (en) | Procedure for the detection and display of artificial obstacles for a rotary-wing aircraft | |
| CN113011252B (en) | Rail foreign matter intrusion detection system and method | |
| CN108181313A (en) | A kind of device and method suitable for the detection of contact net running environment safe condition | |
| CN205954421U (en) | Track state intellectual detection system platform | |
| Kremer et al. | The RailMapper–A dedicated mobile LiDAR mapping system for railway networks | |
| CN109064743B (en) | Automatic traffic management information acquisition platform | |
| CN113674211A (en) | Track quality monitoring and analyzing system | |
| CN113156456A (en) | Pavement and tunnel integrated detection method and detection equipment and vehicle | |
| CN213748480U (en) | Electronic sand table system | |
| Xiang | 3D reconstruction of 138 KV power-lines from airborne LiDAR data | |
| CN114255264B (en) | Multi-base-station registration method and device, computer equipment and storage medium | |
| Yao et al. | Airborne analysis and assessment of urban traffic scenes from LiDAR data—Theory and experiments |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |