CN105511486A - Different-strip-aerial-image-based power sag detection method and system - Google Patents
Different-strip-aerial-image-based power sag detection method and system Download PDFInfo
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Abstract
The invention relates to a different-strip-aerial-image-based power sag detection method and system. The system is composed of a calibration selection module, a main control module, a space three-dimensional image pair module, a three-dimensional space model measurement module, and a diagnosis module. The calibration selection module calibrates a flight path and selects a field control point; the main control module controls an unmanned aerial plane to fly according to the flight path and controls the unmanned aerial plane to collect space position information of a photo; the space three-dimensional image pair module establishes a space three-dimensional image pair of a power sag according to the field control point and the space position information of the photo; the three-dimensional space model measurement module identifies a dotted point of the power sag in the space three-dimensional image pair and establishes a three-dimensional space model of the power sag; and the diagnosis module determines a dangerous point on the power sag according to the three-dimensional space model and inputs a detection report automatically. Continuous aerial photos are collected by using the unmanned aerial plane, the identified three-dimensional image queue sequence is constructed in the different strip photos, and space intersection measurement is carried out, thereby completing precise sag measurement of the whole line.
Description
Technical field
The present invention relates to technical field of electric power detection, particularly relate to a kind of electric power sag detection method based on different band aerial images and system.
Background technology
In prior art, the measuring method of electric power sag mainly contains two kinds: span end angle method observation sag and laser radar measure, and span end angle method adopts transit, utilizes geometrical principle, by manually carrying out tangent line measurement on power tower, calculate minimum rate of accumulation position and height; Laser radar measures and utilizes helicopter lift-launch to carry out the scanning of point of density cloud and vector extraction work, extracts the locus of electric power sag.Above-mentioned two kinds of modes all have obvious shortcoming, span end angle method observation sag, and manual detection speed is slow, and efficiency is low, and can only survey minimum sag point, precision is to meter level, and precision is poor, often occurs erroneous judgement; Laser radar measures, apparatus expensive, and cost is high, and data processing amount is large, and efficiency is lower, and precision is to centimetre-sized.It can thus be appreciated that above-mentioned two kinds of modes all cannot take into account the precision of measurement, cost and efficiency.
Summary of the invention
Technical matters to be solved by this invention is for above-mentioned the deficiencies in the prior art, provides a kind of electric power sag detection method based on different band aerial images and system.
The technical scheme that the present invention solves the problems of the technologies described above is as follows:
According to one aspect of the present invention, provide a kind of electric power sag detection method based on different band aerial images, comprising:
Step 1: according to two flight paths be parallel to each other of the shaft tower location position in region to be measured, and choose field operation reference mark according to described flight path;
Step 2: control unmanned plane and fly according to described flight path, take pictures simultaneously and gather the photo spatial positional information of electric power sag in region to be measured, and the locus and flight attitude of often opening that unmanned plane corresponding to photo take pictures;
Step 3: the space multistory picture pair creating electric power sag in region to be measured according to described field operation reference mark and photo spatial positional information;
Step 4: internally identify electric power sag same place at described space multistory picture, sets up electric power sag solid space model according to the asynchronous image at described electric power sag same place place;
Step 5: judge the dangerous point on electric power sag according to described electric power sag solid space model, and automatically derive examining report.
According to another aspect of the present invention, provide a kind of electric power sag detection system based on different band aerial images, comprise demarcation and choose module, main control module, space multistory picture to module, solid space model measurement module and diagnostic module.
Wherein, described demarcation chooses module for receiving shaft tower position in the outside region to be measured inputted, and according to shaft tower location position two flight paths be parallel to each other, and automatically chooses field operation reference mark according to described flight path; Described main control module flies according to described flight path for controlling unmanned plane, and controls unmanned plane and take pictures and gather the photo spatial positional information of electric power sag in region to be measured, and often opens locus and flight attitude that unmanned plane corresponding to photo take pictures; Described space multistory picture is used for module the space multistory picture pair recovering electric power sag in region to be measured according to described field operation reference mark and photo spatial positional information; Described solid space model measurement module is used for internally identifying electric power sag same place at described space multistory picture, and sets up the solid space model of electric power sag according to the asynchronous image at described electric power sag same place place; Described diagnostic module for judging the dangerous point on electric power sag according to described electric power sag solid space model, and derives examining report automatically.
