CN105511486B - It is a kind of based on different electric power sag detection method and system with aerial images - Google Patents
It is a kind of based on different electric power sag detection method and system with aerial images Download PDFInfo
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- CN105511486B CN105511486B CN201510847395.3A CN201510847395A CN105511486B CN 105511486 B CN105511486 B CN 105511486B CN 201510847395 A CN201510847395 A CN 201510847395A CN 105511486 B CN105511486 B CN 105511486B
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Abstract
Module, main control module, space multistory picture are chosen to module, solid space model measurement module and diagnostic module based on different electric power sag detection method and system with aerial images, including demarcation the present invention relates to a kind of；Module demarcation flight path is chosen in demarcation, chooses field operation control point；Main control module control unmanned plane flies according to flight path, and controls unmanned plane to gather photo spatial positional information, and space multistory picture creates the space multistory picture pair of electric power sag to module according to field operation control point and photo spatial positional information；Solid space model measurement module internally identifies electric power sag same place in space multistory picture, and establishes electric power sag solid space model；Diagnostic module judges the dangerous spot on electric power sag according to solid space model, and is derived automatically from examining report.Continuous aerial photograph is gathered using unmanned plane, the space image team sequence of identification is built in different air strips photo, space intersection's measurement is carried out, so as to complete the sag accurate measurement of whole circuit.
Description
Technical field
The present invention relates to technical field of electric power detection, more particularly to it is a kind of based on the different electric power sag detection with aerial images
Method and system.
Background technology
In the prior art, the measuring method of electric power sag mainly has two kinds：Span end angle method observes sag and laser radar
Measure, span end angle method uses theodolite, using geometrical principle, by manually carrying out tangent line measurement on power tower, calculates most
Low line position and height；Laser radar measures extracts work using helicopter carrying progress point off density cloud scanning and vector, extracts
Go out the locus of electric power sag.Above two mode all has the shortcomings that obvious, and span end angle method observes sag, manually
Detection speed is slow, and efficiency is low, can only survey minimum sag point, precision to meter level, precision is poor, often judges by accident；Laser radar
Measure, equipment is expensive, and cost is high, and data processing amount is big, less efficient, precision to Centimeter Level.It follows that above two mode
The precision, cost and efficiency of measurement can not all be taken into account.
The content of the invention
The technical problems to be solved by the invention are to be directed to above-mentioned the deficiencies in the prior art, there is provided one kind is taken photo by plane based on different band
The electric power sag detection method and system of image.
The technical scheme that the present invention solves above-mentioned technical problem is as follows：
According to one aspect of the present invention, there is provided a kind of based on the different electric power sag detection method with aerial images, bag
Include：
Step 1：Fly according to two flight paths being parallel to each other of shaft tower location position in region to be measured, and according to described
Choose field operation control point in row track；
Step 2：Control unmanned plane flies according to the flight path, while electric power sag in collection region to be measured of taking pictures
Photo spatial positional information, and the locus taken pictures of unmanned plane corresponding to every photo and flight attitude；
Step 3：The sky of electric power sag in region to be measured is created according to the field operation control point and photo spatial positional information
Between stereogram；
Step 4：Electric power sag same place is internally identified in the space multistory picture, according to the electric power sag same place institute
Asynchronous image establish electric power sag solid space model；
Step 5：The dangerous spot on electric power sag is judged according to the electric power sag solid space model, and is derived automatically from examining
Observe and predict announcement.
According to another aspect of the present invention, there is provided it is a kind of based on the different electric power sag detecting system with aerial images,
Module, main control module, space multistory picture are chosen to module, solid space model measurement module and diagnostic module including demarcation.
Wherein, the interior bar tower position in region to be measured that module is used to receive outside input is chosen in the demarcation, according to shaft tower position
Two flight paths being parallel to each other of demarcation are put, and field operation control point is chosen according to the flight path automatically；The main control
Module is used to control unmanned plane to fly according to the flight path, and controls unmanned plane to take pictures and gather electric power sag in region to be measured
Photo spatial positional information, and the locus taken pictures of unmanned plane corresponding to every photo and flight attitude；The space
Stereogram module is used to recover electric power sag in region to be measured according to the field operation control point and photo spatial positional information
Space multistory picture pair；The solid space model measurement module is used to internally identify that electric power sag is of the same name in the space multistory picture
Point, and establish according to the asynchronous image where the electric power sag same place solid space model of electric power sag；The diagnosis
Module is used to judge the dangerous spot on electric power sag according to the electric power sag solid space model, and is derived automatically from detection report
Accuse.
