CN106772412A - The measuring method and device of the transmission line of electricity space length of unmanned plane - Google Patents
The measuring method and device of the transmission line of electricity space length of unmanned plane Download PDFInfo
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- 238000005259 measurement Methods 0.000 claims abstract description 14
- 230000004888 barrier function Effects 0.000 claims abstract description 12
- 238000012545 processing Methods 0.000 claims description 8
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
- G01S17/10—Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves
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Abstract
The invention provides the measuring method and device of the transmission line of electricity space length of unmanned plane, it is related to unmanned air vehicle technique field, including：Obtain unmanned plane to the space length of the transmission line of electricity, obtain positional information, judge whether positional information reaches default headroom value, if positional information reaches default headroom value, then obtain directional information and laser intelligence, to positional information, directional information and laser intelligence are processed, generation cloud data, cloud data is spliced, obtain the positional information of barrier, if positional information is not reaching to default headroom value, then triggering prior-warning device alarm, can be with the transmission line of electricity space length of accurate measurement unmanned plane, and cognitive disorders thing, line walking is set to find range more efficient and quick.
Description
Technical field
The present invention relates to unmanned air vehicle technique field, more particularly, to the measuring method of the transmission line of electricity space length of unmanned plane
And device.
Background technology
At present, unmanned air vehicle technique is applied to polling transmission line effect significantly, and it is not limited by topography and geomorphology, especially suitable
In the line walking work under dangerously steep mountain area, many river morphologies.
Airborne high-definition camera equipment can carry out tuning on-line and monitoring to transmission line of electricity and return in time real
Condition, beneficial to exclusion line defct and major hidden danger is found, inspection efficiency is greatly improved, and saves a large amount of manpower and materials.
But, unmanned plane working environment is changeable and unpredictable, may be subject to the shadow of the barrier such as weather or trees, building
Ring, this measurement to unmanned plane to transmission line of electricity space length is adversely affected, also to the accuracy patrolled and examined of transmission line of electricity
Adverse effect is brought, consequently, it is possible to causing serious transmission line safety hidden danger.
The content of the invention
In view of this, it is an object of the invention to provide unmanned plane transmission line of electricity space length measuring method and dress
Put, line walking can be made to find range more efficient and quick with the transmission line of electricity space length of accurate measurement unmanned plane, and cognitive disorders thing.
In a first aspect, the embodiment of the invention provides the measuring method of the transmission line of electricity space length of unmanned plane, the side
Method includes：
Obtain the unmanned plane to the space length of the transmission line of electricity；
Positional information is obtained, judges whether the positional information reaches default headroom value；
If the positional information reaches the default headroom value, directional information and laser intelligence are obtained；
The positional information, the directional information and the laser intelligence are processed, cloud data is generated；
The cloud data is spliced, the positional information of barrier is obtained；
If the positional information is not reaching to the default headroom value, triggering prior-warning device alarm.
With reference in a first aspect, the embodiment of the invention provides the first possible implementation method of first aspect, wherein, institute
State the acquisition unmanned plane includes to the space length of the transmission line of electricity：
The three-dimensional coordinate of tested measuring point is obtained according to scanner；
The roundtrip of pulse signal is obtained according to the scanner；
The roundtrip of three-dimensional coordinate and the pulse signal according to the tested measuring point, obtains the unmanned plane to institute
State the space length of transmission line of electricity.
With reference to the first possible implementation method of first aspect, second of first aspect is the embodiment of the invention provides
Possible implementation method, wherein, the three-dimensional coordinate for obtaining tested measuring point according to scanner includes：
Obtain the intrinsic coordinates of the scanner；
By the tested measuring point by pulse ranging method, obtain the tested measuring point apart from observation；
Encoder is controlled by the precision interval clock inside the scanner, the transversal scanning angle of laser pulse is obtained and is indulged
To scanning angle；
According to described apart from observation, the transversal scanning angle and the longitudinal scanning angle, described being detected is obtained
The three-dimensional coordinate of point.
With reference to the first possible implementation method of first aspect, the third of first aspect is the embodiment of the invention provides
Possible implementation method, wherein, the roundtrip for obtaining pulse signal according to the scanner includes：
The pulse signal arrival body surface that the scanner is launched is obtained, and is reflected to the time of the scanner
Difference；
According to the time difference, the roundtrip of the pulse signal is obtained.
