CN108645383A - A method of tree line distance is measured based on unmanned plane - Google Patents
A method of tree line distance is measured based on unmanned plane Download PDFInfo
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- CN108645383A CN108645383A CN201810843317.XA CN201810843317A CN108645383A CN 108645383 A CN108645383 A CN 108645383A CN 201810843317 A CN201810843317 A CN 201810843317A CN 108645383 A CN108645383 A CN 108645383A
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- module
- unmanned plane
- image
- ground surface
- trees
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/04—Interpretation of pictures
- G01C11/06—Interpretation of pictures by comparison of two or more pictures of the same area
- G01C11/12—Interpretation of pictures by comparison of two or more pictures of the same area the pictures being supported in the same relative position as when they were taken
Abstract
The invention discloses a kind of methods measuring tree line distance based on unmanned plane, including ground surface end and day dead end, the ground surface end includes control module, first communication module, image detection module and data processing module, and the day dead end includes unmanned plane and the binocular stereo vision taking module on unmanned plane and second communication module；And include the following steps：A. the control module of ground surface end shoots the image of two width trees and conducting wire by first communication module wireless control unmanned plane during flying to designated position by binocular stereo vision taking module again；B. image wireless is sent to ground surface end by day dead end by second communication module；C. whether ground surface end judges in image to include conducting wire and trees by image detection module, and is matched with trees to the conducting wire in two images；D. ground surface end is calculated by data processing module and stores in image the advantages that conducting wire is at a distance from trees, and with accurate measurement tree line distance, safety is easy-to-use, not affected by environment.
Description
Technical field
The present invention relates to a kind of methods measuring tree line distance based on unmanned plane.
Background technology
The distance between trees and conducting wire is needed to measure during electric power overhaul, existing measurement method is main
Including：It is theodolite method ranging, the ranging of Hand-hold Distance Finder method, the ranging of insulation measurement ruler method, laser radar scanning ranging, artificial
It measures；Wherein theodolite method ranging and Hand-hold Distance Finder method ranging is limited by landform, it is not easy to capture trees
Therefore measuring uncertainty is larger for top and the nearest point of conductor spacing trees；The use of insulation measurement ruler method ranging is by ground
Shape environmental restrictions are larger, and task difficulty is big；Laser radar method measurement tree line range accuracy is higher, but equipment is expensive, measurement cost
Greatly；Since conducting wire and trees are in higher region, manual measurement task difficulty is larger, and manual measurement precision is relatively low, ground
The more dangerously steep region service personnel of shape is not easily accessible to, and exists simultaneously larger security risk, manual measurement tree line distance essence
Degree is poor, and laser radar range cost is heavier.
Invention content
It is an object of the invention to overcome the deficiency of the prior art, a kind of side measuring tree line distance based on unmanned plane is provided
Method.
The technical solution adopted by the present invention to solve the technical problems is：
A method of tree line distance, including ground surface end and day dead end being measured based on unmanned plane, the ground surface end includes control
Molding block, first communication module, image detection module and data processing module, the day dead end include unmanned plane and be mounted on nothing
Binocular stereo vision taking module on man-machine and second communication module；And include the following steps：
A. the control module of ground surface end is passed through again by first communication module wireless control unmanned plane during flying to designated position
Binocular stereo vision taking module shoots the image of two width trees and conducting wire；
B. image wireless is sent to ground surface end by day dead end by second communication module；
C. whether ground surface end judges in image to include conducting wire and trees by image detection module, and in two images
Conducting wire is matched with trees；
D. ground surface end is calculated by data processing module and stores in image conducting wire at a distance from trees.
It is also equipped with a locating module on the unmanned plane, passes through described for record-setting flight track and by track data
Two communication modules are sent to control module, and the data processing module sets safe distance, and statistics conducting wire is small at a distance from trees
In the flight path point of safe distance.
The first communication module includes the image passback module for sending image.
The second communication module includes the image receiver module for receiving image.
The binocular stereo vision taking module includes two cameras being arranged on unmanned plane.
The binocular stereo vision taking module is mounted on by holder on unmanned plane.
The ground surface end includes intelligent terminal, APP is installed on the intelligent terminal with call ground surface end control module, the
One communication module, image detection module and data processing module.
