CN106815683A - Photoelectric nacelle selection method and device when a kind of unmanned plane is patrolled and examined - Google Patents
Photoelectric nacelle selection method and device when a kind of unmanned plane is patrolled and examined Download PDFInfo
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Abstract
Photoelectric nacelle selection method and device when being patrolled and examined the present invention relates to a kind of unmanned plane, method include：Determine that the type of the photoelectric sensor inside photoelectric nacelle patrols and examines overhead transmission line task if appropriate for unmanned plane；The resolution ratio of photoelectric sensor is determined according to Johnson's rule；Resolution ratio according to photoelectric sensor determines the desired value of photoelectric sensor, and the ratio between focal length and pixel dimension by the desired value of photoelectric sensor with photoelectric sensor is compared to judge that photoelectric nacelle patrols and examines overhead transmission line mission requirements if appropriate for unmanned plane；If photoelectric nacelle is adapted to unmanned plane patrols and examines overhead transmission line mission requirements, then the first Theory of Stability value is obtained using the load parameter of photoelectric sensor, and the requirement according to patrol task to positioning precision determines the second Theory of Stability value, if the stability actual value of photoelectric nacelle is superior to the first Theory of Stability value, the second Theory of Stability value, it is determined that photoelectric nacelle patrols and examines overhead transmission line suitable for unmanned plane.
Description
Technical field
Overhead transmission line technical field is patrolled and examined the present invention relates to unmanned plane, photoelectricity when more particularly to a kind of unmanned plane is patrolled and examined
Gondola selection method and device.
Background technology
With the fast development of China's overhead transmission line, conventional manual inspection mode can not meet overhead transmission line
Requirement is patrolled and examined on road, and the routine inspection mode with unmanned aerial vehicle platform as carrier arises at the historic moment.When carrying out line data-logging using unmanned plane, often
With one kind means of patrolling and examining be carry photoelectric nacelle carry out visible ray/infrared imaging.Photoelectric nacelle species is various in the market,
Gondola is internally integrated one or more of visible light camera, Visible Light Camera and thermal infrared imager, according to integrated sensor kind
The difference of class, can be divided into monochromatic light gondola, double light gondolas and three smooth gondolas by photoelectric nacelle.As unmanned plane carry photoelectric nacelle enters
Popularization and application on a large scale and the fast development of gondola technology that row overhead transmission line is patrolled and examined, increasing photoelectric nacelle should
In being patrolled and examined for grid power transmission circuit.Because photoelectric nacelle performance parameter differs greatly, how to be selected most from numerous products
Applicable photoelectric nacelle, farthest meet that overhead transmission line patrols and examines that demand become is particularly important.
The content of the invention
The main purpose of the embodiment of the present invention is photoelectric nacelle selection method and device when proposing that a kind of unmanned plane is patrolled and examined,
For the concrete analysis of overhead transmission line patrol task, determine that photoelectric nacelle needs integrated photoelectric sensor type and photoelectric transfer
The resolution ratio of sensor, the index and photoelectric nacelle that the resolution ratio based on photoelectric sensor considers photoelectric sensor is overall steady
Qualitative requirement finally determines photoelectric nacelle type, solves when unmanned plane patrols and examines overhead transmission line task and selects suitable light
Electric gondola patrols and examines the problem for requiring and patrolling and examining precision to meet.
To achieve the above object, photoelectric nacelle selection method when a kind of unmanned plane is patrolled and examined is the embodiment of the invention provides, is wrapped
Include：
Determine that the type of the photoelectric sensor that photoelectric nacelle inside is set patrols and examines overhead transmission line if appropriate for unmanned plane
Task；
The photoelectric sensor that the photoelectric nacelle inside for patrolling and examining overhead transmission line task for suitable unmanned plane is set, according to
Johnson's rule, in the case where target essence and image deflects are not considered, with the resolving power of target Equivalent striped to determine
State the resolution ratio of photoelectric sensor；
Ratio between the identification distance of resolution ratio and the known photoelectric sensor according to the photoelectric sensor is true
The desired value of the fixed photoelectric sensor, by the desired value of the photoelectric sensor with the photoelectric sensor focal length and pixel
Ratio between size is compared, and judges that the photoelectric nacelle patrols and examines overhead power transmission if appropriate for unmanned plane according to comparative result
Circuit mission requirements；
If the photoelectric nacelle is adapted to unmanned plane patrols and examines overhead transmission line mission requirements, using the photoelectric nacelle
In the load parameter of visible light camera calculate the first Theory of Stability value for obtaining the photoelectric nacelle, and according to unmanned plane
Requirement of the patrol task to positioning precision determines the second Theory of Stability value of the photoelectric nacelle, if the photoelectric nacelle
Stability actual value is superior to the first Theory of Stability value, the second Theory of Stability value, it is determined that the photoelectric nacelle is fitted
Overhead transmission line is patrolled and examined for unmanned plane.
