CN106815683B - Method and device for selecting photoelectric pod type during inspection of unmanned aerial vehicle - Google Patents

Method and device for selecting photoelectric pod type during inspection of unmanned aerial vehicle Download PDF

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CN106815683B
CN106815683B CN201710033490.9A CN201710033490A CN106815683B CN 106815683 B CN106815683 B CN 106815683B CN 201710033490 A CN201710033490 A CN 201710033490A CN 106815683 B CN106815683 B CN 106815683B
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王淼
李源源
程燕胜
罗敏
于洋
刘伟东
陈艳芳
修贤文
杨鹤猛
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State Grid Power Space Technology Co ltd
State Grid Corp of China SGCC
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Abstract

The invention relates to a method and a device for selecting a photoelectric pod type during inspection of an unmanned aerial vehicle, wherein the method comprises the following steps: determining whether the type of a photoelectric sensor in the photoelectric pod is suitable for the unmanned aerial vehicle to inspect the task of the overhead transmission line; determining a resolution of the photosensor according to johnson's law; determining an index value of the photoelectric sensor according to the resolution of the photoelectric sensor, and comparing the index value of the photoelectric sensor with a ratio between the focal length and the pixel size of the photoelectric sensor to judge whether the photoelectric pod is suitable for the task requirement of the unmanned aerial vehicle for polling the overhead transmission line; if the photoelectric pod is suitable for the task requirement of the unmanned aerial vehicle for patrolling and examining the overhead transmission line, the load parameter of the photoelectric sensor is used for obtaining a first stability theoretical value, a second stability theoretical value is determined according to the requirement of the patrolling and examining task on the positioning precision, and if the actual stability value of the photoelectric pod is superior to the first stability theoretical value and the second stability theoretical value, the photoelectric pod is determined to be suitable for the unmanned aerial vehicle for patrolling and examining the overhead transmission line.

Description

Method and device for selecting photoelectric pod type during inspection of unmanned aerial vehicle
Technical Field
The invention relates to the technical field of unmanned aerial vehicle inspection overhead transmission lines, in particular to a method and a device for selecting a photoelectric pod type during unmanned aerial vehicle inspection.
Background
With the rapid development of overhead transmission lines in China, the conventional manual inspection mode cannot meet the inspection requirement of the overhead transmission lines, and the inspection mode using an unmanned aerial vehicle platform as a carrier is developed. When the unmanned aerial vehicle is used for line inspection, a common inspection means is to carry a photoelectric pod for visible light/infrared imaging. At present, photoelectric pods in the market are various in types, one or more of a visible light camera, a visible light camera and a thermal infrared imager are integrated in the pods, and the photoelectric pods can be divided into single-light pods, double-light pods and three-light pods according to different types of integrated sensors. Along with the large-scale popularization and application of the unmanned aerial vehicle mounted photoelectric pod for overhead power transmission line inspection and the rapid development of pod technology, more and more photoelectric pods are applied to power grid power transmission line inspection. Because the performance parameters of the photoelectric pod have larger difference, how to select the most suitable photoelectric pod from a plurality of products becomes more important to meet the inspection requirement of the overhead transmission line to the maximum extent.
Disclosure of Invention
The invention mainly aims to provide a method and a device for selecting a photoelectric pod type during unmanned aerial vehicle inspection, which aim at specific analysis of an overhead transmission line inspection task, determine the type of a photoelectric sensor required to be integrated by the photoelectric pod and the resolution of the photoelectric sensor, and finally determine the type of the photoelectric pod by comprehensively considering the index of the photoelectric sensor and the integral stability requirement of the photoelectric pod based on the resolution of the photoelectric sensor, so that the problem that the inspection requirement and the inspection precision are met by selecting a proper photoelectric pod when the unmanned aerial vehicle inspects the overhead transmission line inspection task is solved.