The beneficial effects of the invention are as follows：The a kind of of the present invention based on the different electric power sag detection method with aerial images and be
System, continuous aerial photograph is gathered using unmanned plane, using photogrammetry principles, the solid of identification is built in different air strips photo
As team's sequence, space intersection's measurement is carried out, so as to complete the sag accurate measurement of whole circuit, acquisition data are fast, and data are located in advance
Manage that the time is short, and collecting efficiency is high, single can survey and draw that distance is longer, and measurement result is accurate, and operating personnel's safety, operating cost
It is relatively low, it is especially suitable for power industry detection and promotes the use of.
Brief description of the drawings
Fig. 1 is a kind of based on the different electric power sag detection method flow chart with aerial images of the present invention；
Fig. 2 is a kind of based on the different electric power sag detection method schematic diagram with aerial images of the present invention；
Fig. 3 is a kind of based on the different electric power sag detecting system structural representation with aerial images of the present invention.
Embodiment
The principle and feature of the present invention are described below in conjunction with accompanying drawing, the given examples are served only to explain the present invention, and
It is non-to be used to limit the scope of the present invention.
It is embodiment one, a kind of based on the different electric power sag detection method with aerial images, below in conjunction with accompanying drawing 1 to this hair
It is bright a kind of to be described in detail based on the different electric power sag detection method with aerial images.
As shown in figure 1, it is a kind of based on the different electric power sag detection method flow chart with aerial images, including：
Step 1：Fly according to two flight paths being parallel to each other of shaft tower location position in region to be measured, and according to described
Choose field operation control point in row track；
Step 2：Control unmanned plane flies according to the flight path, while electric power sag in collection region to be measured of taking pictures
Photo spatial positional information, and the locus taken pictures of unmanned plane corresponding to every photo and flight attitude；
Step 3：The sky of electric power sag in region to be measured is created according to the field operation control point and photo spatial positional information
Between stereogram；
Step 4：Electric power sag same place is internally identified in the space multistory picture, according to the electric power sag same place institute
Asynchronous image establish electric power sag solid space model；
Step 5：The dangerous spot on electric power sag is judged according to the electric power sag solid space model, and is derived automatically from examining
Observe and predict announcement.
In the present embodiment, in the step 1, the selection mode at the field operation control point is：In region to be measured, described
Multipair field operation control point is chosen at equal intervals in flight path both sides., can be with by demarcating control strip at the flight path both ends
Play a part of vertical control point at the flight path both ends, by the control strip and combine field operation control point, can be with
Coordinate system drift error during unmanned plane shooting is corrected, on the airport for ensureing precision, reduces field process amount as far as possible.In reality
In border, we can also demarcate two framework boats that are vertical with the flight path and being parallel to each other at the flight path both ends
Line, and multipair field operation control point is chosen according to the control strip at equal intervals in the flight path both sides, so that detection
Precision is more accurate.
As shown in Fig. 2 in practice, when demarcating flight path, our usual selected distance electric power sag both sides to be measured are about
50 meters, apart from ground, about 200-280 rice is demarcated, and in Fig. 2, both sides are the flight path of unmanned plane, according to the flight
Unmanned plane shooting point P01, P02 and P10 that track is chosen, P20, it is middle for electric power sag to be measured, and in the space multistory
Electric power sag same place L01, L02, L03 and L03 on electric power sag to be measured are identified as centering, so on the one hand can be clear
Acquisition electric power sag to be measured photo spatial positional information, and carry out the recovery of follow-up space multistory picture pair and electric power sag is stood
The foundation of body spatial model, on the other hand also ensure that unmanned plane is unlikely to too near from electric power sag to be measured and produced safe hidden
Suffer from, while ensure that unmanned plane keeps certain height with ground, it is ensured that unmanned plane during flying safety.
In the present embodiment, in the step 1, the average headway setting always according to shaft tower in region to be measured is taken pictures the cycle.Nothing
Cycle of being taken pictures described in man-machine basis takes pictures in region to be measured to electric power sag, obtains its photo spatial positional information, with
Ensure that carrying out all standing to electric power sag to be measured takes pictures, be not in the situation that part is omitted, so as to ensure subsequent detection knot
The accurate exhaustive of fruit.