The beneficial effects of the invention are as follows：
1, the image that trees and conducting wire are shot by UAV flight's binocular stereo vision taking module, to the tree in image
Line is judged and is matched the distance for further calculating tree line, accurate to measure, and has higher operational security, ease for use and essence
True property can be not affected by the surrounding environment and accurately obtain trees at a distance from conducting wire, to ensureing power circuit safety and stability
Operation has larger effect.
2, by locating module record-setting flight track, further ancillary statistics conducting wire is less than safe distance at a distance from trees
Flight path point, be conducive to analyze power circuit channel screen of trees problem.
3, by being arranged, image returns module and image receiver module realizes sending and receiving for image.
4, binocular stereo vision taking module is mounted on unmanned plane by holder and improves binocular stereo vision taking module
Stability improves shooting quality.
5, APP is installed to call control module, first communication module, the image detection module of ground surface end by intelligent terminal
And data processing module, it is convenient and efficient.
Invention is further described in detail with reference to the accompanying drawings and embodiments；But one kind of the present invention being based on unmanned plane
The method for measuring tree line distance is not limited to embodiment.
Description of the drawings
Fig. 1 is the system block diagram of a preferred embodiment of the present invention；
Fig. 2 is the flow chart of a preferred embodiment of the present invention.
Specific implementation mode
Embodiment, shown referring to Fig. 1 and Fig. 2, a kind of method measuring tree line distance based on unmanned plane of the invention is a kind of
Based on the method that unmanned plane measures tree line distance, including ground surface end 100 and day dead end 200, the ground surface end 100 includes control mould
Block 110, first communication module 120, image detection module 130 and data processing module 140；The first communication module 120 wraps
The image for including to send image returns module 121；The day dead end 200 includes unmanned plane and passing through on unmanned plane
Holder is mounted on binocular stereo vision taking module 210, second communication module 220 and locating module 230 on unmanned plane；It is described
Binocular stereo vision taking module 210 includes two cameras being arranged on unmanned plane；The second communication module 220 includes
To receive the image receiver module 221 of image；The locating module 230 is used for record-setting flight track, and includes the following steps：
A. the control module 110 of ground surface end 100 passes through 120 wireless control unmanned plane during flying of first communication module to specific bit
Set the image for shooting two width trees and conducting wire by binocular stereo vision taking module 210 again；
B. image wireless is sent to ground surface end 100 by day dead end 200 by second communication module 220；
C. whether ground surface end 100 judges in image to include conducting wire and trees by image detection module 130, and to two width figures
Conducting wire as in is matched with trees；
D. ground surface end 100 is calculated by data processing module 140 and stores in image conducting wire at a distance from trees.
E. locating module 230 is sent to control module 110, the data processing mould by the second communication module 220
Block 140 sets safe distance, and statistics conducting wire is less than the flight path point of safe distance at a distance from trees.
The ground surface end 100 includes intelligent terminal, and APP is installed on the intelligent terminal to call the control of ground surface end 100
Module 110, first communication module 120, image detection module 130 and data processing module 140, it is convenient and efficient.
A kind of method that tree line distance is measured based on unmanned plane that above-described embodiment only is used for further illustrating the present invention, but
It is every simply to be repaiied to any made by above example according to the technical essence of the invention the invention is not limited in embodiment
Change, equivalent variations and modification, each falls in the protection domain of technical solution of the present invention.
Claims (7)
1. a kind of method measuring tree line distance based on unmanned plane, it is characterised in that：Including ground surface end and day dead end, the ground
End includes control module, first communication module, image detection module and data processing module, the day dead end include unmanned plane with
Binocular stereo vision taking module on unmanned plane and second communication module；And include the following steps：
A. the control module of ground surface end passes through binocular again by first communication module wireless control unmanned plane during flying to designated position
Stereoscopic vision taking module shoots the image of two width trees and conducting wire；
B. image wireless is sent to ground surface end by day dead end by second communication module；
C. whether ground surface end judges in image to include conducting wire and trees by image detection module, and to the conducting wire in two images
It is matched with trees；
D. ground surface end is calculated by data processing module and stores in image conducting wire at a distance from trees.