In order to achieve the purpose, the embodiment of the invention provides a photoelectric pod type selection method during unmanned aerial vehicle inspection, which comprises the following steps:
determining whether the type of a photoelectric sensor arranged in the photoelectric pod is suitable for the unmanned aerial vehicle to inspect the task of the overhead transmission line;
aiming at a photoelectric sensor arranged in a photoelectric pod suitable for an unmanned aerial vehicle to patrol and examine an overhead transmission line task, determining the resolution of the photoelectric sensor by using the resolution of a target equivalent stripe under the condition of not considering target essence and image defects according to Johnson's rule; the system comprises an overhead power transmission circuit, a photoelectric sensor, a power supply and a power supply, wherein an inspection object of the overhead power transmission circuit comprises a line body, an accessory facility, a channel and a power protection area, and the resolution of the photoelectric sensor is half of the resolution requirement of the inspection object;
determining an index value of the photoelectric sensor according to a ratio between the known identification distance of the photoelectric sensor and the resolution of the photoelectric sensor, comparing the index value of the photoelectric sensor with the ratio between the focal length of the photoelectric sensor and the pixel size, and judging whether the photoelectric pod is suitable for the task requirement of the unmanned aerial vehicle inspection overhead transmission line according to a comparison result;
if the photoelectric pod is suitable for the task requirement of the unmanned aerial vehicle for patrolling and examining the overhead transmission line, calculating by using the load parameters of the visible light camera in the photoelectric pod to obtain a first stability theoretical value of the photoelectric pod, determining a second stability theoretical value of the photoelectric pod according to the requirement of the unmanned aerial vehicle for patrolling and examining the task for positioning accuracy, and if the actual stability value of the photoelectric pod is superior to the first stability theoretical value and the second stability theoretical value, determining that the photoelectric pod is suitable for the unmanned aerial vehicle for patrolling and examining the overhead transmission line.
Optionally, in an embodiment of the present invention, the relational expression of the first stability theoretical value of the photovoltaic pod obtained by calculating the load parameter of the visible light camera in the photovoltaic pod is as follows:
Figure GDA0002618601560000021
wherein, Δ X: the number of pixel offsets in the image row direction; Δ Y: the number of pixel offsets in the image column direction; kA: the number of pixel points in a unit angle in the row direction is/rad; kA＝NA/HFOV，NA: the number of pixels contained in each row; HFOV: a horizontal field angle; kE: the number of pixel points in a unit angle in the column direction is/rad; kE＝NE/VFOV，NE: the number of pixels contained in each column; VFOV: a vertical field angle; xtAnd Yt: respectively the coordinates of pixel points in each frame of image in the video shot by the visible light camera; Δ H and Δ P: the stable precision of the aiming line, the unit is rad; Δ R': a pure number quantity equal to Δ R, without units; Δ R: the aiming line has stable precision, and the unit is rad.
Optionally, in an embodiment of the present invention, a relational expression between the second theoretical stability value of the optoelectronic pod and the corresponding positioning accuracy is as follows:
Figure GDA0002618601560000022
△α, pod pitch stability accuracy, unit rad, △β, pod orientation stability, unit rad, △ D, pod longitudinal positioning accuracy, unit m, Δ D, Htan (α + Δ α) -Htan α, △ C, pod transverse positioning accuracy, unit m;
Figure GDA0002618601560000023
h is the height to ground in m, α is the pod pitch angle in rad, β is the pod azimuth angle in rad.
Optionally, in an embodiment of the present invention, the step of determining whether the photoelectric pod is suitable for the task requirement of the unmanned aerial vehicle for polling the overhead transmission line according to the comparison result includes:
the index value of the photoelectric sensor is less than or equal to the ratio of the focal length of the photoelectric sensor to the pixel size, and the photoelectric pod is suitable for the task requirement of the unmanned aerial vehicle for polling the overhead transmission line; otherwise, the photoelectric pod is not suitable for the task requirement of the unmanned aerial vehicle for polling the overhead transmission line.
Correspondingly, in order to achieve the above object, an embodiment of the present invention further provides a device for selecting a model of a photoelectric pod during routing inspection of an unmanned aerial vehicle, including:
the first judgment unit is used for determining whether the type of a photoelectric sensor arranged in the photoelectric pod is suitable for the unmanned aerial vehicle to patrol the task of the overhead transmission line;
the photoelectric sensor resolution determination unit is used for determining the resolution of a photoelectric sensor arranged in a photoelectric pod suitable for the unmanned aerial vehicle to patrol and examine the overhead transmission line task by using the resolution of a target equivalent stripe according to Johnson's rule under the condition of not considering the nature and the image defects of the target; the system comprises an overhead power transmission circuit, a photoelectric sensor, a power supply and a power supply, wherein an inspection object of the overhead power transmission circuit comprises a line body, an accessory facility, a channel and a power protection area, and the resolution of the photoelectric sensor is half of the resolution requirement of the inspection object;
the second judgment unit is used for determining an index value of the photoelectric sensor according to a known ratio between the identification distance of the photoelectric sensor and the resolution of the photoelectric sensor, comparing the index value of the photoelectric sensor with the ratio between the focal length of the photoelectric sensor and the pixel size, and judging whether the photoelectric pod is suitable for the task requirement of the unmanned aerial vehicle for polling the overhead transmission line according to a comparison result;
and the third judgment unit is used for calculating a first stability theoretical value of the photoelectric pod by using the load parameters of a visible light camera in the photoelectric pod if the photoelectric pod is suitable for the task requirement of the unmanned aerial vehicle for polling the overhead transmission line, determining a second stability theoretical value of the photoelectric pod according to the requirement of the unmanned aerial vehicle for polling the task on the positioning precision, and determining that the photoelectric pod is suitable for the unmanned aerial vehicle for polling the overhead transmission line if the actual stability value of the photoelectric pod is better than the first stability theoretical value and the second stability theoretical value.