With reference to second possible implementation method of first aspect, the 4th kind of first aspect is the embodiment of the invention provides
Possible implementation method, wherein, the three-dimensional coordinate of the tested measuring point includes X-axis, Y-axis and Z axis, described to be seen according to the distance
Measured value, the transversal scanning angle and the longitudinal scanning angle, the three-dimensional coordinate for obtaining the tested measuring point include：
Calculate the X-axis, the Y-axis and the Z axis respectively according to following formula：
X=R cos β cos α
Y=R cos β sin α
Z=R sin β
Wherein, for described apart from observation, α is the transversal scanning angle to R, and β is the longitudinal scanning angle.
With reference to the third possible implementation method of first aspect, the 5th kind of first aspect is the embodiment of the invention provides
Possible implementation method, wherein, described according to the time difference, the roundtrip for obtaining the pulse signal includes：
The roundtrip of the pulse signal is calculated according to following formula：
S=1/2* Δs t*c
Wherein, S is the roundtrip of the pulse signal, and Δ t is the time difference, and c is the light velocity.
With reference in a first aspect, the embodiment of the invention provides the 6th kind of possible implementation method of first aspect, wherein, institute
Stating positional information includes elevation information, and methods described also includes：
If the flight attitude of the unmanned plane changes, according to the directional information and elevation information control casing
Connecting rod is rotated, the angle of inclination between adjustment integrated cabinet and the body of the unmanned plane, controls scanner scanning object
The angle of body, and change the parameter information of the scanner.
Second aspect, the embodiment of the invention provides the measurement apparatus of the transmission line of electricity space length of unmanned plane, the dress
Put including：
Space length acquiring unit, for obtaining the unmanned plane to the space length of the transmission line of electricity；
Judging unit, for obtaining positional information, judges whether the positional information reaches default headroom value；
Information acquisition unit, in the case of reaching the default headroom value in the positional information, obtains direction letter
Breath and laser intelligence；
Processing unit, for processing the positional information, the directional information and the laser intelligence, generates point
Cloud data；
Concatenation unit, for the cloud data to be spliced, obtains the positional information of barrier；
Alarm unit, in the case of being not reaching to the default headroom value in the positional information, triggering early warning dress
Put alarm.
With reference to second aspect, the first possible implementation method of second aspect is the embodiment of the invention provides, wherein, institute
Stating space length acquiring unit includes：
Three-dimensional coordinate acquiring unit, the three-dimensional coordinate for obtaining tested measuring point according to scanner；
Roundtrip acquiring unit, the roundtrip for obtaining pulse signal according to the scanner；
First generation unit, for three-dimensional coordinate and the roundtrip of the pulse signal according to the tested measuring point,
Obtain the unmanned plane to the space length of the transmission line of electricity.
With reference to the first possible implementation method of second aspect, the first of second aspect is the embodiment of the invention provides
Possible implementation method, wherein, the three-dimensional coordinate acquiring unit includes：
Intrinsic coordinates acquiring unit, the intrinsic coordinates for obtaining the scanner；
Apart from observation acquiring unit, by pulse ranging method, the tested measuring point is obtained for by the tested measuring point
Apart from observation；
Scanning angle acquiring unit, for controlling encoder by the precision interval clock inside the scanner, obtains laser
The transversal scanning angle and longitudinal scanning angle of pulse；
Second generation unit, for according to described apart from observation, the transversal scanning angle and the longitudinal scanning angle
Degree, obtains the three-dimensional coordinate of the tested measuring point.
The measuring method and device of the transmission line of electricity space length of unmanned plane are the embodiment of the invention provides, unmanned plane is obtained
To the space length of the transmission line of electricity, positional information is obtained, judge whether positional information reaches default headroom value, if position
Information reaches default headroom value, then obtain directional information and laser intelligence, and positional information, directional information and laser intelligence are carried out
Treatment, generates cloud data, and cloud data is spliced, and the positional information of barrier is obtained, if positional information does not reach
To default headroom value, then prior-warning device alarm is triggered, with the transmission line of electricity space length of accurate measurement unmanned plane, and barrier can be recognized
Hinder thing, line walking is found range more efficient and quick.
Other features and advantages of the present invention will be illustrated in the following description, also, the partly change from specification
Obtain it is clear that or being understood by implementing the present invention.The purpose of the present invention and other advantages are in specification, claims
And specifically noted structure is realized and obtained in accompanying drawing.