The invention has the beneficial effects as follows: a kind of electric power sag detection method based on different band aerial images of the present invention and system, unmanned plane is adopted to gather continuous print aerial photograph, utilize photogrammetry principles, the space image team sequence of identification is built in the photo of different air strips, carry out spatial intersection's measurement, thus complete the sag accurate measurement of whole circuit, acquisition data are fast, the data prediction time is short, and collecting efficiency is high, and single can be surveyed and drawn apart from longer, measurement result is accurate, and operating personnel's safety, operating cost is lower, is applicable to very much power industry detection and promotes the use of.
Accompanying drawing explanation
Fig. 1 is a kind of electric power sag detection method process flow diagram based on different band aerial images of the present invention;
Fig. 2 is a kind of electric power sag detection method schematic diagram based on different band aerial images of the present invention;
Fig. 3 is a kind of electric power sag detection system structural representation based on different band aerial images of the present invention.
Embodiment
Be described principle of the present invention and feature below in conjunction with accompanying drawing, example, only for explaining the present invention, is not intended to limit scope of the present invention.
Embodiment one, a kind of electric power sag detection method based on different band aerial images, be described in detail a kind of electric power sag detection method based on different band aerial images of the present invention below in conjunction with accompanying drawing 1.
As shown in Figure 1, a kind of electric power sag detection method process flow diagram based on different band aerial images, comprising:
Step 1: according to two flight paths be parallel to each other of the shaft tower location position in region to be measured, and choose field operation reference mark according to described flight path;
Step 2: control unmanned plane and fly according to described flight path, take pictures simultaneously and gather the photo spatial positional information of electric power sag in region to be measured, and the locus and flight attitude of often opening that unmanned plane corresponding to photo take pictures;
Step 3: the space multistory picture pair creating electric power sag in region to be measured according to described field operation reference mark and photo spatial positional information;
Step 4: internally identify electric power sag same place at described space multistory picture, sets up electric power sag solid space model according to the asynchronous image at described electric power sag same place place;
Step 5: judge the dangerous point on electric power sag according to described electric power sag solid space model, and automatically derive examining report.
In the present embodiment, in described step 1, the mode of choosing at described field operation reference mark is: in region to be measured, chooses multipair field operation reference mark at equal intervals in described flight path both sides.By demarcating control strip at described flight path two ends, the effect of vertical control point can be played at described flight path two ends, by described control strip and in conjunction with field operation reference mark, coordinate system drift error during unmanned plane shooting can be corrected, on the airport ensureing precision, reduce field process amount as far as possible.In practice, we also can demarcate two and control strips of being parallel to each other vertical with described flight path at described flight path two ends, and choose multipair field operation reference mark according to described control strip at equal intervals in described flight path both sides, make accuracy of detection more accurate like this.
As shown in Figure 2, in practice, when demarcating flight path, about 50 meters, our usual selected distance electric power sag to be measured both sides, distance ground is about 200-280 rice and demarcates, as in Fig. 2, both sides are the flight path of unmanned plane, according to the unmanned plane shooting point P01 that described flight path is chosen, P02 and P10, P20, middle is electric power sag to be measured, and the electric power sag same place L01 identified as centering at described space multistory on electric power sag to be measured, L02, L03 and L03, such one side can obtain the photo spatial positional information of electric power sag to be measured clearly, and carry out the foundation of the right recovery of follow-up space multistory picture and electric power sag solid space model, also can guarantee on the other hand unmanned plane be unlikely to from electric power sag to be measured too close to and produce potential safety hazard, ensure that unmanned plane and ground keep certain height simultaneously, guarantee unmanned plane during flying safety.
In the present embodiment, in described step 1, also take pictures the cycle according to the average headway setting of shaft tower in region to be measured.Unmanned plane according to described in the cycle of taking pictures in region to be measured, electric power sag is taken pictures, obtain its photo spatial positional information, to ensure that carrying out all standing to electric power sag to be measured takes pictures, and there will not be the situation that part is omitted, thus ensure subsequent detection result accurately without omitting.
Preferably, in the photo of the electric power sag that unmanned plane obtains, between the ship's control of adjacent two photos in a cycle of taking pictures of interval and air strips, degree of overlapping all remains on 60%-80%.By the way, can in guarantee testing result clearly in situation, too intensively can not cause data redundancy owing to taking pictures again, take more storage space, increase the data volume of system process simultaneously, the efficiency that influential system runs.
