CN104597907B - A kind of overhead transmission line unmanned plane cruising inspection system flight evaluation of the accuracy method - Google Patents
A kind of overhead transmission line unmanned plane cruising inspection system flight evaluation of the accuracy method Download PDFInfo
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Abstract
The present invention provides a kind of overhead transmission line unmanned plane cruising inspection system flight evaluation of the accuracy method, comprises the following steps：Calibration is carried out to measurement equipment；Mark is arranged on unmanned plane body；After unmanned plane takes off, measurement equipment is measured to unmanned plane body；Unmanned plane position is analyzed in real time；Unmanned plane cruising inspection system flight accuracy is evaluated.The present invention is measured to the flight position and attitude of unmanned plane body, and flight accuracy is estimated, and screens qualified unmanned plane cruising inspection system, ensures line facility safety.
Description
Technical field
The present invention relates to a kind of evaluation method, and in particular to a kind of overhead transmission line unmanned plane cruising inspection system flight is accurate
Property evaluation method.
Background technology
In power system, unmanned plane is mainly used in patrolling power transmission lines apparatus body and passage way, testing equipment and
Channel defect.Unmanned plane species is various, and fixed-wing unmanned plane, depopulated helicopter can be divided into by type, and two kinds of types are in transmission of electricity
There is the application of different aspect in line data-logging.Wherein, fixed-wing unmanned plane lay particular emphasis on development electric transmission line channel patrol and examine, the condition of a disaster it is general
Look into, can quickly find the outer broken hidden danger such as fixed or mobile operational process, mountain fire, architecture against regulations in passage, can be rapid under disaster scenarios it
Determine disaster-stricken scope, assess disaster-stricken situation.Depopulated helicopter lays particular emphasis on development transmission line of electricity single column or section is patrolled and examined, failure is patrolled
Inspection, it is easy to find overhead line structures bottleneck disadvantages described above.
At present, polling transmission line unmanned plane is generally small and medium size unmanned aerial vehicles, i.e., empty weight is below 116 kilograms.By
In reasons such as military affairs, politics, unmanned plane importing technology is less, mostly domestic production.Domestic unmanned plane body manufacturer is main
There are three classes, one is the research institute for possessing military project background, mainly manufactures big-and-middle-sized unmanned aerial vehicle platform, possess technical research, detection in fact
Test, the system integration and quality management and control advantage；Two is the enterprise with scientific research institutions as background, and main manufacture small and medium size unmanned aerial vehicles are put down
Platform, there is research application basis, but in aspect Shortcomings such as production capacity, quality management and control, the system integration, detections；Three is from doing
The small-sized private enterprise that small-sized model plane grow up, main manufacture small and medium size unmanned aerial vehicles platform, with certain cost advantage, but in production
The aspect Shortcomings such as research and development ability, quality management and control, outsourcing device detection, and do not possess system integration qualification and quality testing hand
Section.
Polling transmission line needs to carry out data acquisition to particular elements, and resolution requirement is high；Actually patrolling and examining operation
When, course line and task device parameter first are set on ground, then carry out flight and patrol and examine.Unmanned plane during flying accuracy is to patrolling and examining result shadow
Sound quality is larger, and flight accuracy is mainly reflected in the horizontal level and height and position of unmanned plane during flying.Influence unmanned plane during flying
The factor of accuracy mainly has flight control system, navigation positioning module etc..But country unmanned plane market is immature at present, flight
Control system quality is uneven, and navigation positioning module is second-rate.Domestic overhead transmission line unmanned plane cruising inspection system development
Also in the starting stage, temporarily without professional standard, national standard, temporarily without power transmission line unmanned machine cruising inspection system correlation test method.
The content of the invention
In order to overcome the above-mentioned deficiencies of the prior art, the present invention provides a kind of overhead transmission line unmanned plane cruising inspection system and flies
Row evaluation of the accuracy method, flight position and attitude to unmanned plane body are measured, and flight accuracy is estimated, sieve
Qualified unmanned plane cruising inspection system is selected, line facility safety is ensured.
