CN107084725A - A kind of three-dimensional flight course planning method of multi-rotor unmanned aerial vehicle electric inspection process - Google Patents
A kind of three-dimensional flight course planning method of multi-rotor unmanned aerial vehicle electric inspection process Download PDFInfo
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Abstract
The invention discloses a kind of three-dimensional flight course planning method of multi-rotor unmanned aerial vehicle electric inspection process that can quickly determine waypoint location.Multi-rotor unmanned aerial vehicle electric inspection process three-dimensional flight course planning method, by setting up course line drawing board；Then set up steel tower and overlook drawing-board coordinate system；It is then determined that the horizontal longitude and latitude position of destination (X, Y) and the destination position platform-lens direction；Destination elevation information H is determined again；Task attribute configuration, which is carried out, to the destination that three dimensional local information is determined obtains course data；Obtained course data is finally imported into map.Multi-rotor unmanned aerial vehicle electric inspection process three-dimensional flight course planning method is using steel tower as object, the three dimensional local information of destination can be quickly obtained by calculating, so as to solve during electric inspection process, conventional ground station can not efficiently accomplish the problems such as three-dimensional flight course planning of electric inspection process and complicated planning.It is adapted in the popularization and application of unmanned air vehicle technique field.
Description
Technical field
The present invention relates to unmanned air vehicle technique field, especially a kind of three-dimensional flight course planning side of multi-rotor unmanned aerial vehicle electric inspection process
Method.
Background technology
With the introducing of new technology, new method and new management philosophy, unmanned plane is progressively paid attention to and starts to answer
For patrolling transmission line operation, the deficiency of Traditional Man tour is compensate for a certain extent, it is particularly artificial in high mountain etc.
It is difficult to become apparent up to regional advantages.Wherein, multi-rotor unmanned aerial vehicle flying speed is slow, can be to specific with spot hover function
Make an inspection tour target and carry out details observation, be conducive to disfigurement discovery.
At present, many rotor transmission line of electricity electric inspection process processes mainly have two ways：Driver's manual manipulation mode and
Course line pattern.Patrol mode under manual mode fully relies on manipulation hand and drives unmanned plane by visually judging unmanned plane position；
Under the pattern of course line, operating personnel need to shift to an earlier date is based on mapping course line in earth station, treats unmanned plane after the completion of the upload of course line
Flight plan is performed according to course line.
Currently, the electric inspection process process under the pattern of course line, staff's planning course line fully relies on map planning.Due to iron
Electric inspection process flight course planning under the special applications scene of tower inspection, this pattern has the following characteristics that and defect：
(1) there is more destination in the additional smaller range of steel tower, it is desirable to need to add near steel tower when planning course line
Crypto set destination.By map resolution ratio is relatively low and satellite map projects institute extremely, the flight course planning pattern of map is based entirely on
The error cooked up is very big, it is impossible to meet electricity needs, it is often necessary to which correct course line can just be obtained once by continuing to optimize course line；
(2) height change is more.Destination of the electric inspection process application requirement near steel tower is distributed in different height position, is based on
The position that effectively can not be quickly needed under plane map or Google Earth puppet 3D patterns.
The content of the invention
The technical problems to be solved by the invention, which are to provide, a kind of can quickly determine the multi-rotor unmanned aerial vehicle of waypoint location
Electric inspection process three-dimensional flight course planning method.
The technical solution adopted for the present invention to solve the technical problems is：Multi-rotor unmanned aerial vehicle electric inspection process three-dimensional course line
Planing method, comprises the following steps：
S1, set up course line drawing board；Orthogonal projection is carried out to iron tower of power transmission line and obtains steel tower vertical view drawing-board and steel tower side
View drawing board；
S2, set up steel tower overlook drawing-board coordinate system；Diagonal line intersection point using steel tower four column foot points A, B, C, D is picture
Plate coordinate origin o, using latitude direction as drawing board coordinate system transverse axis, using longitudinal as the drawing board coordinate system longitudinal axis；
Overlooked in steel tower in drawing-board coordinate system, origin o coordinate is (xo, yo)：
Wherein, (xa, ya)、(xb, yb)、(xc, yc)、(xd, yd) be respectively in column foot point A, B, C, D under gps coordinate system
Coordinate；
Overlooked in steel tower in drawing-board coordinate system, column foot point A, B, C, D coordinate are：
S3, the horizontal longitude and latitude position for determining destination (X, Y) and the destination position platform-lens direction；The boat
The horizontal longitude and latitude position of point is by h, DA, DB, DEIt is determined that, the destination position platform-lens are towards by the relative head of platform-lens
The angle, θ of direction is determined；
H simultaneously represents destination distance Iron column foot end distance,
Wherein, L=(DA+DB+DAB)/2,
DARepresent the distance between destination and column foot point A, DA=[(X-XA)2+(Y-YA)2]1/2；
DBRepresent the distance between destination and column foot point B, DB=[(X-XB)2+(Y-YB)2]1/2；
DERepresent distance of the destination apart from column foot point A Yu pin point B lines midpoint：
DE=[(X-XE)2+(Y-YE)2]1/2；
DABRepresent the distance between column foot point A and pin point B, DAB=[(XA-XB)2+(YA-YB)2]1/2；
θ=90- alpha-betas, wherein
Cos α=(DB 2+DE 2-DBE 2)/2DBDE；
Cos β=(DB 2+DBE 2-DE 2)/2DBDBE；
S4, the elevation information H for determining destination (X, Y)；Using steel tower side view drawing-board as scale, in steel tower side view drawing-board
Directly read destination height H；
S5, to determine three dimensional local information destination (X, Y) carry out task attribute configuration obtain course data；
S6, by obtained course data import map.