Preferably, in the photo for the electric power sag that unmanned plane obtains, adjacent two photos in a cycle of taking pictures are spaced
Degree of overlapping is held in 60%-80% between ship's control and air strips.By the above-mentioned means, it can ensure that testing result is clear
In the case of, again will not due to shooting, photo is excessively intensive causes data redundancy, take more memory spaces, increase simultaneously
The data volume of system processing, influence the efficiency of system operation.
In the present embodiment, in the step 3, according to the field operation control point and photo spatial positional information, with reference to nobody
Locus and posture when machine is taken pictures every time, utilization space triangulation encryption obtain electric power sag in region to be measured
Space multistory picture pair., can be in the hope of electric power arc by the way that limited field operation control point and photo spatial positional information are encrypted
Vertical elevation and ground location, efficiently solves the shortcomings that being detected in the prior art by artificial mode, detection efficiency
Higher, testing result is more accurate.
It is asynchronous according to where the electric power sag same place using preceding to intersection in the step 4 in the present embodiment
Image establishes electric power sag solid space model.By detecting the electric power sag same place of electric power sag both sides to be measured, and utilize
Forward direction intersection can repeat in the hope of the space coordinates put on corresponding electric power sag for different electric power sag same places
State step, you can establish electric power sag solid space model.
The danger on electric power sag is judged according to the electric power sag solid space model in the present embodiment, in the step 5
That nearly puts is implemented as：Every bit is read on electric power sag according to the electric power sag solid space model automatically and hung down with it
Nogata to the difference in height between corresponding ground, and by both differences in height with set difference in height threshold value compared with, if both
Difference in height be less than setting difference in height threshold value, then the point be dangerous spot, and according on electric power sag dangerous spot generation detection report
Accuse.It is pointed out here that because shaft tower is generally arranged at field hilly country, ground relief, it is thus impossible to press
Detected, but needed on electric power sag according to the minimum point and the mode on the distance between ground of usual detection electric power sag
Every bit and perpendicular direction corresponding to difference in height between ground detected, can so ensure on electric power sag
Dangerous spot is not missed so that the accurate exhaustive of testing result.In addition, in electric power sag solid space model, we pass through
The distance between ground corresponding to every bit and the perpendicular direction on electric power sag is read respectively, and tries to achieve both differences
To calculate both differences in height.
The present invention's is a kind of based on the different electric power sag detection method with aerial images, and detection efficiency is higher, operating personnel
Need not be taken a risk operation, met mapping over long distances and required, separate unit follows 30 kilometers of line, and single can survey and draw 8-10 kilometers, and two essences
Degree is higher, and height accuracy continuously can be measured completely within 0.5 meter, and operation error is smaller, and mean error is 0.15 meter, operation
Cost is relatively low.
It is embodiment two, a kind of based on the different electric power sag detecting system with aerial images, below in conjunction with accompanying drawing 3 to this hair
It is bright a kind of to be described in detail based on the different electric power sag detecting system with aerial images.
As shown in figure 3, it is a kind of based on the different electric power sag detecting system structural representation with aerial images, including including mark
Surely module, main control module, space multistory picture are chosen to module, solid space model measurement module and diagnostic module.
Wherein, the interior bar tower position in region to be measured that module is used to receive outside input is chosen in the demarcation, according to shaft tower position
Two flight paths being parallel to each other of demarcation are put, and field operation control point is chosen according to the flight path automatically；The main control
Module is used to control unmanned plane to fly according to the flight path, and controls unmanned plane to take pictures and gather electric power sag in region to be measured
Photo spatial positional information, and the locus taken pictures of unmanned plane corresponding to every photo and flight attitude；The space
Stereogram module is used to recover electric power sag in region to be measured according to the field operation control point and photo spatial positional information
Space multistory picture pair；The solid space model measurement module is used to internally identify that electric power sag is of the same name in the space multistory picture
Point, and establish according to the asynchronous image where the electric power sag same place solid space model of electric power sag；The diagnosis
Module is used to judge the dangerous spot on electric power sag according to the electric power sag solid space model, and is derived automatically from detection report
Accuse.