Optionally, in an embodiment of the present invention, the third determining unit calculates a first stability theoretical value of the photoelectric pod by using the load parameter of the visible light camera in the photoelectric pod, and the relational expression of the first stability theoretical value is as follows:
Figure GDA0002618601560000031
wherein, Δ X: the number of pixel offsets in the image row direction; Δ Y: the number of pixel offsets in the image column direction; kA: the number of pixel points in a unit angle in the row direction is/rad; kA＝NA/HFOV，NA: the number of pixels contained in each row; HFOV: a horizontal field angle; kE: the number of pixel points in a unit angle in the column direction is/rad; kE＝NE/VFOV，NE: the number of pixels contained in each column; VFOV: a vertical field angle; xtAnd Yt: respectively the coordinates of pixel points in each frame of image in the video shot by the visible light camera; Δ H and Δ P: the stable precision of the aiming line, the unit is rad; Δ R': a pure number quantity equal to Δ R, without units; Δ R: the aiming line has stable precision, and the unit is rad.
Optionally, in an embodiment of the present invention, a relational expression between a second theoretical stability value of the optoelectronic pod in the third determination unit and the corresponding positioning accuracy is as follows:
Figure GDA0002618601560000041
△α, pod pitch stability accuracy, unit rad, △β, pod orientation stability, unit rad, △ D, pod longitudinal positioning accuracy, unit m, Δ D, Htan (α + Δ α) -Htan α, △ C, pod transverse positioning accuracy, unit m;
Figure GDA0002618601560000042
h is the height to ground in m, α is the pod pitch angle in rad, β is the pod azimuth angle in rad.
Optionally, in an embodiment of the present invention, the second determining unit compares the index value of the photoelectric sensor with a ratio between a focal length of the photoelectric sensor and a pixel size, and if the index value of the photoelectric sensor is less than or equal to the ratio between the focal length of the photoelectric sensor and the pixel size, the photoelectric pod is suitable for the task requirement of the unmanned aerial vehicle for polling the overhead transmission line; otherwise, the photoelectric pod is not suitable for the task requirement of the unmanned aerial vehicle for polling the overhead transmission line.
The technical scheme has the following beneficial effects:
(1) aiming at the problem of pod type selection during inspection of the overhead transmission line, a systematic photoelectric pod type selection method and a device are provided, the type selection is carried out from the load of an internal sensor to the overall performance of the photoelectric pod, improper type selection caused by simple consideration or over emphasis on a single index of the photoelectric pod is avoided, the most suitable pod product can be effectively selected from a plurality of pod products, and the inspection cost is reduced;
(2) starting from the requirement of the overhead transmission line inspection service, the type selection is guided according to the requirement, and not only the optimization of the photoelectric pod product index is required on one side;
(3) the method comprises the following steps of determining photoelectric pod index requirements by combining theoretical analysis with mathematical calculation, providing the requirements on photoelectric pod indexes by combining Johnson's law according to the requirements of inspection business of the overhead transmission line on resolution, and solving the problem that the traditional pod type selection method is lack of theoretical analysis and calculation;
(4) the influence of the overall stability of the photoelectric pod on the inspection effect is emphasized, quantitative analysis is carried out, and the requirement on the overall stability is provided according to photoelectric load indexes.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a flowchart of a method for selecting a type of a photoelectric pod during inspection of an unmanned aerial vehicle according to the embodiment;
FIG. 2 is a schematic diagram illustrating the optical geometry imaging principle of the photoelectric sensor in the photoelectric pod according to the present embodiment;
FIG. 3 is a schematic diagram illustrating the relationship between the stability and the positioning accuracy of the optoelectronic pod according to the present embodiment;
fig. 4 is a block diagram of a photoelectric pod type selection device during inspection of an unmanned aerial vehicle according to the embodiment.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As will be appreciated by one skilled in the art, embodiments of the present invention may be embodied as a system, apparatus, device, method, or computer program product. Accordingly, the present disclosure may be embodied in the form of: entirely hardware, entirely software (including firmware, resident software, micro-code, etc.), or a combination of hardware and software.