Optionally, in an embodiment of the present invention, the first Theory of Stability value of the photoelectric nacelle is hung with the photoelectricity
The relational expression of the load parameter of the visible light camera in cabin is：
Wherein, Δ X：The pixel-shift number of image row direction；ΔY：The pixel-shift number of image column direction；KA：Line direction
Pixel number in unit angle, unit is /rad；KA=NA/ HFOV, NA：The pixel count that often row is included；HFOV：Horizontal direction
The angle of visual field；KE：Pixel number in column direction unit angle, unit is /rad；KE=NE/ VFOV, NE：The pixel that each column is included
Number；VFOV：The vertical direction angle of visual field；XtAnd Yt：Pixel in the video that respectively visible light camera shoots in each two field picture
Point coordinates；Δ H and Δ P：Line-of-sight stabilization precision, unit is rad；ΔR′：The pure digi-tal amount equal with Δ R, does not have unit；Δ
R：Line-of-sight stabilization precision, unit is rad.
Optionally, in an embodiment of the present invention, the second Theory of Stability value of the photoelectric nacelle with accordingly position
The relational expression of precision is：
In formula, △ α：Gondola pitching lasting accuracy, unit rad；△β：Gondola azimuth atabilzation, unit rad；△D：Gondola
Longitudinal register precision, unit m；Δ D=Htan (α+Δ α)-Htan α；△C：Gondola located lateral precision, unit m；H：To ground level, unit m；α：Gondola luffing angle, it is single
Position rad；β：Gondola orientation angles, unit rad.
Optionally, in an embodiment of the present invention, it is described to judge the photoelectric nacelle if appropriate for nothing according to comparative result
It is man-machine to include the step of patrol and examine overhead transmission line mission requirements：
The desired value of the photoelectric sensor is less than or equal to the ratio between the focal length and pixel dimension of the photoelectric sensor
It is worth, then the suitable unmanned plane of the photoelectric nacelle patrols and examines overhead transmission line mission requirements；Otherwise, then the photoelectric nacelle is not suitable for
Unmanned plane patrols and examines overhead transmission line mission requirements.
Accordingly, to achieve the above object, the embodiment of the present invention additionally provides photoelectric nacelle choosing when a kind of unmanned plane is patrolled and examined
Type device, including：
First identifying unit, for determining the type of the photoelectric sensor that photoelectric nacelle inside is set if appropriate for unmanned plane
Patrol and examine overhead transmission line task；
Resolution of photoelectric sensor determining unit, the photoelectricity for patrolling and examining overhead transmission line task for suitable unmanned plane
The photoelectric sensor that gondola inside is set, according to Johnson's rule, in the case where target essence and image deflects are not considered, uses
The resolving power of target Equivalent striped determines the resolution ratio of the photoelectric sensor；
Second identifying unit, for the identification of the resolution ratio according to the photoelectric sensor and the known photoelectric sensor
Ratio between distance determines the desired value of the photoelectric sensor, by the desired value of the photoelectric sensor with the photoelectric transfer
Ratio between the focal length and pixel dimension of sensor is compared, and judges the photoelectric nacelle if appropriate for nothing according to comparative result
It is man-machine to patrol and examine overhead transmission line mission requirements；
3rd identifying unit, if being adapted to unmanned plane for the photoelectric nacelle patrols and examines overhead transmission line mission requirements,
The first stability for obtaining the photoelectric nacelle is then calculated using the load parameter of the visible light camera in the photoelectric nacelle
Theoretical value, and requirement according to unmanned plane patrol task to positioning precision determines the second Theory of Stability of the photoelectric nacelle
Value, if the stability actual value of the photoelectric nacelle is superior to the first Theory of Stability value, the second Theory of Stability value,
Then determine that the photoelectric nacelle patrols and examines overhead transmission line suitable for unmanned plane.