In order to realize foregoing invention purpose, the present invention is adopted the following technical scheme that：
The present invention provides a kind of overhead transmission line unmanned plane cruising inspection system flight evaluation of the accuracy method, methods described bag
Include following steps：
Step 1：Calibration is carried out to measurement equipment；
Step 2：Mark is arranged on unmanned plane body；
Step 3：After unmanned plane takes off, measurement equipment is measured to unmanned plane body；
Step 4：Unmanned plane position is analyzed in real time；
Step 5：Unmanned plane cruising inspection system flight accuracy is evaluated.
In the step 1, three-dimensional calibration field is arranged first, three-dimensional calibration field is shot using measurement equipment, make three
Dimension calibration field takes view picture image；Then the known location constraints according to three-dimensional calibration field, uses direct transform method solution
Calculate the elements of interior orientation of measurement equipment, including measurement equipment principal point position, it is main away from lens distortion parameter, and determine to shoot
Center and the relation of image plane；Shooting baseline finally according to measurement equipment determines in measurement equipment the relative of two capture apparatus
Position.
In the step 2, mark is shaped as chequered with black and white circle, its diameter 5cm, with symmetry.
In the step 2, three location arrangements mark is selected on unmanned plane body, the direction of motion of three positions and position
Shifting is consistent with body, the face down of mark, and smooth.
For different unmanned planes, mark is arranged in the following ways：
(1) to multi-rotor unmanned aerial vehicle, in one mark of ventral arranged beneath, a mark is respectively arranged on two horns
Or two marks are arranged on organism frame diagonal position；
(2) to depopulated helicopter, in two marks of ventral arranged beneath, tail end arranges a mark；
(3) to fixed-wing unmanned plane, a mark is arranged in ventral, respectively arrangement one is identified in two wings.
The step 3 is comprised the following steps：
Step 3-1：Selection linear section gives the geographical coordinate at two ends midpoint in test section, by two as measurement zone
Geographical coordinate sets unmanned plane during flying course line, meets unmanned plane in airline operation, and flying height is flown between 10~20m
Speed is 0~5m/s；
Step 3-2：Upwards, horizontal view angle is in a vertical angle with default course line for two angles of pitch of capture apparatus in measurement equipment
Arrangement, and speed and aperture are set according to weather condition；
Step 3-3：After unmanned plane takes off, it takes autonomous flight pattern, and by default airline operation；
Step 3-4：Start measurement equipment, shot with burst mode, and by image transmission to background processing system.
The step 4 is comprised the following steps：
Step 4-1：Image to shooting is pre-processed, and extracts identification point；
Step 4-2：The image shot in synchronization to two capture apparatus, is identified Point matching；
Step 4-3：It is origin O with aircraft barycenter by the way of relation control, with fuselage direction as X-axis, with same water
Perpendicular to fuselage direction it is Y-axis in plane, and is Z axis with the direction perpendicular to XOY plane, set up rectangular coordinate system in space, surveys
Determine pixel coordinate of the identification point in the rectangular coordinate system in space；
Step 4-4：With pixel coordinate as measured value, with reference to three mark relative position relations being arranged on unmanned plane,
Collinearity equation is set up, unmanned plane position is determined according to collinearity equation；
Step 4-5：According to the unmanned plane for determining in position not in the same time, unmanned plane during flying flight path is drawn.
In the step 5, unmanned plane during flying flight path is analyzed with default course line, respectively by the horizontal degree of accuracy
The horizontal degree of accuracy and the vertical degree of accuracy of evaluation index and vertical accuracy estimating index to unmanned plane are evaluated.
The horizontal degree of accuracy evaluation index includes maximum horizontal deviation and average horizontal departure；The maximum horizontal deviation
It is deviation maximum in the horizontal direction on unmanned plane during flying flight path, the average level deviation is unmanned plane in not position in the same time
The root mean square of the horizontal departure value put；
The vertical accuracy estimating index includes maximum height deviation and average height tolerance；The maximum height deviation
It is the maximum deviation on unmanned plane during flying flight path in vertical direction, the average height deviation is unmanned plane in not position in the same time
The root mean square of the height tolerance value put.