According to the embodiment of the invention, a photoelectric pod type selection method and device during unmanned aerial vehicle inspection are provided.
Moreover, any number of elements in the drawings are by way of example and not by way of limitation, and any nomenclature is used solely for differentiation and not by way of limitation.
The principles and spirit of the present invention are explained in detail below with reference to several representative embodiments of the invention.
As shown in fig. 1, a flow chart of a method for selecting a type of a photoelectric pod during inspection of an unmanned aerial vehicle is provided according to an embodiment of the present invention. The method comprises the following steps:
step 101): determining whether the type of a photoelectric sensor arranged in the photoelectric pod is suitable for the unmanned aerial vehicle to inspect the task of the overhead transmission line;
in this embodiment, the overhead transmission line mainly includes a conductor, an overhead ground wire, a stay wire, an insulator, an overhead transmission line hardware, a tower foundation, and a grounding device. When unmanned aerial vehicle carried out overhead transmission line and patrolled and examined the task, whether normal for judging line body, affiliated facilities and passageway environment, need be to being surveyed regional clear formation of image and make a video recording, under this kind of condition, inside visible light camera, the visible light camera of needing to integrate of photoelectricity nacelle. In order to judge whether an abnormal high-temperature heating point exists in the line section of the region to be inspected and carry out infrared imaging on the abnormal high-temperature heating point, under the condition, an infrared thermal imager needs to be integrated in the photoelectric pod. Therefore, according to the requirements of different overhead transmission line inspection tasks, the corresponding type of the photoelectric pod can be selected. One or more photoelectric sensors such as a visible light camera, a visible light camera and a thermal infrared imager are integrated in the photoelectric pods of different types to complete the routing inspection task of the corresponding overhead transmission line.
Step 102): aiming at a photoelectric sensor arranged in a photoelectric pod suitable for an unmanned aerial vehicle to patrol and examine an overhead transmission line task, determining the resolution of the photoelectric sensor by using the resolution of a target equivalent stripe under the condition of not considering target essence and image defects according to Johnson's rule;
in this embodiment, the inspection object of the overhead transmission line can be divided into a line body, an accessory facility, a passage, and a power protection area. Due to the difference of the mounting flying platforms, the requirements of the inspection object and the resolution ratio are slightly different. According to Johnson's law, the recognition capability of the photoelectric sensor for the target is determined by the resolution of the equivalent stripe of the target without considering the nature and the image defects of the target, namely the resolution of the photoelectric sensor is determined by identifying one target through 4 pixel points. In the power line inspection, various defect faults need to be detected, and the resolution of the photoelectric sensor is half of the requirement of the resolution of an inspection object. In practical application, the thermal infrared imager needs to consider the sensitivity to temperature in addition to the resolution capability.
Step 103): determining an index value of the photoelectric sensor according to a ratio between the known identification distance of the photoelectric sensor and the resolution of the photoelectric sensor, comparing the index value of the photoelectric sensor with the ratio between the focal length of the photoelectric sensor and the pixel size, and judging whether the photoelectric pod is suitable for the task requirement of the unmanned aerial vehicle inspection overhead transmission line according to a comparison result;
the photoelectric pod internally integrates a photoelectric sensor, and the photoelectric sensor imaging is based on the optical geometric imaging principle, as shown in fig. 2. The following relationship exists between the resolution of the photoelectric sensor and the index thereof:
Figure GDA0002618601560000061
wherein f represents the photosensor focal length; d represents the pixel size; l represents an identification distance; d represents the photosensor resolution.