To enable the above objects, features and advantages of the present invention to become apparent, preferred embodiment cited below particularly, and coordinate
Appended accompanying drawing, is described in detail below.
Brief description of the drawings
In order to illustrate more clearly of the specific embodiment of the invention or technical scheme of the prior art, below will be to specific
The accompanying drawing to be used needed for implementation method or description of the prior art is briefly described, it should be apparent that, in describing below
Accompanying drawing is some embodiments of the present invention, for those of ordinary skill in the art, before creative work is not paid
Put, other accompanying drawings can also be obtained according to these accompanying drawings.
Fig. 1 is the measuring method flow chart of the transmission line of electricity space length of the unmanned plane that the embodiment of the present invention one is provided；
Step S101 in the measuring method of the transmission line of electricity space length of the unmanned plane that Fig. 2 is provided for the embodiment of the present invention one
Flow chart；
Fig. 3 is the scanner instrumentation plan that the embodiment of the present invention one is provided；
Fig. 4 is the measurement apparatus schematic diagram of the transmission line of electricity space length of the unmanned plane that the embodiment of the present invention two is provided.
Icon：
1- space length acquiring units；2- judging units；3- information acquisition units；
4- processing units；5- concatenation units；6- alarm units.
Specific embodiment
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with accompanying drawing to the present invention
Technical scheme be clearly and completely described, it is clear that described embodiment is a part of embodiment of the invention, rather than
Whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art are not making creative work premise
Lower obtained every other embodiment, belongs to the scope of protection of the invention.
For ease of understanding the present embodiment, the embodiment of the present invention is described in detail first,
Embodiment one：
Fig. 1 is the measuring method flow chart of the transmission line of electricity space length of unmanned plane provided in an embodiment of the present invention.
Reference picture 1, the method is comprised the following steps：
Step S101, obtains the unmanned plane to the space length of the transmission line of electricity；
Step S102, obtains positional information, judges whether the positional information reaches default headroom value, if the position
Information reaches the default headroom value, then perform step S103, if the positional information is not reaching to the default headroom value,
Then perform step S106.
Here, positional information is measured by GPS positioning system.By GPS origin coordinates, origin coordinates is default headroom
Value, wherein, it is default minimum headroom value to preset headroom value.Judge whether positional information reaches GPS origin coordinates, if reached
Arrive, then GPS positioning system outgoing position signal, and input to scanner and INS (Inertial Navigation System,
Inertial navigation system), directional information is obtained according to INS systems, laser intelligence is obtained according to scanner.
Step S103, obtains directional information and laser intelligence；
Step S104, is processed the positional information, the directional information and the laser intelligence, generation point cloud number
According to；
Here, cloud data builds threedimensional model.
Step S105, the cloud data is spliced, and obtains the positional information of barrier；
Step S106, triggering prior-warning device alarm.
Further, Fig. 2 is can refer to, step S101 is comprised the following steps：
Step S201, the three-dimensional coordinate of tested measuring point is obtained according to scanner；
Step S202, the roundtrip of pulse signal is obtained according to the scanner；
Step S203, the roundtrip of three-dimensional coordinate and the pulse signal according to the tested measuring point obtains described
Space length of the unmanned plane to the transmission line of electricity.
Further, step S201 is comprised the following steps：
Step S301, obtains the intrinsic coordinates of the scanner；
Here, the intrinsic coordinates system of scanner is by the X and Y-axis in transversal scanning face and the Z axis in longitudinal scanning face
Composition.X-axis, Y-axis and Z axis are vertically formed a three-dimensional cartesian coordinate system two-by-two.
Step S302, by the tested measuring point Q by pulse ranging method, obtain the tested measuring point Q apart from observation
R；
Here, scanner can realize the measurement of unmanned plane transmission line of electricity space length using pulse ranging method.
Step S303, encoder is controlled by the precision interval clock inside the scanner, and the transverse direction for obtaining laser pulse is swept
Retouch angle [alpha] and longitudinal scanning angle beta；
Step S304, according to described apart from observation R, the transversal scanning angle [alpha] and the longitudinal scanning angle beta, obtains
Take the three-dimensional coordinate of the tested measuring point.
Here, Fig. 3 is specifically can refer to, Q ' is subpoints of the Q in transversal scanning face.Scanner is sat for the three-dimensional of Q points
Mark computing formula is from formula (1).