Optionally, in an embodiment of the present invention, in the 3rd identifying unit photoelectric nacelle the first Theory of Stability
The relational expression of the load parameter of the visible light camera in value and the photoelectric nacelle is：
Wherein, Δ X：The pixel-shift number of image row direction；ΔY：The pixel-shift number of image column direction；KA：Line direction
Pixel number in unit angle, unit is /rad；KA=NA/ HFOV, NA：The pixel count that often row is included；HFOV：Horizontal direction
The angle of visual field；KE：Pixel number in column direction unit angle, unit is /rad；KE=NE/ VFOV, NE：The pixel that each column is included
Number；VFOV：The vertical direction angle of visual field；XtAnd Yt：Pixel in the video that respectively visible light camera shoots in each two field picture
Point coordinates；Δ H and Δ P：Line-of-sight stabilization precision, unit is rad；ΔR′：The pure digi-tal amount equal with Δ R, does not have unit；Δ
R：Line-of-sight stabilization precision, unit is rad.
Optionally, in an embodiment of the present invention, in the 3rd identifying unit photoelectric nacelle the second Theory of Stability
Value is with the relational expression of accordingly positioning precision：
In formula, △ α：Gondola pitching lasting accuracy, unit rad；△β：Gondola azimuth atabilzation, unit rad；△D：Gondola
Longitudinal register precision, unit m；Δ D=Htan (α+Δ α)-Htan α；△C：Gondola located lateral precision, unit m；H：To ground level, unit m；α：Gondola luffing angle, it is single
Position rad；β：Gondola orientation angles, unit rad.
Optionally, in an embodiment of the present invention, second identifying unit is same to the desired value of the photoelectric sensor
Ratio between the focal length and pixel dimension of the photoelectric sensor is compared, if the desired value of the photoelectric sensor is small
Ratio between the focal length and pixel dimension equal to the photoelectric sensor, then the photoelectric nacelle be adapted to unmanned plane patrol and examine frame
Empty transmission line of electricity mission requirements；Otherwise, then the photoelectric nacelle is not suitable for unmanned plane and patrols and examines overhead transmission line mission requirements.
Above-mentioned technical proposal has the advantages that：
(1) gondola selection issue when being patrolled and examined for overhead transmission line, proposes a kind of systematic photoelectric nacelle type selecting side
Method and device, type selecting is carried out from internal sensor load to photoelectric nacelle overall performance, it is to avoid is considered or is overemphasized light merely
The type selecting that the electric single index of gondola causes is improper, and the gondola product being best suitable for can be effectively selected from numerous gondola products, drop
Low routing inspection cost；
(2) business demand is patrolled and examined from overhead transmission line, instructs type selecting according to demand, and not exclusively unilateral requirement
The optimization of photoelectric nacelle product index；
(3) the clear and definite photoelectric nacelle index request of theory analysis combination mathematical computations, business is patrolled and examined according to overhead transmission line
Requirement to resolution ratio, the requirement to photoelectric nacelle index is proposed with reference to Johnson's rule, is solved traditional gondola selection method and is lacked
Few theory analysis and the problem for calculating；
(4) photoelectric nacelle resistance to overturning is emphasized to patrolling and examining the influence of effect, and carries out quantitative analysis, according to O-E Payload
Index is proposed to resistance to overturning requirement.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
The accompanying drawing to be used needed for having technology description is briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments of invention, for those of ordinary skill in the art, on the premise of not paying creative work, can be with
Other accompanying drawings are obtained according to these accompanying drawings.
Fig. 1 is photoelectric nacelle selection method flow chart when a kind of unmanned plane that the present embodiment is provided is patrolled and examined；
The optics geometry image-forming principle schematic diagram of photoelectric sensor in the photoelectric nacelle that Fig. 2 is related to for the present embodiment；
Fig. 3 is the relation schematic diagram between the present embodiment photoelectric nacelle stability and positioning precision；
Fig. 4 is photoelectric nacelle type selecting device block diagram when a kind of unmanned plane that the present embodiment is provided is patrolled and examined.
Specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made
Embodiment, belongs to the scope of protection of the invention.
Art technology technical staff knows, embodiments of the present invention can be implemented as a kind of system, device, equipment,
Method or computer program product.Therefore, the disclosure can be implemented as following form, i.e.,：It is complete hardware, complete soft
Part (including firmware, resident software, microcode etc.), or the form that hardware and software is combined.