Under the condition that the requirements of the identification distance L and the resolution D of the photoelectric sensor are known, the proportional relation between the known identification distance L and the resolution D of the photoelectric sensor is substituted into the formula (1), and if the proportional relation meets the requirement
Figure GDA0002618601560000062
The photoelectric pod can be judged to meet the requirements. Namely: the index value of the photoelectric sensor is less than or equal to the ratio of the focal length of the photoelectric sensor to the pixel size, and the photoelectric pod is suitable for the task requirement of the unmanned aerial vehicle for polling the overhead transmission line; otherwise, the photoelectric pod is not suitable for the task requirement of the unmanned aerial vehicle for polling the overhead transmission line.
Step 104): if the photoelectric pod is suitable for the task requirement of the unmanned aerial vehicle for patrolling and examining the overhead transmission line, calculating by using the load parameters of the visible light camera in the photoelectric pod to obtain a first stability theoretical value of the photoelectric pod, determining a second stability theoretical value of the photoelectric pod according to the requirement of the unmanned aerial vehicle for patrolling and examining the task for positioning accuracy, and if the actual stability value of the photoelectric pod is superior to the first stability theoretical value and the second stability theoretical value, determining that the photoelectric pod is suitable for the unmanned aerial vehicle for patrolling and examining the overhead transmission line.
In this step, the relational expression for calculating and obtaining the first stability theoretical value of the photoelectric pod by using the load parameters of the visible light camera in the photoelectric pod is as follows:
Figure GDA0002618601560000071
wherein, Δ X: the number of pixel offsets in the image row direction; Δ Y: the number of pixel offsets in the image column direction; kA: the number of pixel points in a unit angle in the row direction is/rad; kA＝NA/HFOV，NA: the number of pixels contained in each row; HFOV: a horizontal field angle; kE: the number of pixel points in a unit angle in the column direction is/rad; kE＝NE/VFOV，NE: the number of pixels contained in each column; VFOV: a vertical field angle; xtAnd Yt: respectively the coordinates of pixel points in each frame of image in the video shot by the visible light camera; Δ H and Δ P: the stable precision of the aiming line, the unit is rad; Δ R': a pure number quantity equal to Δ R, without units; Δ R: the aiming line has stable precision, and the unit is rad.
In the case of positioning the target, as shown in fig. 3, the relationship expression of the second stability theoretical value of the photoelectric pod and the corresponding positioning accuracy is as follows:
Figure GDA0002618601560000072
△α, pod pitch stability accuracy, unit rad, △β, pod orientation stability, unit rad, △ D, pod longitudinal positioning accuracy, unit m, Δ D, Htan (α + Δ α) -Htan α, △ C, pod transverse positioning accuracy, unit m;
Figure GDA0002618601560000073
h is the height to ground in m, α is the pod pitch angle in rad, β is the pod azimuth angle in rad.
It will be understood by those skilled in the art that all or part of the processes of the methods of the above embodiments may be implemented by a computer program, which can be stored in a general computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), or the like.
Fig. 4 is a block diagram of a photoelectric pod model selection device for unmanned aerial vehicle inspection according to an embodiment of the present invention. The method comprises the following steps:
the first judging unit 401 is used for determining whether the type of a photoelectric sensor arranged in the photoelectric pod is suitable for the unmanned aerial vehicle to patrol the task of the overhead transmission line;
the photoelectric sensor resolution determination unit 402 is used for determining the resolution of a photoelectric sensor arranged in a photoelectric pod suitable for the unmanned aerial vehicle to patrol and examine the overhead transmission line task by using the resolution of a target equivalent stripe according to Johnson's rule under the condition of not considering the nature and the image defects of the target;
a second determining unit 403, configured to determine an index value of the photoelectric sensor according to a known ratio between an identification distance of the photoelectric sensor and a resolution of the photoelectric sensor, compare the index value of the photoelectric sensor with a ratio between a focal length of the photoelectric sensor and a pixel size of the photoelectric sensor, and determine whether the photoelectric pod is suitable for a task requirement of routing inspection of an overhead power transmission line by an unmanned aerial vehicle according to a comparison result;
specifically, the second determination unit 403 compares the index value of the photoelectric sensor with the ratio between the focal length and the pixel size of the photoelectric sensor, and if the index value of the photoelectric sensor is less than or equal to the ratio between the focal length and the pixel size of the photoelectric sensor, the photoelectric pod is suitable for the task requirement of unmanned aerial vehicle routing inspection on the overhead transmission line; otherwise, the photoelectric pod is not suitable for the task requirement of the unmanned aerial vehicle for polling the overhead transmission line.