Compared with prior art, the beneficial effects of the present invention are：
(1) the real-time flight position to unmanned plane can be detected under real flight conditions, unmanned plane is not being disturbed just
Often flight.
(2) overall merit can be carried out to the overall flight accuracy of unmanned plane cruising inspection system, is not the control of single module
Precision.
(3) quantitative evaluation can be carried out to the overall flight accuracy of unmanned plane cruising inspection system, is when actually patrolling and examining operation
Unmanned plane ensures to provide technical basis with the safe distance of line facility and periphery barrier, improves unmanned plane and patrols and examines job safety
Property.
Brief description of the drawings
Fig. 1 is overhead transmission line unmanned plane cruising inspection system flight evaluation of the accuracy method flow diagram.
Specific embodiment
The present invention is described in further detail below in conjunction with the accompanying drawings.
Such as Fig. 1, the present invention provides a kind of overhead transmission line unmanned plane cruising inspection system flight evaluation of the accuracy method, described
Method is comprised the following steps：
Step 1：Calibration is carried out to measurement equipment；
Step 2：Mark is arranged on unmanned plane body；
Step 3：After unmanned plane takes off, measurement equipment is measured to unmanned plane body；
Step 4：Unmanned plane position is analyzed in real time；
Step 5：Unmanned plane cruising inspection system flight accuracy is evaluated.
In the step 1, three-dimensional calibration field is arranged first, three-dimensional calibration field is shot using measurement equipment, make three
Dimension calibration field takes view picture image；Then the known location constraints according to three-dimensional calibration field, uses direct transform method solution
Calculate the elements of interior orientation of measurement equipment, including measurement equipment principal point position, it is main away from lens distortion parameter, and determine to shoot
Center and the relation of image plane；Shooting baseline finally according to measurement equipment determines in measurement equipment the relative of two capture apparatus
Position.
What is identified is shaped as chequered with black and white circle, its diameter 5cm, with symmetry.
Select three location arrangements mark on unmanned plane body, the direction of motion of three positions and displacement keep with body
Unanimously, do not move alone；Should not be arranged on blade.Need to ensure that mark is smooth during arrangement mark, and the face down for identifying.Machine
Three on body identify not in one plane, and the span of identification point is as big as possible, also need to ensure flight course mark all the time
Firmly paste on unmanned plane body.
For different unmanned planes, mark is arranged in the following ways：
(1) to multi-rotor unmanned aerial vehicle, in one mark of ventral arranged beneath, a mark is respectively arranged on two horns
Or two marks are arranged on organism frame diagonal position；
(2) to depopulated helicopter, in two marks of ventral arranged beneath, tail end arranges a mark；
(3) to fixed-wing unmanned plane, a mark is arranged in ventral, respectively arrangement one is identified in two wings.
The step 3 is comprised the following steps：
Step 3-1：Selection linear section gives the geographical coordinate at two ends midpoint in test section, by two as measurement zone
Geographical coordinate sets unmanned plane during flying course line, meets unmanned plane in airline operation, and flying height is flown between 10~20m
Speed is 0~5m/s；
Step 3-2：Upwards, horizontal view angle is in a vertical angle with default course line for two angles of pitch of capture apparatus in measurement equipment
Arrangement, and speed and aperture are set according to weather condition；
Step 3-3：After unmanned plane takes off, it takes autonomous flight pattern, and by default airline operation；
Step 3-4：Start measurement equipment, shot with burst mode, and by image transmission to background processing system.
The step 4 is comprised the following steps：
Step 4-1：Image to shooting is pre-processed, and extracts identification point；
Step 4-2：The image shot in synchronization to two capture apparatus, is identified Point matching；
Step 4-3：It is origin O with aircraft barycenter by the way of relation control, with fuselage direction as X-axis, with same water
Perpendicular to fuselage direction it is Y-axis in plane, and is Z axis with the direction perpendicular to XOY plane, set up rectangular coordinate system in space, surveys
Determine pixel coordinate of the identification point in the rectangular coordinate system in space；
Step 4-4：With pixel coordinate as measured value, with reference to three mark relative position relations being arranged on unmanned plane,
Collinearity equation is set up, unmanned plane position is determined according to collinearity equation；
Step 4-5：According to the unmanned plane for determining in position not in the same time, unmanned plane during flying flight path is drawn.