According to the embodiment of the present invention, it is proposed that photoelectric nacelle selection method and device when a kind of unmanned plane is patrolled and examined.
Additionally, any number of elements in accompanying drawing is used to example and unrestricted, and any name is only used for distinguishing,
Without any limitation.
Below with reference to some representative embodiments of the invention, principle of the invention and spirit are explained in detail.
As shown in figure 1, being photoelectric nacelle selection method flow chart when a kind of unmanned plane provided in an embodiment of the present invention is patrolled and examined.
Including：
Step 101)：Determine that the type of the photoelectric sensor that photoelectric nacelle inside is set patrols and examines built on stilts if appropriate for unmanned plane
Transmission line of electricity task；
In the present embodiment, overhead transmission line is mainly by wire, aerial earth wire and bracing wire, insulator, overhead transmission line
Road gold utensil, shaft tower, pole and tower foundation and earthing or grounding means composition.When unmanned plane performs overhead transmission line patrol task, to judge line
Whether road body, affiliated facility and channel environment are normal, need to be to by inspection region blur-free imaging and shooting, in this case, light
Integrated Visible Light Camera, visible light camera are needed inside electric gondola.For whether the region wire section that judges to be patrolled has abnormal high
Warm heat generating spot, and infrared imaging is carried out to abnormal high temperature heat generating spot, integrated infrared thermal imagery is needed in this case, inside photoelectric nacelle
Instrument.So, according to the demand of different overhead transmission line patrol tasks, corresponding photoelectric nacelle type can be selected.It is different
The photoelectric nacelle of type is internally integrated one or more photoelectric sensing such as Visible Light Camera, visible light camera and thermal infrared imager
Device, completes accordingly overhead transmission line patrol task.
Step 102)：The photoelectric transfer that the photoelectric nacelle inside for patrolling and examining overhead transmission line task for suitable unmanned plane is set
Sensor, according to Johnson's rule, in the case where target essence and image deflects are not considered, with the resolving power of target Equivalent striped
To determine the resolution ratio of the photoelectric sensor；
In the present embodiment, the tour object of overhead transmission line can be divided into circuit body, affiliated facility and passage and electricity
Power protection zone.Due to the difference of carry flying platform, examined in determination and resolution requirement also slightly have difference.According to Johnson's method
Then, in the case where target essence and image deflects are not considered, photoelectric sensor is determined with the resolving power of target Equivalent striped
Resolution ratio to the recognition capability of target, i.e. photoelectric sensor is to can recognize that a target by 4 pixels to determine.In electricity
In power line walking, all kinds of defect failures need to be detected, now, resolution of photoelectric sensor should be the one of examined in determination resolution requirement
Half.In practice, thermal infrared imager also needs to consider the sensitivity to temperature in addition to resolution capability is considered.
Step 103)：Between the identification distance of resolution ratio and the known photoelectric sensor according to the photoelectric sensor
Ratio determine the desired value of the photoelectric sensor, by the desired value of the photoelectric sensor with the photoelectric sensor Jiao
Ratio between pixel dimension is compared, and judges that the photoelectric nacelle is patrolled and examined if appropriate for unmanned plane according to comparative result
Overhead transmission line mission requirements；
Photoelectric nacelle is internally integrated photoelectric sensor, photoelectric sensor imaging foundation optics geometry image-forming principle, such as Fig. 2 institutes
Show.There is following relation between resolution of photoelectric sensor and its index：
In formula, f represents photoelectric sensor focal length；D represents pixel dimension；L represents identification distance；D represents photoelectric sensor
Resolution ratio.
In known identification in the case of the L and resolution of photoelectric sensor D requirements, known identification can be drawn apart from L and
Proportionate relationship between resolution of photoelectric sensor D substitutes into formula (1), if meetingCan determine whether that photoelectric nacelle meets
It is required that.I.e.：The desired value of the photoelectric sensor is less than or equal to the ratio between the focal length and pixel dimension of the photoelectric sensor
It is worth, then the suitable unmanned plane of the photoelectric nacelle patrols and examines overhead transmission line mission requirements；Otherwise, then the photoelectric nacelle is not suitable for
Unmanned plane patrols and examines overhead transmission line mission requirements.