Further, step S202 is comprised the following steps：
Step S401, obtains the pulse signal arrival body surface that the scanner is launched, and be reflected to the scanning
The time difference of instrument；
Step S402, according to the time difference, obtains the roundtrip of the pulse signal.
Here, the roundtrip of pulse signal is obtained by the time difference, formula (2) is specifically can refer to.
Further, the three-dimensional coordinate of the tested measuring point includes X-axis, Y-axis and Z axis, in step s 304, according to formula
(1) X-axis, the Y-axis and the Z axis are calculated respectively：
Wherein, for described apart from observation, α is the transversal scanning angle to R, and β is the longitudinal scanning angle.
Further, in step S402, the roundtrip of the pulse signal is calculated according to formula (2)：
S=1/2* Δs t*c (2)
Wherein, S is the roundtrip of the pulse signal, and Δ t is the time difference, and c is the light velocity.
Further, the positional information includes elevation information, and methods described also includes：
If the flight attitude of the unmanned plane changes, according to the directional information and elevation information control casing
Connecting rod is rotated, the angle of inclination between adjustment integrated cabinet and the body of the unmanned plane, controls scanner scanning object
The angle of body, and change the parameter information of the scanner.
Here, the parameter information of scanner is included but is not limited to, specially scanning angle and sweep time.
The measuring method of the transmission line of electricity space length of unmanned plane is the embodiment of the invention provides, acquisition unmanned plane is described in
The space length of transmission line of electricity, obtains positional information, judges whether positional information reaches default headroom value, if positional information reaches
To default headroom value, then directional information and laser intelligence are obtained, positional information, directional information and laser intelligence are processed,
Generation cloud data, cloud data is spliced, and the positional information of barrier is obtained, if positional information is not reaching to preset
Headroom value, then trigger prior-warning device alarm, can with the transmission line of electricity space length of accurate measurement unmanned plane, and cognitive disorders thing,
Line walking is set to find range more efficient and quick.
Embodiment two：
Fig. 4 is the measurement apparatus schematic diagram of the transmission line of electricity space length of the unmanned plane that the embodiment of the present invention two is provided.
Reference picture 4, the device includes space length acquiring unit 1, judging unit 2, information acquisition unit 3, processing unit
4th, concatenation unit 5 and alarm unit 6.
Space length acquiring unit 1, for obtaining the unmanned plane to the space length of the transmission line of electricity；
Judging unit 2, for obtaining positional information, judges whether the positional information reaches default headroom value；
Information acquisition unit 3, in the case of reaching the default headroom value in the positional information, obtains direction letter
Breath and laser intelligence；
Processing unit 4, for processing the positional information, the directional information and the laser intelligence, generation
Cloud data；
Concatenation unit 5, for the cloud data to be spliced, obtains the positional information of barrier；
Alarm unit 6, in the case of being not reaching to the default headroom value in the positional information, triggering early warning dress
Put alarm.
Further, the space length acquiring unit 1 includes：
Three-dimensional coordinate acquiring unit (not shown), the three-dimensional coordinate for obtaining tested measuring point according to scanner；
Roundtrip acquiring unit (not shown), the roundtrip for obtaining pulse signal according to the scanner；
First generation unit (not shown), for the past of the three-dimensional coordinate according to the tested measuring point and the pulse signal
Distance is returned, the unmanned plane to the space length of the transmission line of electricity is obtained.
Further, the three-dimensional coordinate acquiring unit (not shown) includes：
Intrinsic coordinates acquiring unit (not shown), the intrinsic coordinates for obtaining the scanner；
Apart from observation acquiring unit (not shown), for the tested measuring point, by pulse ranging method, to be obtained into described
Tested measuring point apart from observation；
Scanning angle acquiring unit (not shown), for controlling encoder by the precision interval clock inside the scanner,
Obtain the transversal scanning angle and longitudinal scanning angle of laser pulse；
Second generation unit (not shown), for according to described apart from observation, the transversal scanning angle and described vertical
To scanning angle, the three-dimensional coordinate of the tested measuring point is obtained.
The measurement apparatus of the transmission line of electricity space length of unmanned plane are the embodiment of the invention provides, acquisition unmanned plane is described in
The space length of transmission line of electricity, obtains positional information, judges whether positional information reaches default headroom value, if positional information reaches
To default headroom value, then directional information and laser intelligence are obtained, positional information, directional information and laser intelligence are processed,
Generation cloud data, cloud data is spliced, and the positional information of barrier is obtained, if positional information is not reaching to preset
Headroom value, then trigger prior-warning device alarm, can with the transmission line of electricity space length of accurate measurement unmanned plane, and cognitive disorders thing,
Line walking is set to find range more efficient and quick.