Beneficial effects of the present invention：The multi-rotor unmanned aerial vehicle electric inspection process three-dimensional flight course planning method using steel tower as object,
Can quickly obtain the three dimensional local information of destination by calculating, so as to solve during electric inspection process, conventional ground station without
Method efficiently accomplishes the problems such as three-dimensional flight course planning of electric inspection process and complicated planning.
Brief description of the drawings
Fig. 1 is iron tower of power transmission line exploded view；
Fig. 2 is that steel tower overlooks drawing-board schematic diagram；
Fig. 3 is steel tower side view drawing-board schematic diagram；
Fig. 4 is that steel tower overlooks drawing-board coordinate system and mathematical modeling.
Embodiment
The three-dimensional flight course planning method of multi-rotor unmanned aerial vehicle electric inspection process of the present invention, comprises the following steps：
S1, set up course line drawing board；Orthogonal projection is carried out to iron tower of power transmission line and obtains steel tower vertical view drawing-board and steel tower side
View drawing board；Steel tower is decomposed into top view and side view two parts, is respectively used to determine that the horizontal longitude and latitude of destination and height are believed
Breath, Fig. 1 is iron tower of power transmission line exploded view；Fig. 2 is that steel tower overlooks drawing-board schematic diagram；Fig. 3 illustrates for steel tower side view drawing-board
Figure；
S2, set up steel tower overlook drawing-board coordinate system；As shown in figure 4, due to each steel tower distributing position and towards having
Institute is different, and the relative position relation of steel tower and unmanned plane can not be effectively obtained in gps coordinate system.Therefore, the present invention is with iron
Tower is object, the diagonal line intersection point using steel tower four column foot points A, B, C, D as drawing board coordinate origin o, using latitude direction as
Drawing board coordinate system transverse axis, using longitudinal as the drawing board coordinate system longitudinal axis；
Overlooked in steel tower in drawing-board coordinate system, origin o coordinate is (xo, yo)：
Wherein, (xa, ya)、(xb, yb)、(xc, yc)、(xd, yd) be respectively in column foot point A, B, C, D under gps coordinate system
Coordinate；
Overlooked in steel tower in drawing-board coordinate system, column foot point A, B, C, D coordinate are：
S3, the horizontal longitude and latitude position for determining destination (X, Y) and the destination position platform-lens direction；The boat
The horizontal longitude and latitude position of point is by h, DA, DB, DEIt is determined that, the destination position platform-lens are towards by the relative head of platform-lens
The angle, θ of direction is determined；
H simultaneously represents destination distance Iron column foot end distance,
Wherein, L=(DA+DB+DAB)/2,
DARepresent the distance between destination and column foot point A, DA=[(X-XA)2+(Y-YA)2]1/2；
DBRepresent the distance between destination and column foot point B, DB=[(X-XB)2+(Y-YB)2]1/2；
DEDistance of the destination apart from column foot point A Yu pin point B lines midpoint is represented, E represents AB midpoints：
DE=[(X-XE)2+(Y-YE)2]1/2；
DABRepresent the distance between column foot point A and pin point B, DAB=[(XA-XB)2+(YA-YB)2]1/2；
θ=90- alpha-betas, wherein
Cos α=(DB 2+DE 2-DBE 2)/2DBDE；
Cos β=(DB 2+DBE 2-DE 2)/2DBDBE；
S4, the elevation information H for determining destination (X, Y)；Using steel tower side view drawing-board as scale, in steel tower side view drawing-board
Directly read destination height H, and Dynamic Announce destination height and insulator height and position relation；
S5, to determine three dimensional local information destination (X, Y) carry out task attribute configuration obtain course data；
S6, by obtained course data import map.