Step 104)：If the photoelectric nacelle is adapted to unmanned plane patrols and examines overhead transmission line mission requirements, using institute
The load parameter for stating the visible light camera in photoelectric nacelle calculates the first Theory of Stability value for obtaining the photoelectric nacelle, and
Requirement according to unmanned plane patrol task to positioning precision determines the second Theory of Stability value of the photoelectric nacelle, if described
The stability actual value of photoelectric nacelle is superior to the first Theory of Stability value, the second Theory of Stability value, it is determined that described
Photoelectric nacelle patrols and examines overhead transmission line suitable for unmanned plane.
In this step, the visible image capturing in the first Theory of Stability value of the photoelectric nacelle and the photoelectric nacelle
The relational expression of the load parameter of machine is：
Wherein, Δ X：The pixel-shift number of image row direction；ΔY：The pixel-shift number of image column direction；KA：Line direction
Pixel number in unit angle, unit is /rad；KA=NA/ HFOV, NA：The pixel count that often row is included；HFOV：Horizontal direction
The angle of visual field；KE：Pixel number in column direction unit angle, unit is /rad；KE=NE/ VFOV, NE：The pixel that each column is included
Number；VFOV：The vertical direction angle of visual field；XtAnd Yt：Pixel in the video that respectively visible light camera shoots in each two field picture
Point coordinates；Δ H and Δ P：Line-of-sight stabilization precision, unit is rad；ΔR′：The pure digi-tal amount equal with Δ R, does not have unit；Δ
R：Line-of-sight stabilization precision, unit is rad.
Consider to target position in the case of, as shown in figure 3, the second Theory of Stability value of the photoelectric nacelle with it is right
Should ground positioning precision relational expression be：
In formula, △ α：Gondola pitching lasting accuracy, unit rad；△β：Gondola azimuth atabilzation, unit rad；△D：Gondola
Longitudinal register precision, unit m；Δ D=Htan (α+Δ α)-Htan α；△C：Gondola located lateral precision, unit m；H：To ground level, unit m；α：Gondola luffing angle, it is single
Position rad；β：Gondola orientation angles, unit rad.
One of ordinary skill in the art will appreciate that all or part of flow in realizing above-described embodiment method, Ke Yitong
Computer program is crossed to instruct the hardware of correlation to complete, described program can be stored in general computer read/write memory medium
In, the program is upon execution, it may include such as the flow of the embodiment of above-mentioned each method.Wherein, described storage medium can be magnetic
Dish, CD, read-only memory (Read-Only Memory, ROM) or random access memory (Random Access
Memory, RAM) etc..
As shown in figure 4, being photoelectric nacelle type selecting device block diagram when a kind of unmanned plane of embodiment of the present invention proposition is patrolled and examined.Bag
Include：
First identifying unit 401, for determining the type of the photoelectric sensor that photoelectric nacelle inside is set if appropriate for nothing
It is man-machine to patrol and examine overhead transmission line task；
Resolution of photoelectric sensor determining unit 402, for patrolling and examining overhead transmission line task for suitable unmanned plane
The photoelectric sensor that photoelectric nacelle inside is set, according to Johnson's rule, is not considering the situation of target essence and image deflects
Under, the resolution ratio of the photoelectric sensor is determined with the resolving power of target Equivalent striped；
Second identifying unit 403, for the resolution ratio according to the photoelectric sensor and the known photoelectric sensor
Ratio between identification distance determines the desired value of the photoelectric sensor, by the desired value of the photoelectric sensor with the light
Ratio between the focal length and pixel dimension of electric transducer is compared, and judges whether the photoelectric nacelle fits according to comparative result
Close unmanned plane and patrol and examine overhead transmission line mission requirements；
Specifically, second identifying unit, 403 pairs of desired values of the photoelectric sensor and the photoelectric sensor
Ratio between focal length and pixel dimension is compared, if the desired value of the photoelectric sensor is less than or equal to the photoelectric transfer
Ratio between the focal length and pixel dimension of sensor, then the photoelectric nacelle be adapted to unmanned plane patrol and examine overhead transmission line task will
Ask；Otherwise, then the photoelectric nacelle is not suitable for unmanned plane and patrols and examines overhead transmission line mission requirements.
3rd identifying unit 404, wants if being adapted to unmanned plane for the photoelectric nacelle and patrolling and examining overhead transmission line task
Ask, then the first stabilization for obtaining the photoelectric nacelle is calculated using the load parameter of the visible light camera in the photoelectric nacelle
Property theoretical value, and requirement according to unmanned plane patrol task to positioning precision determines the second Theory of Stability of the photoelectric nacelle
Value, if the stability actual value of the photoelectric nacelle is superior to the first Theory of Stability value, the second Theory of Stability value,
Then determine that the photoelectric nacelle patrols and examines overhead transmission line suitable for unmanned plane.