A third determining unit 404, configured to calculate, if the optoelectronic pod is suitable for the task requirement of the unmanned aerial vehicle for polling the overhead transmission line, a first stability theoretical value of the optoelectronic pod by using a load parameter of a visible light camera in the optoelectronic pod, determine, according to the requirement of the unmanned aerial vehicle for the positioning accuracy, a second stability theoretical value of the optoelectronic pod, and if the actual stability value of the optoelectronic pod is better than the first stability theoretical value and the second stability theoretical value, determine that the optoelectronic pod is suitable for the unmanned aerial vehicle for polling the overhead transmission line.
Specifically, the relational expression of the third determination unit 404 for obtaining the first stability theoretical value of the photoelectric pod by calculating the load parameter of the visible light camera in the photoelectric pod is as follows:
Figure GDA0002618601560000081
wherein, Δ X: the number of pixel offsets in the image row direction; Δ Y: the number of pixel offsets in the image column direction; kA: the number of pixel points in a unit angle in the row direction is/rad; kA＝NA/HFOV，NA: the number of pixels contained in each row; HFOV: a horizontal field angle; kE: the number of pixel points in a unit angle in the column direction is/rad; kE＝NE/VFOV，NE: the number of pixels contained in each column; VFOV: a vertical field angle; xtAnd Yt: respectively the coordinates of pixel points in each frame of image in the video shot by the visible light camera; Δ H and Δ P: the stable precision of the aiming line, the unit is rad; Δ R': a pure number quantity equal to Δ R, without units; Δ R: the aiming line has stable precision, and the unit is rad.
Specifically, the relational expression between the second theoretical stability value of the optoelectronic pod and the corresponding positioning accuracy in the third determination unit 404 is as follows:
Figure GDA0002618601560000082
△α, pod pitch stability accuracy, unit rad, △β, pod orientation stability, unit rad, △ D, pod longitudinal positioning accuracy, unit m, Δ D, Htan (α + Δ α) -Htan α, △ C, pod transverse positioning accuracy, unit m;
Figure GDA0002618601560000083
h is the height to ground in m, α is the pod pitch angle in rad, β is the pod azimuth angle in rad.
Those skilled in the art will also appreciate that the various functions performed in the exemplary embodiments of the present invention are implemented as hardware or software, depending upon the particular application and design requirements of the overall system. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present embodiments.
Furthermore, although several units of the apparatus are mentioned in the above detailed description, such division is not mandatory only. Indeed, the features and functions of two or more of the units described above may be embodied in one unit, according to embodiments of the invention. Also, the features and functions of one unit described above may be further divided into embodiments by a plurality of units.
Examples
In order to more intuitively describe the features and the operation principle of the present invention, the following description is given with reference to a practical application scenario.
The unmanned aerial vehicle is used for carrying out inspection on the overhead transmission line as an example, the service requirement is that fine inspection and fire source positioning are carried out, two types of pods can be selected, the focal length of a visible light load of the photoelectric pod A is 35mm, the pixel size is 6.25 mu m, the visual angle of a visible light camera is 45 degrees × 36 degrees, the resolution of a video picture is 1920 × 1080, and the overall stability is less than or equal to 5 × 10-4rad, the focal length of visible light load of the photoelectric pod B is 50mm, the pixel size is 7.48 mu m, the visual angle of a visible light camera is 45 degrees × 36 degrees, the resolution of a video picture is 1920 × 1080, and the overall stability is less than or equal to 1 × 10-3And (7) rad. Because of more parameters, the selection is difficult to be directly carried out through indexes.
When fine routing inspection is carried out, the pin target of cm level can be identified, and the resolution of the photoelectric pod is required to be not more than 5 × 10-4And m is selected. When fine routing inspection is executed, the unmanned aerial vehicle is positioned at the upper right 7 of the power transmission lineAt 0m, at this time
Figure GDA0002618601560000091
The ratio of the focal length to the pixel size of the photoelectric pod A is 5600, the ratio of the focal length to the pixel size of the photoelectric pod B is 6184, and both photoelectric pods conform to
Figure GDA0002618601560000092
The resolution ratio meets the requirement, and the photoelectric pod B has higher resolution ratio, so the traditional model selection method can draw the conclusion that the photoelectric pod B is more suitable for the inspection of the overhead transmission line.