The computer program product that the embodiment of the present invention is provided, including store the computer-readable storage of program code
Medium, the instruction that described program code includes can be used to perform the method described in previous methods embodiment, and implementing to join
See embodiment of the method, will not be repeated here.
It is apparent to those skilled in the art that, for convenience and simplicity of description, the system of foregoing description
With the specific work process of device, the corresponding process in preceding method embodiment is may be referred to, will not be repeated here.
In addition, in the description of the embodiment of the present invention, unless otherwise clearly defined and limited, term " installation ", " phase
Company ", " connection " should be interpreted broadly, for example, it may be being fixedly connected, or being detachably connected, or be integrally connected；Can
Being to mechanically connect, or electrically connect；Can be joined directly together, it is also possible to be indirectly connected to by intermediary, Ke Yishi
Two connections of element internal.For the ordinary skill in the art, with concrete condition above-mentioned term can be understood at this
Concrete meaning in invention.
If the function is to realize in the form of SFU software functional unit and as independent production marketing or when using, can be with
Storage is in a computer read/write memory medium.Based on such understanding, technical scheme is substantially in other words
The part contributed to prior art or the part of the technical scheme can be embodied in the form of software product, the meter
Calculation machine software product is stored in a storage medium, including some instructions are used to so that a computer equipment (can be individual
People's computer, server, or network equipment etc.) perform all or part of step of each embodiment methods described of the invention.
And foregoing storage medium includes：USB flash disk, mobile hard disk, read-only storage (ROM, Read-Only Memory), arbitrary access are deposited
Reservoir (RAM, Random Access Memory), magnetic disc or CD etc. are various can be with the medium of store program codes.
In the description of the invention, it is necessary to explanation, term " " center ", " on ", D score, "left", "right", " vertical ",
The orientation or position relationship of the instruction such as " level ", " interior ", " outward " be based on orientation shown in the drawings or position relationship, merely to
Be easy to the description present invention and simplify describe, rather than indicate imply signified device or element must have specific orientation,
With specific azimuth configuration and operation, therefore it is not considered as limiting the invention.Additionally, term " first ", " second ",
" the 3rd " is only used for describing purpose, and it is not intended that indicating or implying relative importance.
Finally it should be noted that：Embodiment described above, specific embodiment only of the invention, is used to illustrate the present invention
Technical scheme, rather than its limitations, protection scope of the present invention is not limited thereto, although with reference to the foregoing embodiments to this hair
It is bright to be described in detail, it will be understood by those within the art that：Any one skilled in the art
The invention discloses technical scope in, it can still modify to the technical scheme described in previous embodiment or can be light
Change is readily conceivable that, or equivalent is carried out to which part technical characteristic；And these modifications, change or replacement, do not make
The essence of appropriate technical solution departs from the spirit and scope of embodiment of the present invention technical scheme, should all cover in protection of the invention
Within the scope of.Therefore, protection scope of the present invention described should be defined by scope of the claims.
Claims (10)
1. the measuring method of the transmission line of electricity space length of a kind of unmanned plane, it is characterised in that methods described includes：
Obtain the unmanned plane to the space length of the transmission line of electricity；
Positional information is obtained, judges whether the positional information reaches default headroom value；
If the positional information reaches the default headroom value, directional information and laser intelligence are obtained；
The positional information, the directional information and the laser intelligence are processed, cloud data is generated；
The cloud data is spliced, the positional information of barrier is obtained；
If the positional information is not reaching to the default headroom value, triggering prior-warning device alarm.
2. the measuring method of the transmission line of electricity space length of unmanned plane according to claim 1, it is characterised in that described to obtain
Take the unmanned plane includes to the space length of the transmission line of electricity：
The three-dimensional coordinate of tested measuring point is obtained according to scanner；
The roundtrip of pulse signal is obtained according to the scanner；
The roundtrip of three-dimensional coordinate and the pulse signal according to the tested measuring point, obtains the unmanned plane to described defeated
The space length of electric line.