Specifically, in the 3rd identifying unit 404 photoelectric nacelle the first Theory of Stability value and the photoelectric nacelle
In the relational expression of load parameter of visible light camera be：
Wherein, Δ X：The pixel-shift number of image row direction；ΔY：The pixel-shift number of image column direction；KA：Line direction
Pixel number in unit angle, unit is /rad；KA=NA/ HFOV, NA：The pixel count that often row is included；HFOV：Horizontal direction
The angle of visual field；KE：Pixel number in column direction unit angle, unit is /rad；KE=NE/ VFOV, NE：The pixel that each column is included
Number；VFOV：The vertical direction angle of visual field；XtAnd Yt：Pixel in the video that respectively visible light camera shoots in each two field picture
Point coordinates；Δ H and Δ P：Line-of-sight stabilization precision, unit is rad；ΔR′：The pure digi-tal amount equal with Δ R, does not have unit；Δ
R：Line-of-sight stabilization precision, unit is rad.
Specifically, the second Theory of Stability value of photoelectric nacelle and accordingly positioning accurate in the 3rd identifying unit 404
The relational expression of degree is：
In formula, △ α：Gondola pitching lasting accuracy, unit rad；△β：Gondola azimuth atabilzation, unit rad；△D：Gondola
Longitudinal register precision, unit m；Δ D=H tan (α+Δ α)-H tan α；△C：Gondola located lateral precision, unit m；H：To ground level, unit m；α：Gondola luffing angle, it is single
Position rad；β：Gondola orientation angles, unit rad.
Those skilled in the art will also be appreciated that the various functions that the embodiment of the present invention is listed are by hardware or soft
Part realizes depending on the design requirement of specific application and whole system.Those skilled in the art can be specific for every kind of
Using, it is possible to use various methods realize described function, but this realization is understood not to be protected beyond the embodiment of the present invention
The scope of shield.
Although additionally, being referred to some units of device in above-detailed, this division is only not strong
Property processed.In fact, according to the embodiment of the present invention, the feature and function of above-described two or more units can be
Embodied in one unit.Equally, the feature and function of an above-described unit can also be further divided into by multiple
Unit embodies.
Embodiment
In order to more intuitively describe the features of the present invention and operation principle, below in conjunction with a practice
Scape is described.
Carried out as a example by overhead transmission line patrols and examines by unmanned plane, business demand is become more meticulous patrolling and examining and burning things which may cause a fire disaster positioning.
There is two gondola available, the focal length of photoelectric nacelle A visible ray load is 35mm, and pixel dimension is 6.25 μm, it is seen that light is taken the photograph
The camera angle of visual field is 45 ° × 36 °, and video pictures resolution ratio is 1920 × 1080, resistance to overturning≤5 × 10-4rad；Photoelectricity hangs
The focal length of cabin B visible ray load be 50mm, pixel dimension be 7.48 μm, it is seen that light camera field of view angle be 45 ° × 36 °, video
Screen resolution is 1920 × 1080, resistance to overturning≤1 × 10-3rad.Because parameter is more, it is difficult to directly be entered by index
Row selection.
Traditional gondola type selecting focuses on the requirement to resolution ratio.Become more meticulous patrol and examine when, it is desirable to be capable of identify that cm grades
Pin target, it is desirable to which photoelectric nacelle resolution ratio is not more than 5 × 10-4m.Execution becomes more meticulous when patrolling and examining, and unmanned plane is located at transmission line of electricity
At the 70m of upper right side, nowRatio between the focal length and pixel dimension of photoelectric nacelle A is 5600, photoelectric nacelle B
Focal length and pixel dimension between ratio be 6184, two photoelectric nacelles meetCondition, resolution ratio meet will
Ask, and because the resolution ratio of photoelectric nacelle B is higher, traditional selection method is concluded that photoelectric nacelle B is more suitable for frame
Empty polling transmission line.