In the present embodiment, in described step 3, according to described field operation reference mark and photo spatial positional information, locus when at every turn taking pictures in conjunction with unmanned plane and attitude, utilize spatial trangulation encryption to obtain the space multistory picture pair of electric power sag in region to be measured.By being encrypted limited field operation reference mark and photo spatial positional information, can in the hope of the elevation of electric power sag and ground location, efficiently solve in prior art and carry out by artificial mode the shortcoming that detects, detection efficiency is higher, and testing result is more accurate.
In the present embodiment, in described step 4, utilize forward direction intersection, set up electric power sag solid space model according to the asynchronous image in described electric power sag same place place.By detecting the electric power sag same place of electric power sag both sides to be measured, and utilize forward direction intersection can in the hope of the volume coordinate that the electric power sag of correspondence is put, repeat above-mentioned steps for different electric power sag same places, electric power sag solid space model can be set up.
In the present embodiment, being implemented as of dangerous point on electric power sag is judged according to described electric power sag solid space model: automatically read the difference in height between ground corresponding to every bit and perpendicular direction on electric power sag according to described electric power sag solid space model in described step 5, and both differences in height are compared with the difference in height threshold value of setting, if both differences in height are less than the difference in height threshold value of setting, then this point is dangerous point, and generates examining report according to dangerous point on electric power sag.Here, it is to be noted, because shaft tower is arranged on hilly country, field usually, ground relief, therefore, can not detect according to the mode of the distance usually detected between the minimum point of electric power sag and ground, but the difference in height between needing ground corresponding to the every bit on electric power sag and perpendicular direction detects, can guaranteeing that the dangerous point on electric power sag is not missed like this, making testing result accurately without omitting.In addition, in electric power sag solid space model, we are by reading the distance between ground corresponding to every bit on electric power sag and perpendicular direction respectively, and the difference of trying to achieve both is to calculate both differences in height.
A kind of electric power sag detection method based on different band aerial images of the present invention, detection efficiency is higher, and operating personnel, without the need to operation of taking a risk, meets long distance mapping requirement, separate unit follows 30 kilometers, line, single can survey and draw 8-10 kilometer, and two precision are higher, and vertical accuracy is within 0.5 meter, can measure completely continuously, operation error is less, and average error is 0.15 meter, and operating cost is lower.
Embodiment two, a kind of electric power sag detection system based on different band aerial images, be described in detail a kind of electric power sag detection system based on different band aerial images of the present invention below in conjunction with accompanying drawing 3.
As shown in Figure 3, a kind of electric power sag detection system structural representation based on different band aerial images, comprises demarcation and chooses module, main control module, space multistory picture to module, solid space model measurement module and diagnostic module.
Wherein, described demarcation chooses module for receiving shaft tower position in the outside region to be measured inputted, and according to shaft tower location position two flight paths be parallel to each other, and automatically chooses field operation reference mark according to described flight path; Described main control module flies according to described flight path for controlling unmanned plane, and controls unmanned plane and take pictures and gather the photo spatial positional information of electric power sag in region to be measured, and often opens locus and flight attitude that unmanned plane corresponding to photo take pictures; Described space multistory picture is used for module the space multistory picture pair recovering electric power sag in region to be measured according to described field operation reference mark and photo spatial positional information; Described solid space model measurement module is used for internally identifying electric power sag same place at described space multistory picture, and sets up the solid space model of electric power sag according to the asynchronous image at described electric power sag same place place; Described diagnostic module for judging the dangerous point on electric power sag according to described electric power sag solid space model, and derives examining report automatically.
In the present embodiment, described demarcation chooses module also for choosing multipair field operation reference mark according to described control strip at equal intervals in described flight path both sides.By the field operation reference mark in course line, coordinate system drift error during unmanned plane shooting can be controlled, on the basis ensureing precision, reduce field process amount as far as possible.In practice, we also can demarcate two and control strips of being parallel to each other vertical with described flight path at described flight path two ends, and choose multipair field operation reference mark according to described control strip at equal intervals in described flight path both sides, make accuracy of detection more accurate like this.
Here it is pointed out that described demarcation is chosen module and also taken pictures the cycle for the average headway setting according to shaft tower in region to be measured.Unmanned plane according to described in the cycle of taking pictures in region to be measured, electric power sag is taken pictures, obtain its photo spatial positional information, to ensure that carrying out all standing to electric power sag to be measured takes pictures, and there will not be the situation that part is omitted, thus ensure subsequent detection result accurately without omitting.
