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 PDF

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CN104597907B
CN104597907B CN201410706814.7A CN201410706814A CN104597907B CN 104597907 B CN104597907 B CN 104597907B CN 201410706814 A CN201410706814 A CN 201410706814A CN 104597907 B CN104597907 B CN 104597907B
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unmanned plane
accuracy
mark
inspection system
measurement equipment
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CN104597907A (en
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付晶
邵瑰玮
蔡焕青
胡霁
陈怡�
曾云飞
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State Grid Corp of China SGCC
China Electric Power Research Institute Co Ltd CEPRI
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State Grid Corp of China SGCC
China Electric Power Research Institute Co Ltd CEPRI
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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

A kind of overhead transmission line unmanned plane cruising inspection system flight evaluation of the accuracy method
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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