When carrying out type selecting using this method, further consider photoelectric nacelle resistance to overturning to patrolling and examining the influence of effect.It is first
The first stability requirement is first analyzed, in the case where three axle line-of-sight stabilization precision are consistent, first stability of photoelectric nacelle A will
Ask to be not more than 1.675 × 10-3First stability requirement of rad, photoelectric nacelle B is no more than 1.745 × 10-3Rad, two
Photoelectric nacelle is satisfied by the first stability requirement, and flating meets requirement.Do not considering unmanned plane shake to positioning precision
During influence, burning things which may cause a fire disaster positioning precision is relevant to ground level, attitude angle and stability with photoelectric nacelle.To ground level 2000m, side
Parallactic angle and the angle of pitch are 60 °, in the case that positioning precision is not more than 10m, and the second stability requirement to photoelectric nacelle is to bow
Tilt stabilization is better than 1.25 × 10-3Rad, azimuthal stabilization is better than 6.2 × 10-4rad.Obviously, photoelectric nacelle B is unsatisfactory for
The requirement of positioning precision.
Overhead transmission line is carried out by this method final choice photoelectric nacelle A to patrol and examine, not only resolution ratio meets to patrol and examine and wants
Ask, and meet stability requirement, the optimal selection that many factors realize photoelectric nacelle can be considered.
Above specific embodiment, has been carried out further specifically to the purpose of the present invention, technical scheme and beneficial effect
It is bright, should be understood that and these are only specific embodiment of the invention, the protection model being not intended to limit the present invention
Enclose, all any modification, equivalent substitution and improvements within the spirit and principles in the present invention, done etc. should be included in the present invention
Protection domain within.
Claims (8)
1. photoelectric nacelle selection method when a kind of unmanned plane is patrolled and examined, it is characterised in that including：
Determine that the type of the photoelectric sensor that photoelectric nacelle inside is set patrols and examines overhead transmission line task if appropriate for unmanned plane；
The photoelectric sensor that the photoelectric nacelle inside for patrolling and examining overhead transmission line task for suitable unmanned plane is set, according to John
Inferior rule, in the case where target essence and image deflects are not considered, the light is determined with the resolving power of target Equivalent striped
The resolution ratio of electric transducer；
Ratio between the identification distance of resolution ratio and the known photoelectric sensor according to the photoelectric sensor determines institute
State the desired value of photoelectric sensor, by the desired value of the photoelectric sensor with the photoelectric sensor focal length and pixel dimension
Between ratio be compared, judge that the photoelectric nacelle patrols and examines overhead transmission line if appropriate for unmanned plane according to comparative result
Mission requirements；
If the photoelectric nacelle is adapted to unmanned plane patrols and examines overhead transmission line mission requirements, using in the photoelectric nacelle
The load parameter of visible light camera calculates the first Theory of Stability value for obtaining the photoelectric nacelle, and is patrolled and examined according to unmanned plane
Requirement of the task to positioning precision determines the second Theory of Stability value of the photoelectric nacelle, if the stabilization of the photoelectric nacelle
Property actual value is superior to the first Theory of Stability value, the second Theory of Stability value, it is determined that the photoelectric nacelle is applied to
Unmanned plane patrols and examines overhead transmission line.
2. the method for claim 1, it is characterised in that the first Theory of Stability value and the light of the photoelectric nacelle
The relational expression of the load parameter of the visible light camera in electric gondola is：
Wherein, Δ X：The pixel-shift number of image row direction；ΔY：The pixel-shift number of image column direction；KA：Line direction unit angle
Pixel number in degree, unit is /rad；KA=NA/ HFOV, NA：The pixel count that often row is included；HFOV：The horizontal direction angle of visual field；
KE：Pixel number in column direction unit angle, unit is /rad；KE=NE/ VFOV, NE：The pixel count that each column is included；VFOV：
The vertical direction angle of visual field；XtAnd Yt：Pixel point coordinates in the video that respectively visible light camera shoots in each two field picture；
Δ H and Δ P：Line-of-sight stabilization precision, unit is rad；ΔR′：The pure digi-tal amount equal with Δ R, does not have unit；ΔR：Aim at
Line stabilization precision, unit is rad.
3. the method for claim 1, it is characterised in that the second Theory of Stability value of the photoelectric nacelle with accordingly
The relational expression of positioning precision is：
In formula, △ α：Gondola pitching lasting accuracy, unit rad；△β：Gondola azimuth atabilzation, unit rad；△D：Gondola longitudinal direction
Positioning precision, unit m；Δ D=Htan (α+Δ α)-H tan α；△C：Gondola located lateral precision, unit m；H：To ground level, unit m；α：Gondola pitching
Angle, unit rad；β：Gondola orientation angles, unit rad.