Preferably, in the photo of the electric power sag that unmanned plane obtains, between the ship's control of adjacent two photos in a cycle of taking pictures of interval and air strips, degree of overlapping all remains on 60%-80%.Can ensure like this under testing result clearly situation, too intensively can not cause data redundancy owing to taking pictures again, take more storage space, increase the data volume of system process simultaneously, the efficiency that influential system runs.
In the present embodiment, described space multistory picture to module according to described field operation reference mark and photo spatial positional information, locus when at every turn taking pictures in conjunction with unmanned plane and attitude, utilize spatial trangulation encryption to obtain the space multistory picture pair of electric power sag in region to be measured.By being encrypted limited field operation reference mark and photo spatial positional information, can in the hope of the elevation of electric power sag and ground location, efficiently solve in prior art and carry out by artificial mode the shortcoming that detects, detection efficiency is higher, and testing result is more accurate.
In the present embodiment, described solid space model measurement module utilizes forward direction intersection, and sets up electric power sag solid space model according to the asynchronous image in described electric power sag same place place.By detecting the electric power sag same place of electric power sag both sides to be measured, and utilize forward direction intersection can in the hope of the volume coordinate that the electric power sag of correspondence is put, repeat above-mentioned steps for different electric power sag same places, electric power sag solid space model can be set up.
In the present embodiment, described diagnostic module judges being implemented as of dangerous point on electric power sag according to described electric power sag solid space model: automatically read the difference in height between ground corresponding to every bit and perpendicular direction on electric power sag according to described electric power sag solid space model, and both differences in height are compared with the difference in height threshold value of setting, if both differences in height are less than the difference in height threshold value of setting, then this point is dangerous point, and generates examining report according to dangerous point on electric power sag.
A kind of electric power sag detection method based on different band aerial images of the present invention and system, unmanned plane is adopted to gather continuous print aerial photograph, utilize photogrammetry principles, the space image team sequence of identification is built in the photo of different air strips, carry out spatial intersection's measurement, thus complete the sag accurate measurement of whole circuit, acquisition data are fast, the data prediction time is short, and collecting efficiency is high, and single can be surveyed and drawn apart from longer, measurement result is accurate, and operating personnel's safety, operating cost is lower, is applicable to very much power industry detection and promotes the use of.
The foregoing is only preferred embodiment of the present invention, not in order to limit the present invention, within the spirit and principles in the present invention all, any amendment done, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (10)
1., based on an electric power sag detection method for different band aerial images, it is characterized in that, comprising:
Step 1: according to two flight paths be parallel to each other of the shaft tower location position in region to be measured, and choose field operation reference mark according to described flight path;
Step 2: control unmanned plane and fly according to described flight path, take pictures simultaneously and gather the photo spatial positional information of electric power sag in region to be measured, and the locus and flight attitude of often opening that unmanned plane corresponding to photo take pictures;
Step 3: the space multistory picture pair creating electric power sag in region to be measured according to described field operation reference mark and photo spatial positional information;
Step 4: internally identify electric power sag same place at described space multistory picture, sets up electric power sag solid space model according to the asynchronous image at described electric power sag same place place;
Step 5: judge the dangerous point on electric power sag according to described electric power sag solid space model, and automatically derive examining report.
2. a kind of electric power sag detection method based on different band aerial images according to claim 1, it is characterized in that: in described step 1, the mode of choosing at described field operation reference mark is: in region to be measured, chooses multipair field operation reference mark at equal intervals in flight path both sides.
3. a kind of electric power sag detection method based on different band aerial images according to claim 1, it is characterized in that: in described step 1, also take pictures the cycle according to the setting of the average headway of shaft tower in region to be measured, and between the ship's control of adjacent two photos in a cycle of taking pictures of interval and air strips, degree of overlapping all remains on 60%-80%.
4. a kind of electric power sag detection method based on different band aerial images according to claim 1, it is characterized in that: in described step 3, according to described field operation reference mark and photo spatial positional information, locus when at every turn taking pictures in conjunction with unmanned plane and attitude, utilize spatial trangulation encryption to obtain the space multistory picture pair of electric power sag in region to be measured.