Firstly, analyzing a first stability requirement, and under the condition that the stability precision of the three-axis aiming line is consistent, the first stability requirement of the photoelectric pod A is not more than 1.675 × 10-3rad, first stability requirement of the photovoltaic bird B is not greater than 1.745 × 10-3In the case of a ground altitude of 2000m, an azimuth angle and a pitch angle of 60 degrees, and a positioning accuracy of no more than 10m, a second stability requirement for the photovoltaic pod is that the pitch angle stability is superior to 1.25 × 10-3rad, azimuthal stability better than 6.2 × 10-4And (7) rad. Obviously, the electro-optical pod B does not meet the positioning accuracy requirements.
The photoelectric pod A is finally selected to carry out the inspection of the overhead transmission line by the method, the resolution meets the inspection requirement, the stability requirement is met, and various factors can be comprehensively considered to realize the optimal selection of the photoelectric pod.
The above embodiments are provided to further explain the objects, technical solutions and advantages of the present invention in detail, it should be understood that the above embodiments are merely exemplary embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalents, improvements, etc. made within the spirit and principle of the present invention should be included in the scope of the present invention.

Claims (6)

1. The utility model provides a photoelectric pod type selection method when unmanned aerial vehicle patrols and examines, its characterized in that includes:
determining whether the type of a photoelectric sensor arranged in the photoelectric pod is suitable for the unmanned aerial vehicle to inspect the task of the overhead transmission line;
aiming at a photoelectric sensor arranged in a photoelectric pod suitable for an unmanned aerial vehicle to patrol and examine an overhead transmission line task, determining the resolution of the photoelectric sensor by using the resolution of a target equivalent stripe under the condition of not considering target essence and image defects according to Johnson's rule; the system comprises an overhead power transmission circuit, a photoelectric sensor, a power supply and a power supply, wherein an inspection object of the overhead power transmission circuit comprises a line body, an accessory facility, a channel and a power protection area, and the resolution of the photoelectric sensor is half of the resolution requirement of the inspection object;
determining an index value of the photoelectric sensor according to a ratio between the known identification distance of the photoelectric sensor and the resolution of the photoelectric sensor, comparing the index value of the photoelectric sensor with the ratio between the focal length of the photoelectric sensor and the pixel size, and judging whether the photoelectric pod is suitable for the task requirement of the unmanned aerial vehicle inspection overhead transmission line according to a comparison result;
if the photoelectric pod is suitable for the task requirement of the unmanned aerial vehicle for patrolling and examining the overhead transmission line, calculating by using the load parameters of a visible light camera in the photoelectric pod to obtain a first stability theoretical value of the photoelectric pod, determining a second stability theoretical value of the photoelectric pod according to the requirement of the unmanned aerial vehicle for patrolling and examining the task for positioning accuracy, and if the actual stability value of the photoelectric pod is superior to the first stability theoretical value and the second stability theoretical value, determining that the photoelectric pod is suitable for the unmanned aerial vehicle for patrolling and examining the overhead transmission line;
the relational expression of the second stability theoretical value of the photoelectric pod and the corresponding positioning precision is as follows:
Figure FDA0002618601550000011
△α, pod pitch stability accuracy, unit rad, △β, pod orientation stability, unit rad, △ D, pod longitudinal positioning accuracy, unit m, Δ D, Htan (α + Δ α) -Htan α, △ C, pod transverse positioning accuracy, unit m;
Figure FDA0002618601550000012
h is the height to ground in m, α is the pod pitch angle in rad, β is the pod azimuth angle in rad.
2. The method as claimed in claim 1, wherein the relation expression for obtaining the first stability theoretical value of the optoelectronic pod by calculating the load parameter of the visible light camera in the optoelectronic pod is as follows:
Figure FDA0002618601550000013
wherein, Δ X: the number of pixel offsets in the image row direction; Δ Y: the number of pixel offsets in the image column direction; kA: the number of pixel points in a unit angle in the row direction is/rad; kA＝NA/HFOV，NA: the number of pixels contained in each row; HFOV: a horizontal field angle; kE: the number of pixel points in a unit angle in the column direction is/rad; kE＝NE/VFOV，NE: the number of pixels contained in each column; VFOV: a vertical field angle; xtAnd Yt: respectively the coordinates of pixel points in each frame of image in the video shot by the visible light camera; Δ H and Δ P: the stable precision of the aiming line, the unit is rad; Δ R': a pure number quantity equal to Δ R, without units; Δ R: the aiming line has stable precision, and the unit is rad.