4. the method for claim 1, it is characterised in that described to judge whether the photoelectric nacelle fits according to comparative result
Closing the step of unmanned plane patrols and examines overhead transmission line mission requirements includes：
The desired value of the photoelectric sensor is less than or equal to the ratio between the focal length of the photoelectric sensor and pixel dimension, then
The photoelectric nacelle is adapted to unmanned plane and patrols and examines overhead transmission line mission requirements；Otherwise, then the photoelectric nacelle is not suitable for nobody
Machine patrols and examines overhead transmission line mission requirements.
5. photoelectric nacelle type selecting device when a kind of unmanned plane is patrolled and examined, it is characterised in that including：
First identifying unit, the type for determining the photoelectric sensor that photoelectric nacelle inside is set is patrolled and examined if appropriate for unmanned plane
Overhead transmission line task；
Resolution of photoelectric sensor determining unit, the photoelectric nacelle for patrolling and examining overhead transmission line task for suitable unmanned plane
The photoelectric sensor that inside is set, according to Johnson's rule, in the case where target essence and image deflects are not considered, uses target
The resolving power of equivalent striped determines the resolution ratio of the photoelectric sensor；
Second identifying unit, for the identification distance of the resolution ratio according to the photoelectric sensor and the known photoelectric sensor
Between ratio determine the desired value of the photoelectric sensor, by the desired value of the photoelectric sensor with the photoelectric sensor
Focal length and pixel dimension between ratio be compared, judge the photoelectric nacelle if appropriate for unmanned plane according to comparative result
Patrol and examine overhead transmission line mission requirements；
3rd identifying unit, if being adapted to unmanned plane for the photoelectric nacelle patrols and examines overhead transmission line mission requirements, profit
The first Theory of Stability for obtaining the photoelectric nacelle is calculated with the load parameter of the visible light camera in the photoelectric nacelle
Value, and requirement according to unmanned plane patrol task to positioning precision determines the second Theory of Stability value of the photoelectric nacelle, such as
The stability actual value of really described photoelectric nacelle is superior to the first Theory of Stability value, the second Theory of Stability value, then really
The fixed photoelectric nacelle patrols and examines overhead transmission line suitable for unmanned plane.
6. device as claimed in claim 5, it is characterised in that the first stability of photoelectric nacelle in the 3rd identifying unit
The relational expression of the load parameter of the visible light camera in theoretical value and the photoelectric nacelle is：
Wherein, Δ X：The pixel-shift number of image row direction；ΔY：The pixel-shift number of image column direction；KA：Line direction unit angle
Pixel number in degree, unit is /rad；KA=NA/ HFOV, NA：The pixel count that often row is included；HFOV：The horizontal direction angle of visual field；
KE：Pixel number in column direction unit angle, unit is /rad；KE=NE/ VFOV, NE：The pixel count that each column is included；VFOV：
The vertical direction angle of visual field；XtAnd Yt：Pixel point coordinates in the video that respectively visible light camera shoots in each two field picture；
Δ H and Δ P：Line-of-sight stabilization precision, unit is rad；ΔR′：The pure digi-tal amount equal with Δ R, does not have unit；ΔR：Aim at
Line stabilization precision, unit is rad.
7. device as claimed in claim 5, it is characterised in that the second stability of photoelectric nacelle in the 3rd identifying unit
Theoretical value is with the relational expression of accordingly positioning precision：
In formula, △ α：Gondola pitching lasting accuracy, unit rad；△β：Gondola azimuth atabilzation, unit rad；△D：Gondola longitudinal direction
Positioning precision, unit m；Δ D=Htan (α+Δ α)-H tan α；△C：Gondola located lateral precision, unit m；H：To ground level, unit m；α：Gondola luffing angle, it is single
Position rad；β：Gondola orientation angles, unit rad.
8. device as claimed in claim 5, it is characterised in that index of second identifying unit to the photoelectric sensor
Ratio between value and the focal length and pixel dimension of the photoelectric sensor is compared, if the index of the photoelectric sensor
Value is patrolled less than or equal to the ratio between the focal length and pixel dimension of the photoelectric sensor, the then suitable unmanned plane of the photoelectric nacelle
Inspection overhead transmission line mission requirements；Otherwise, then the photoelectric nacelle be not suitable for unmanned plane patrol and examine overhead transmission line task will
Ask.
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