5. a kind of electric power sag detection method based on different band aerial images according to claim 1, is characterized in that: in described step 4, utilizes forward direction intersection, set up electric power sag solid space model according to the asynchronous image in described electric power sag same place place.
6. a kind of electric power sag detection method based on different band aerial images according to claim 1, it is characterized in that: in described step 5, automatically the difference in height between ground corresponding to every bit and perpendicular direction on electric power sag is read according to described electric power sag solid space model, and both differences in height are compared with the difference in height threshold value of setting, if both differences in height are less than the difference in height threshold value of setting, then this point is dangerous point.
7. based on an electric power sag detection system for different band aerial images, it is characterized in that: comprise demarcation and choose module, main control module, space multistory picture to module, solid space model measurement module and diagnostic module;
Described demarcation chooses module for receiving shaft tower position in the outside region to be measured inputted, and according to shaft tower location position two flight paths be parallel to each other, and automatically chooses field operation reference mark according to described flight path;
Described main control module flies according to described flight path for controlling unmanned plane, and controls unmanned plane and take pictures and gather the photo spatial positional information of electric power sag in region to be measured, and often opens locus and flight attitude that unmanned plane corresponding to photo take pictures;
Described space multistory picture is used for module the space multistory picture pair creating electric power sag in region to be measured according to described field operation reference mark and photo spatial positional information;
Described solid space model measurement module is used for internally identifying electric power sag same place at described space multistory picture, and sets up the solid space model of electric power sag according to the asynchronous image at described electric power sag same place place;
Described diagnostic module for judging the dangerous point on electric power sag according to described electric power sag solid space model, and derives examining report automatically.
8. a kind of electric power sag detection system based on different band aerial images according to claim 7, it is characterized in that: described demarcation chooses module also for choosing multipair field operation reference mark at equal intervals in described flight path both sides, also for taking pictures the cycle according to the setting of the average headway of shaft tower in region to be measured, and between the ship's control of adjacent two photos in a cycle of taking pictures of interval and air strips, degree of overlapping all remains on 60%-80%.
9. a kind of electric power sag detection system based on different band aerial images according to claim 7, it is characterized in that: described space multistory picture to module according to described field operation reference mark and photo spatial positional information, locus when at every turn taking pictures in conjunction with unmanned plane and attitude, utilize spatial trangulation encryption to obtain the space multistory picture pair of electric power sag in region to be measured.
10. a kind of electric power sag detection system based on different band aerial images according to claim 7, it is characterized in that: described solid space model measurement module utilizes forward direction intersection, and set up electric power sag solid space model according to the asynchronous image in described electric power sag same place place, described diagnostic module reads the difference in height between ground corresponding to every bit and perpendicular direction on electric power sag automatically according to described electric power sag solid space model, and both differences in height are compared with the difference in height threshold value of setting, if both differences in height are less than the difference in height threshold value of setting, then this point is dangerous point.
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| CN106595499A (en) * | 2016-11-21 | 2017-04-26 | 云南电网有限责任公司电力科学研究院 | Wire icing thickness measuring image processing system |
| CN106682579A (en) * | 2016-11-21 | 2017-05-17 | 云南电网有限责任公司电力科学研究院 | Unmanned aerial vehicle binocular vision image processing system for detecting power transmission line icing |
| CN106595499B (en) * | 2016-11-21 | 2019-11-01 | 云南电网有限责任公司电力科学研究院 | Wire icing thickness measure image processing system |
| CN106682579B (en) * | 2016-11-21 | 2020-03-06 | 云南电网有限责任公司电力科学研究院 | Unmanned aerial vehicle binocular vision image processing system for detecting icing of power transmission line |
| CN106774406A (en) * | 2016-12-30 | 2017-05-31 | 武汉大势智慧科技有限公司 | A kind of unmanned plane image automated collection systems and method |
| CN109684914A (en) * | 2018-11-09 | 2019-04-26 | 武汉伊莱维特电力科技有限公司 | Based on unmanned plane image intelligent identification Method |
| CN110658844A (en) * | 2019-08-23 | 2020-01-07 | 中国南方电网有限责任公司超高压输电公司昆明局 | Ultra-high voltage direct current line channel unmanned aerial vehicle monitoring method and system |
| CN110658844B (en) * | 2019-08-23 | 2022-06-14 | 中国南方电网有限责任公司超高压输电公司昆明局 | Ultra-high voltage direct current line channel unmanned aerial vehicle monitoring method and system |
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