In the present embodiment, the demarcation is chosen module and is additionally operable to according to the control strip in described flight path both sides etc.
Choose multipair field operation control point in interval.By the field operation control point in course line, coordinate system when can control the unmanned plane to shoot
Drift error, on the basis of precision is ensured, field process amount is reduced as far as possible.In practice, we also can be in the flight rail
Two control strips that are vertical with the flight path and being parallel to each other are demarcated at mark both ends, and according to the control strip described
Multipair field operation control point is chosen at equal intervals in flight path both sides, so that accuracy of detection is more accurate.
It is additionally operable to be set according to the average headway of shaft tower in region to be measured it is to be herein pointed out module is chosen in the demarcation
Surely take pictures the cycle.Unmanned plane cycle of being taken pictures according to takes pictures in region to be measured to electric power sag, obtains its photo sky
Between positional information, be not in the situation that part is omitted, so as to protect to ensure that carrying out all standing to electric power sag to be measured takes pictures
Demonstrate,prove the accurate exhaustive of subsequent detection result.
Preferably, in the photo for the electric power sag that unmanned plane obtains, adjacent two photos in a cycle of taking pictures are spaced
Degree of overlapping is held in 60%-80% between ship's control and air strips.Can so ensure testing result clearly in the case of,
Again will not due to shooting, photo is excessively intensive causes data redundancy, take more memory spaces, while increase system processing
Data volume, influence the efficiency of system operation.
In the present embodiment, the space multistory picture to module according to the field operation control point and photo spatial positional information,
Locus and posture when being taken pictures every time with reference to unmanned plane, utilization space triangulation encryption obtain electric in region to be measured
The space multistory picture pair of power sag., can be in the hope of by the way that limited field operation control point and photo spatial positional information are encrypted
The elevation and ground location of electric power sag are obtained, efficiently solves the shortcomings that being detected in the prior art by artificial mode,
Detection efficiency is higher, and testing result is more accurate.
In the present embodiment, to intersection before the solid space model measurement module utilization, and according to the electric power sag
Asynchronous image establishes electric power sag solid space model where same place.By the electric power sag for detecting electric power sag both sides to be measured
Same place, and can be in the hope of the space coordinates put on corresponding electric power sag, for different electric power arcs to intersection before utilizing
Vertical same place repeats the above steps, you can establishes electric power sag solid space model.
In the present embodiment, the diagnostic module judges the danger on electric power sag according to the electric power sag solid space model
That nearly puts is implemented as：Every bit is read on electric power sag according to the electric power sag solid space model automatically and hung down with it
Nogata to the difference in height between corresponding ground, and by both differences in height with set difference in height threshold value compared with, if both
Difference in height be less than setting difference in height threshold value, then the point be dangerous spot, and according on electric power sag dangerous spot generation detection report
Accuse.
The present invention's is a kind of based on different electric power sag detection method and system with aerial images, is gathered and connected using unmanned plane
Continuous aerial photograph, using photogrammetry principles, the space image team sequence of identification is built in different air strips photo, carries out space friendship
It can measure, so as to complete the sag accurate measurement of whole circuit, acquisition data are fast, and the substantial amounts of data prediction time is short, and collecting efficiency is high,
Single can survey and draw distance it is longer, measurement result is accurate, and operating personnel safety, operating cost is relatively low, is especially suitable for electric power row
Industry detection is promoted the use of.
The foregoing is only presently preferred embodiments of the present invention, be not intended to limit the invention, it is all the present invention spirit and
Within principle, any modification, equivalent substitution and improvements made etc., it should be included in the scope of the protection.
Claims (10)
- It is 1. a kind of based on the different electric power sag detection method with aerial images, it is characterised in that including：Step 1：According to two flight paths being parallel to each other of shaft tower location position in region to be measured, and according to the flight rail Mark chooses field operation control point；Step 2：Control unmanned plane flies according to the flight path, while takes pictures and gather the photo of electric power sag in region to be measured Spatial positional information, and the locus taken pictures of unmanned plane corresponding to every photo and flight attitude；Step 3：Stand in the space that electric power sag in region to be measured is created according to the field operation control point and photo spatial positional information Body image pair；Step 4：Electric power sag same place is internally identified in the space multistory picture, according to where the electric power sag same place Asynchronous image establishes electric power sag solid space model；Step 5：The dangerous spot on electric power sag is judged according to the electric power sag solid space model, and is derived automatically from detection report Accuse.