In the step 5, unmanned plane during flying flight path is analyzed with default course line, respectively by the horizontal degree of accuracy
The horizontal degree of accuracy and the vertical degree of accuracy of evaluation index and vertical accuracy estimating index to unmanned plane are evaluated.
The horizontal degree of accuracy evaluation index includes maximum horizontal deviation and average horizontal departure；The maximum horizontal deviation
It is deviation maximum in the horizontal direction on unmanned plane during flying flight path, the average level deviation is unmanned plane in not position in the same time
The root mean square of the horizontal departure value put；
The vertical accuracy estimating index includes maximum height deviation and average height tolerance；The maximum height deviation
It is the maximum deviation on unmanned plane during flying flight path in vertical direction, the average height deviation is unmanned plane in not position in the same time
The root mean square of the height tolerance value put.
Finally it should be noted that：The above embodiments are merely illustrative of the technical solutions of the present invention rather than its limitations, institute
The those of ordinary skill in category field specific embodiment of the invention can still be modified with reference to above-described embodiment or
Equivalent, these are applying for this pending hair without departing from any modification of spirit and scope of the invention or equivalent
Within bright claims.
Claims (7)
1. a kind of overhead transmission line unmanned plane cruising inspection system flight evaluation of the accuracy method, it is characterised in that：Methods described bag
Include following steps：
Step 1：Calibration is carried out to measurement equipment；
Step 2：Mark is arranged on unmanned plane body；
Step 3：After unmanned plane takes off, measurement equipment is measured to unmanned plane body；
Step 4：Unmanned plane position is analyzed in real time；
Step 5：Unmanned plane cruising inspection system flight accuracy is evaluated；
In the step 1, three-dimensional calibration field is arranged first, three-dimensional calibration field is shot using measurement equipment, make three-dimensional inspection
Drill ground takes view picture image；Then the known location constraints according to three-dimensional calibration field, uses direct transform method resolving amount
The elements of interior orientation of measurement equipment, including measurement equipment principal point position, it is main away from lens distortion parameter, and determine shooting center
With the relation of image plane；Shooting baseline finally according to measurement equipment determines two relative positions of capture apparatus in measurement equipment
Put；
The step 3 is comprised the following steps：
Step 3-1：Selection linear section gives the geographical coordinate at two ends in test section, by two geographical coordinates as measurement zone
Unmanned plane during flying course line is set, unmanned plane is met in airline operation, flying height between 10~20m, flying speed is 0~
5m/s；
Step 3-2：In measurement equipment two angles of pitch of capture apparatus upwards, horizontal view angle and default course line cloth in a vertical angle
Put, and speed and aperture are set according to weather condition；
Step 3-3：After unmanned plane takes off, it takes autonomous flight pattern, and by default airline operation；
Step 3-4：Start measurement equipment, shot with burst mode, and by image transmission to background processing system.
2. overhead transmission line unmanned plane cruising inspection system flight evaluation of the accuracy method according to claim 1, its feature
It is：In the step 2, mark is shaped as chequered with black and white circle, its diameter 5cm, with symmetry.
3. overhead transmission line unmanned plane cruising inspection system flight evaluation of the accuracy method according to claim 1, its feature
It is：In the step 2, three location arrangements mark is selected on unmanned plane body, the direction of motion of three positions and displacement
It is consistent with body, the face down of mark, and it is smooth.
4. the overhead transmission line unmanned plane cruising inspection system flight evaluation of the accuracy method according to claim 1 or 3, it is special
Levy and be：For different unmanned planes, mark is arranged in the following ways：
(1) to multi-rotor unmanned aerial vehicle, in the mark of ventral arranged beneath one, be respectively arranged on two horns a mark or
Two marks are arranged on organism frame diagonal position；
(2) to depopulated helicopter, in two marks of ventral arranged beneath, tail end arranges a mark；
(3) to fixed-wing unmanned plane, a mark is arranged in ventral, respectively arrangement one is identified in two wings.