Multi-rotor unmanned aerial vehicle electric inspection process three-dimensional flight course planning method quick can be obtained using steel tower as object by calculating
To the three dimensional local information of destination, so as to solve during electric inspection process, conventional ground station can not efficiently accomplish electric inspection process
The problems such as three-dimensional flight course planning and complicated planning.
Claims (1)
1. a kind of three-dimensional flight course planning method of multi-rotor unmanned aerial vehicle electric inspection process, it is characterised in that comprise the following steps：
S1, set up course line drawing board；Orthogonal projection is carried out to iron tower of power transmission line and obtains steel tower vertical view drawing-board and steel tower side view
Drawing board；
S2, set up steel tower overlook drawing-board coordinate system；Sat by drawing board of steel tower four column foot points A, B, C, D diagonal line intersection point
Mark system origin o, using latitude direction as drawing board coordinate system transverse axis, using longitudinal as the drawing board coordinate system longitudinal axis；
Overlooked in steel tower in drawing-board coordinate system, origin o coordinate is (xo,yo)：
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Wherein, (xa,ya)、(xb,yb)、(xc,yc)、(xd,yd) it is respectively seat in column foot point A, B, C, D under gps coordinate system
Mark；
Overlooked in steel tower in drawing-board coordinate system, column foot point A, B, C, D coordinate are：
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S3, the horizontal longitude and latitude position for determining destination (X, Y) and the destination position platform-lens direction；The destination water
Mean longitude Position Latitude is by h, DA, DB, DEIt is determined that, the destination position platform-lens are towards by the relative head direction of platform-lens
Angle, θ determine；
H simultaneously represents destination distance Iron column foot end distance,
Wherein, L=(DA+DB+DAB)/2,
DARepresent the distance between destination and column foot point A, DA=[(X-XA)2+(Y-YA)2]1/2；
DBRepresent the distance between destination and column foot point B, DB=[(X-XB)2+(Y-YB)2]1/2；
DERepresent distance of the destination apart from column foot point A Yu pin point B lines midpoint：
DE=[(X-XE)2+(Y-YE)2]1/2；
DABRepresent the distance between column foot point A and pin point B, DAB=[(XA-XB)2+(YA-YB)2]1/2；
θ=90- alpha-betas, wherein
Cos α=(DB 2+DE 2-DBE 2)/2DBDE；
Cos β=(DB 2+DBE 2-DE 2)/2DBDBE；
S4, the elevation information H for determining destination (X, Y)；Using steel tower side view drawing-board as scale, in steel tower side view drawing-board directly
Read destination height H；
S5, to determine three dimensional local information destination (X, Y) carry out task attribute configuration obtain course data；
S6, by obtained course data import map.
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| CN108413964A (en) * | 2018-03-08 | 2018-08-17 | 云南电网有限责任公司电力科学研究院 | A kind of unmanned plane polling transmission line path planning method and system |
| CN108594847A (en) * | 2018-03-27 | 2018-09-28 | 广东电网有限责任公司 | A kind of autocontrol method of power transmission line unmanned machine laser radar modeling |
| CN108983809A (en) * | 2018-07-16 | 2018-12-11 | 福州日兆信息科技有限公司 | The method and unmanned plane of accurate identification positioning surrounding based on unmanned plane |
| CN109087312A (en) * | 2018-07-25 | 2018-12-25 | 深圳高科新农技术有限公司 | A kind of unmanned plane course line automatic planning and system |
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| CN111402447A (en) * | 2020-03-25 | 2020-07-10 | 南方电网海南数字电网研究院有限公司 | Power grid line inspection method, server, system and storage medium |
| CN111814691A (en) * | 2020-07-10 | 2020-10-23 | 广东电网有限责任公司 | Space expansion display method and device for transmission tower image |
| CN111814691B (en) * | 2020-07-10 | 2022-01-21 | 广东电网有限责任公司 | Space expansion display method and device for transmission tower image |
| CN111781954A (en) * | 2020-08-26 | 2020-10-16 | 云南电网有限责任公司迪庆供电局 | Unmanned aerial vehicle inspection control method and device |
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| CN112904896A (en) * | 2021-01-21 | 2021-06-04 | 中国南方电网有限责任公司超高压输电公司柳州局 | Unmanned aerial vehicle autonomous driving route multiplexing method |
| CN112904896B (en) * | 2021-01-21 | 2022-11-04 | 中国南方电网有限责任公司超高压输电公司柳州局 | Unmanned aerial vehicle autonomous driving route multiplexing method |
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