- It is 2. a kind of based on the different electric power sag detection method with aerial images according to claim 1, it is characterised in that：It is described In step 1, the selection mode at the field operation control point is：In region to be measured, chosen at equal intervals in flight path both sides multipair Field operation control point.
- It is 3. a kind of based on the different electric power sag detection method with aerial images according to claim 1, it is characterised in that：It is described In step 1, the average headway setting always according to shaft tower in region to be measured is taken pictures the cycle, and is spaced adjacent the two of a cycle of taking pictures Degree of overlapping is held in 60%-80% between the ship's control of photo and air strips.
- It is 4. a kind of based on the different electric power sag detection method with aerial images according to claim 1, it is characterised in that：It is described In step 3, according to the field operation control point and photo spatial positional information, locus when being taken pictures every time with reference to unmanned plane and Posture, utilization space triangulation encryption obtain the space multistory picture pair of electric power sag in region to be measured.
- It is 5. a kind of based on the different electric power sag detection method with aerial images according to claim 1, it is characterised in that：It is described In step 4, using preceding to intersection, asynchronous image establishes electric power sag solid space according to where the electric power sag same place Model.
- It is 6. a kind of based on the different electric power sag detection method with aerial images according to claim 1, it is characterised in that：It is described In step 5, every bit and perpendicular direction pair on electric power sag are read according to the electric power sag solid space model automatically Difference in height between the ground answered, and by both differences in height compared with the difference in height threshold value set, if both differences in height Less than the difference in height threshold value of setting, then the point is dangerous spot.
- It is 7. a kind of based on the different electric power sag detecting system with aerial images, it is characterised in that：Module, master control are chosen including demarcation Molding block, space multistory picture are to module, solid space model measurement module and diagnostic module；The demarcation chooses module and is used to receive the interior bar tower position in region to be measured of outside input, according to shaft tower location position two The flight path being parallel to each other, and field operation control point is chosen according to the flight path automatically；The main control module be used for control unmanned plane fly according to the flight path, and control unmanned plane take pictures gather it is to be measured The photo spatial positional information of electric power sag in region, and the locus taken pictures of unmanned plane corresponding to every photo and flight Posture；The space multistory picture is used to create region to be measured according to the field operation control point and photo spatial positional information to module The space multistory picture pair of interior electric power sag；The solid space model measurement module is used to internally identify electric power sag same place in the space multistory picture, and according to Asynchronous image where the electric power sag same place establishes the solid space model of electric power sag；The diagnostic module is used to judge the dangerous spot on electric power sag according to the electric power sag solid space model, and automatically Export examining report.
- It is 8. a kind of based on the different electric power sag detecting system with aerial images according to claim 7, it is characterised in that：It is described Demarcation chooses module and is additionally operable to choose multipair field operation control point at equal intervals in the flight path both sides, is additionally operable to according to area to be measured In domain shaft tower average headway setting take pictures the cycle, and be spaced a cycle of taking pictures adjacent two photos ship's control and Degree of overlapping is held in 60%-80% between air strips.
- It is 9. a kind of based on the different electric power sag detecting system with aerial images according to claim 7, it is characterised in that：It is described Space multistory picture to module according to the field operation control point and photo spatial positional information, sky when being taken pictures every time with reference to unmanned plane Between position and posture, utilization space triangulation encryption obtains the space multistory picture pair of electric power sag in region to be measured.
- It is 10. a kind of based on the different electric power sag detecting system with aerial images according to claim 7, it is characterised in that：Institute State before solid space model measurement module utilizes to intersection, and asynchronous image is established according to where the electric power sag same place Electric power sag solid space model, the diagnostic module read electric power sag automatically according to the electric power sag solid space model Difference in height between ground corresponding to upper every bit and perpendicular direction, and by both differences in height with setting difference in height threshold Value compares, if both differences in height are less than the difference in height threshold value of setting, the point is dangerous spot.
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| 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 |
| CN106774406B (en) * | 2016-12-30 | 2023-06-23 | 武汉大势智慧科技有限公司 | Unmanned aerial vehicle image automatic acquisition system 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 |
| 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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