3. the measuring method of the transmission line of electricity space length of unmanned plane according to claim 2, it is characterised in that described
The three-dimensional coordinate for obtaining tested measuring point according to scanner includes：
Obtain the intrinsic coordinates of the scanner；
By the tested measuring point by pulse ranging method, obtain the tested measuring point apart from observation；
Encoder is controlled by the precision interval clock inside the scanner, the transversal scanning angle and longitudinal direction for obtaining laser pulse are swept
Retouch angle；
According to described apart from observation, the transversal scanning angle and the longitudinal scanning angle, the tested measuring point is obtained
Three-dimensional coordinate.
4. the measuring method of the transmission line of electricity space length of unmanned plane according to claim 2, it is characterised in that described
The roundtrip for obtaining pulse signal according to the scanner includes：
The pulse signal arrival body surface that the scanner is launched is obtained, and is reflected to the time difference of the scanner；
According to the time difference, the roundtrip of the pulse signal is obtained.
5. the measuring method of the transmission line of electricity space length of unmanned plane according to claim 3, it is characterised in that the quilt
The three-dimensional coordinate of test point include X-axis, Y-axis and Z axis, it is described according to described apart from observation, the transversal scanning angle and institute
Longitudinal scanning angle is stated, the three-dimensional coordinate for obtaining the tested measuring point includes：
Calculate the X-axis, the Y-axis and the Z axis respectively according to following formula：
X=R cos β cos α
Y=R cos β sin α
Z=R sin β
Wherein, for described apart from observation, α is the transversal scanning angle to R, and β is the longitudinal scanning angle.
6. the measuring method of the transmission line of electricity space length of unmanned plane according to claim 4, it is characterised in that described
According to the time difference, the roundtrip for obtaining the pulse signal includes：
The roundtrip of the pulse signal is calculated according to following formula：
S=1/2* Δs t*c
Wherein, S is the roundtrip of the pulse signal, and Δ t is the time difference, and c is the light velocity.
7. the measuring method of the transmission line of electricity space length of unmanned plane according to claim 1, it is characterised in that institute's rheme
Confidence breath includes elevation information, and methods described also includes：
If the flight attitude of the unmanned plane changes, according to the directional information and elevation information control casing connection
Bar is rotated, the angle of inclination between adjustment integrated cabinet and the body of the unmanned plane, control scanner scanning target object
Angle, and change the parameter information of the scanner.
8. measurement apparatus of the transmission line of electricity space length of a kind of unmanned plane, it is characterised in that described device includes：
Space length acquiring unit, for obtaining the unmanned plane to the space length of the transmission line of electricity；
Judging unit, for obtaining positional information, judges whether the positional information reaches default headroom value；
Information acquisition unit, in the case of reaching the default headroom value in the positional information, obtain directional information and
Laser intelligence；
Processing unit, for processing the positional information, the directional information and the laser intelligence, generation point cloud number
According to；
Concatenation unit, for the cloud data to be spliced, obtains the positional information of barrier；
Alarm unit, in the case of being not reaching to the default headroom value in the positional information, triggers prior-warning device report
It is alert.
9. measurement apparatus of the transmission line of electricity space length of unmanned plane according to claim 8, it is characterised in that the sky
Between distance acquiring unit include：
Three-dimensional coordinate acquiring unit, the three-dimensional coordinate for obtaining tested measuring point according to scanner；
Roundtrip acquiring unit, the roundtrip for obtaining pulse signal according to the scanner；
First generation unit, for three-dimensional coordinate and the roundtrip of the pulse signal according to the tested measuring point, obtains
Space length of the unmanned plane to the transmission line of electricity.
10. measurement apparatus of the transmission line of electricity space length of unmanned plane according to claim 9, it is characterised in that described
Three-dimensional coordinate acquiring unit includes：
Intrinsic coordinates acquiring unit, the intrinsic coordinates for obtaining the scanner；
Apart from observation acquiring unit, for the tested measuring point by pulse ranging method, is obtained the tested measuring point away from
From observation；
Scanning angle acquiring unit, for controlling encoder by the precision interval clock inside the scanner, obtains laser pulse
Transversal scanning angle and longitudinal scanning angle；
Second generation unit, apart from observation, the transversal scanning angle and the longitudinal scanning angle, obtains for according to described
Take the three-dimensional coordinate of the tested measuring point.
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Cited By (5)
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| CN112051228A (en) * | 2020-09-11 | 2020-12-08 | 浙江华云清洁能源有限公司 | Method, device and system for generating power transmission line inspection report |
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