2. a kind of method measuring tree line distance based on unmanned plane according to claim 1, is also installed on the unmanned plane
There is a locating module, control module be sent to for record-setting flight track and by track data by the second communication module,
The data processing module sets safe distance, and statistics conducting wire is less than the flight path point of safe distance at a distance from trees.
3. a kind of method measuring tree line distance based on unmanned plane according to claim 1, it is characterised in that：Described first
Communication module includes sending the image passback module of image.
4. a kind of method measuring tree line distance based on unmanned plane according to claim 1, it is characterised in that：Described second
Communication module includes receiving the image receiver module of image.
5. a kind of method measuring tree line distance based on unmanned plane according to claim 1, it is characterised in that：The binocular
Stereoscopic vision taking module includes two cameras being arranged on unmanned plane.
6. a kind of method measuring tree line distance based on unmanned plane according to claim 1, it is characterised in that：The binocular
Stereoscopic vision taking module is mounted on by holder on unmanned plane.
7. a kind of method measuring tree line distance based on unmanned plane according to claim 1, it is characterised in that：The ground
End includes intelligent terminal, and installation APP is to call the control module of ground surface end, first communication module, image on the intelligent terminal
Detection module and data processing module.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810843317.XA CN108645383A (en) | 2018-07-27 | 2018-07-27 | A method of tree line distance is measured based on unmanned plane |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810843317.XA CN108645383A (en) | 2018-07-27 | 2018-07-27 | A method of tree line distance is measured based on unmanned plane |
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| CN108645383A true CN108645383A (en) | 2018-10-12 |
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| CN201810843317.XA Pending CN108645383A (en) | 2018-07-27 | 2018-07-27 | A method of tree line distance is measured based on unmanned plane |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109816643A (en) * | 2019-01-16 | 2019-05-28 | 云南电网有限责任公司昭通供电局 | It is a kind of based on line defct identification tree line apart from intelligent analysis method |
| CN109855596A (en) * | 2018-12-29 | 2019-06-07 | 国网山东省电力公司高唐县供电公司 | A kind of carrying unmanned plane formula object height measurement method |
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| CN106356757A (en) * | 2016-08-11 | 2017-01-25 | 河海大学常州校区 | Method for inspecting electric power lines by aid of unmanned aerial vehicle on basis of human vision characteristics |
| CN106355832A (en) * | 2016-10-31 | 2017-01-25 | 江苏濠汉信息技术有限公司 | Method for monitoring distance from dangerous object to power transmission and distribution line channel |
| CN205940538U (en) * | 2016-08-16 | 2017-02-08 | 南方电网科学研究院有限责任公司 | Transmission line unmanned aerial vehicle distance -measuring device |
| CN107479059A (en) * | 2017-08-07 | 2017-12-15 | 广州市极臻智能科技有限公司 | A kind of overhead line based on unmanned plane and vegetation distance-measuring device and method |
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2018
- 2018-07-27 CN CN201810843317.XA patent/CN108645383A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106356757A (en) * | 2016-08-11 | 2017-01-25 | 河海大学常州校区 | Method for inspecting electric power lines by aid of unmanned aerial vehicle on basis of human vision characteristics |
| CN205940538U (en) * | 2016-08-16 | 2017-02-08 | 南方电网科学研究院有限责任公司 | Transmission line unmanned aerial vehicle distance -measuring device |
| CN106355832A (en) * | 2016-10-31 | 2017-01-25 | 江苏濠汉信息技术有限公司 | Method for monitoring distance from dangerous object to power transmission and distribution line channel |
| CN107479059A (en) * | 2017-08-07 | 2017-12-15 | 广州市极臻智能科技有限公司 | A kind of overhead line based on unmanned plane and vegetation distance-measuring device and method |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109855596A (en) * | 2018-12-29 | 2019-06-07 | 国网山东省电力公司高唐县供电公司 | A kind of carrying unmanned plane formula object height measurement method |
| CN109816643A (en) * | 2019-01-16 | 2019-05-28 | 云南电网有限责任公司昭通供电局 | It is a kind of based on line defct identification tree line apart from intelligent analysis method |
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Application publication date: 20181012 |