5. overhead transmission line unmanned plane cruising inspection system flight evaluation of the accuracy method according to claim 1, its feature
It is：The step 4 is comprised the following steps：
Step 4-1：Image to shooting is pre-processed, and extracts identification point；
Step 4-2：The image shot in synchronization to two capture apparatus, is identified Point matching；
Step 4-3：It is origin O with aircraft barycenter, with fuselage direction as X-axis, with same level by the way of relation control
On perpendicular to fuselage direction be Y-axis, and be Z axis with the direction perpendicular to XOY plane, set up rectangular coordinate system in space, determine mark
Know pixel coordinate of the point in the rectangular coordinate system in space；
Step 4-4：With pixel coordinate as measured value, with reference to three mark relative position relations being arranged on unmanned plane, set up
Collinearity equation, unmanned plane position is determined according to collinearity equation；
Step 4-5：According to the unmanned plane for determining in position not in the same time, unmanned plane during flying flight path is drawn.
6. overhead transmission line unmanned plane cruising inspection system flight evaluation of the accuracy method according to claim 1, its feature
It is：In the step 5, unmanned plane during flying flight path is analyzed with default course line, is commented by the horizontal degree of accuracy respectively
The horizontal degree of accuracy and the vertical degree of accuracy of valency index and vertical accuracy estimating index to unmanned plane are evaluated.
7. overhead transmission line unmanned plane cruising inspection system flight evaluation of the accuracy method according to claim 6, its feature
It is：The horizontal degree of accuracy evaluation index includes maximum horizontal deviation and average horizontal departure；The maximum horizontal deviation is
Deviation maximum in the horizontal direction on unmanned plane during flying flight path, the average level deviation is unmanned plane in not position in the same time
Horizontal departure value root mean square；
The vertical accuracy estimating index includes maximum height deviation and average height tolerance；The maximum height deviation is nothing
Maximum deviation on man-machine flight track in vertical direction, the average height deviation is unmanned plane in not position in the same time
The root mean square of height tolerance value.
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| CN104932526B (en) * | 2015-05-29 | 2020-08-28 | 深圳市大疆创新科技有限公司 | Control method of flight equipment and flight equipment |
| CN105427674B (en) * | 2015-11-02 | 2017-12-12 | 国网山东省电力公司电力科学研究院 | A kind of unmanned plane during flying state assesses early warning system and method in real time |
| CN107036625A (en) * | 2016-02-02 | 2017-08-11 | 中国电力科学研究院 | A kind of flying quality detection method of power transmission line unmanned helicopter patrol inspection system |
| CN105573342B (en) * | 2016-02-03 | 2018-09-21 | 华南农业大学 | Based on BEI-DOU position system to the evaluation system and method for winged control hand flight reappearance |
| US11368002B2 (en) | 2016-11-22 | 2022-06-21 | Hydro-Quebec | Unmanned aerial vehicle for monitoring an electrical line |
| CN107063711B (en) * | 2017-04-21 | 2020-06-30 | 百度在线网络技术（北京）有限公司 | Method and apparatus for testing unmanned vehicles |
| CN107481234B (en) * | 2017-08-23 | 2021-11-26 | 中国电力科学研究院 | Test method for testing visible light imaging performance of unmanned aerial vehicle inspection system |
| CN107992083B (en) * | 2017-12-27 | 2021-03-26 | 北京臻迪科技股份有限公司 | System and method for carrying out air route planning of logistics unmanned aerial vehicle based on power grid map |
| CN112835376B (en) * | 2019-11-22 | 2023-03-10 | 中国电力科学研究院有限公司 | Machine head positioning method and system for unmanned aerial vehicle electricity testing |
| CN113838190A (en) * | 2021-09-16 | 2021-12-24 | 山西观复智能科技有限公司 | Boiler inner wall inspection method and system |
| CN115892451B (en) * | 2022-11-10 | 2024-01-30 | 众芯汉创（北京）科技有限公司 | On-site operation risk management and control system and method for unmanned aerial vehicle monitoring |
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