3. The method of claim 1, wherein the step of determining whether the optoelectronic pod is suitable for the mission requirements of the unmanned aerial vehicle for routing inspection of the overhead transmission line based on the comparison comprises:
the index value of the photoelectric sensor is less than or equal to the ratio of the focal length of the photoelectric sensor to the pixel size, and the photoelectric pod is suitable for the task requirement of the unmanned aerial vehicle for polling the overhead transmission line; otherwise, the photoelectric pod is not suitable for the task requirement of the unmanned aerial vehicle for polling the overhead transmission line.
4. The utility model provides a photoelectric pod lectotype device when unmanned aerial vehicle patrols and examines, its characterized in that includes:
the first judgment unit is used for determining whether the type of a photoelectric sensor arranged in the photoelectric pod is suitable for the unmanned aerial vehicle to patrol the task of the overhead transmission line;
the photoelectric sensor resolution determination unit is used for determining the resolution of a photoelectric sensor arranged in a photoelectric pod suitable for the unmanned aerial vehicle to patrol and examine the overhead transmission line task by using the resolution of a target equivalent stripe according to Johnson's rule under the condition of not considering the nature and the image defects of the target; the system comprises an overhead power transmission circuit, a photoelectric sensor, a power supply and a power supply, wherein an inspection object of the overhead power transmission circuit comprises a line body, an accessory facility, a channel and a power protection area, and the resolution of the photoelectric sensor is half of the resolution requirement of the inspection object;
the second judgment unit is used for determining an index value of the photoelectric sensor according to a known ratio between the identification distance of the photoelectric sensor and the resolution of the photoelectric sensor, comparing the index value of the photoelectric sensor with the ratio between the focal length of the photoelectric sensor and the pixel size, and judging whether the photoelectric pod is suitable for the task requirement of the unmanned aerial vehicle for polling the overhead transmission line according to a comparison result;
the third judgment unit is used for calculating a first stability theoretical value of the photoelectric pod by using a load parameter of a visible light camera in the photoelectric pod if the photoelectric pod is suitable for the task requirement of the unmanned aerial vehicle for polling the overhead transmission line, determining a second stability theoretical value of the photoelectric pod according to the requirement of the unmanned aerial vehicle for polling the task on the positioning precision, and determining that the photoelectric pod is suitable for the unmanned aerial vehicle for polling the overhead transmission line if the actual stability value of the photoelectric pod is better than the first stability theoretical value and the second stability theoretical value;
the relational expression of the second stability theoretical value of the photoelectric pod in the third judging unit and the corresponding positioning precision is as follows:
Figure FDA0002618601550000031
wherein △α is pod pitch stability accuracy in unit rad, △β is pod azimuth stability in unit rad, △ D is pod longitudinal positioning accuracy in unit m, Δ D is H tan (α + Δ α) -H tan α, and △ C is pod transverse positioning accuracy in unit m;
Figure FDA0002618601550000032
h is the height to ground in m, α is the pod pitch angle in rad, β is the pod azimuth angle in rad.
5. The apparatus according to claim 4, wherein the third determination unit calculates a first stability theoretical value of the electro-optical pod by using the load parameter of the visible light camera in the electro-optical pod as a relational expression:
Figure FDA0002618601550000033
wherein, Δ X: the number of pixel offsets in the image row direction; Δ Y: the number of pixel offsets in the image column direction; kA: the number of pixel points in a unit angle in the row direction is/rad; kA＝NA/HFOV，NA: the number of pixels contained in each row; HFOV: a horizontal field angle; kE: the number of pixel points in a unit angle in the column direction is/rad; kE＝NE/VFOV，NE: the number of pixels contained in each column; VFOV: a vertical field angle; xtAnd Yt: respectively the coordinates of pixel points in each frame of image in the video shot by the visible light camera; Δ H and Δ P: stable precision of aiming lineIn units of rad; Δ R': a pure number quantity equal to Δ R, without units; Δ R: the aiming line has stable precision, and the unit is rad.
6. The device of claim 4, wherein the second determination unit compares an index value of the photoelectric sensor with a ratio between a focal length and a pixel size of the photoelectric sensor, and if the index value of the photoelectric sensor is less than or equal to the ratio between the focal length and the pixel size of the photoelectric sensor, the photoelectric pod is suitable for an unmanned aerial vehicle to inspect an overhead power transmission line task; otherwise, the photoelectric pod is not suitable for the task requirement of the unmanned aerial vehicle for polling the overhead transmission line.
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