CN108733755A - A kind of intelligent polling method and system based on transmission line of electricity three-dimensional information - Google Patents
A kind of intelligent polling method and system based on transmission line of electricity three-dimensional information Download PDFInfo
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- CN108733755A CN108733755A CN201810322230.8A CN201810322230A CN108733755A CN 108733755 A CN108733755 A CN 108733755A CN 201810322230 A CN201810322230 A CN 201810322230A CN 108733755 A CN108733755 A CN 108733755A
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- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
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- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C1/00—Registering, indicating or recording the time of events or elapsed time, e.g. time-recorders for work people
- G07C1/20—Checking timed patrols, e.g. of watchman
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Abstract
The invention discloses a kind of intelligent polling method and system based on transmission line of electricity three-dimensional information, acquisition target object three-dimensional data, extraction transmission line of electricity target object model, the appurtenances information of location information and/or target object；The threedimensional model of target object or/and appurtenances is generated using dimensional Modeling Technology；According to each target object type information, its local coordinate information in three dimensions is obtained, the three-dimensional space position at each target object center is calculated；It determines safety patrol inspection operation distance, in conjunction with component three-dimensional space position to be detected, determines hovering coordinate, move towards to formulate polling path and/or local countermeasures with the coordinate that hovers according to transmission line of electricity, generate flight patrol task.
Description
Technical field
The present invention relates to a kind of intelligent polling method and system based on transmission line of electricity three-dimensional information.
Background technology
With the development of society and economy, electricity needs and dependence are increased increasingly, the operating status of transmission line of electricity, directly
Affect the stable development with national economy of society.Unmanned plane inspection technology is as a kind of novel, efficient patrol mode quilt
It is introduced into daily patrol task, greatly improves the working efficiency and inspection precision of inspection.But current unmanned plane pair
The patrol task of transmission line of electricity is still mainly completed by manual operation, and staff is realized by earth station and remote controler
Unmanned plane inspection platform manually controls, and labor intensity is big and more demanding to the operating experience of staff, patrol experience, urgently
Intelligent, automation cruising inspection system is needed to realize intelligence, the automation inspection of transmission line of electricity critical component, and then promotes nothing
Application of the man-machine inspection technology in polling transmission line field.
In existing transmission line of electricity automated collection systems and method, what Power Group Electric Power Research Institute of Shandong Province proposed
The power transmission line unmanned machine inspection cloud platform control method (ZL201210302421.0) of view-based access control model servo and a kind of view-based access control model
The shaft tower image capturing system and its method (ZL201510907466.7) of servo capture power transmission line by the method for view-based access control model
The critical component of road and shaft tower, and combine the automatic collection of vision servo system realization critical component.Since transmission line of electricity is in
The influence of the factors such as in spacious natural environment, visible sensation method is easily illuminated by the light, weather, leads to the reduction of critical component positioning accuracy,
To can not steadily realize the intelligent acquisition of critical component information.The circuit that space flight view (Beijing) Science and Technology Ltd. proposes
Inspection standardized acquisition method and system (CN201510504379.4) accumulate data using manual control flight early period and operation, if
The RTE DATA and camera parameter for determining unmanned plane inspection realize the fixed point for particular device information, repeated acquisition.This method
Historical data can only be relied on to carry out repeating inspection work, in the new patrol task of execution, need prior manual operation unmanned plane
Inspection platform obtains track data, hovering GPS information and camera rotation data information, there is a large amount of repeated labor.Moreover,
Unmanned plane outwork environment is complicated, unmanned aerial vehicle platform can not ensure to repeat inspection air route, GPS information accuracy, cause to adopt
Collect information misalignment.
Invention content
The present invention is to solve the above-mentioned problems, it is proposed that a kind of intelligent polling method based on transmission line of electricity three-dimensional information and
System, the present invention utilize dimensional Modeling Technology, establish the three-dimensional information of transmission line of electricity；Then target pair is determined according to patrol task
As and component global information and local message, the center of calculating unit；Finally move towards and hover according to transmission line of electricity to sit
Mark plans inspection route and forms patrol task, is issued to unmanned plane inspection platform and flies control end, is independently completed to close by inspection platform
The intelligent acquisition of key member.
To achieve the goals above, the present invention adopts the following technical scheme that：
A kind of intelligent polling method based on transmission line of electricity three-dimensional information can be applied to patrol unmanned machine, including following step
Suddenly：
Target object three-dimensional data is obtained, the satellite information of transmission line of electricity target object is extracted；
The threedimensional model of target object is generated using dimensional Modeling Technology；
According to each target object type information, its local coordinate information in three dimensions is obtained, each mesh is calculated
Mark the three-dimensional space position of object centers；
It determines safety patrol inspection operation distance, in conjunction with component three-dimensional space position to be detected, determines hovering coordinate.According to defeated
Electric line is moved towards to formulate polling path and or local countermeasures with hovering coordinate, generates flight patrol task.
Further, include using the process of the threedimensional model of dimensional Modeling Technology generation target object：
Build target object and the appurtenances model including target object in structure and insulator and gold utensil；
Extract target object model, target object position, target object direction and the attaching part in transmission line information
The world coordinates of part and local coordinate information, the relative position information of forming member module and target object intermodule；
The information index table for establishing target object model, carries out modular target object three based on information index table
Dimension is rebuild, and transmission line of electricity target object three-dimensional abstract figure is formed.
Further, it builds target object and the process of appurtenances model includes：
Three-dimensional abstract modeling is carried out to angle bar, and sets transformation parameter, angle bar length is modified, according to target object
Job specfication is combined into the supportive body of target object；
The all types of tower heads of target object are modeled, different structural parameters are set；
The gold utensil patrolled insulator and emphasis carries out abstract modeling, describes the shape information of each component substantially.
Further, the essential information of information index table includes device name, type and attribute information.
Further, the attribute information includes angle, length and coordinate.
Further, the process of the local coordinate information of acquisition target object appurtenances in three dimensions includes：
According to the transmission line of electricity target object three-dimensional abstract figure of structure, the three-dimensional coordinate information of each endpoint of obtaining widget,
Calculating unit center position；
In conjunction with inspection direction of advance, arrangement from the bottom to top is carried out to each member center point position.
Further, member center point position is being averaged for the sum of three-dimensional coordinate information of each endpoint of the component
Value.
Further, it during generating flight patrol task, is generated according to component locations and safety patrol inspection operation distance
Inspection hovering sequence, according to target object and line alignment, preliminary planning flight path keeps flight path identical as line alignment, and and line
Road keeps safety patrol inspection operation distance.
Further, when carrying out hovering operation, using hovering trajectory planning route, hovering space is cut into grid knot
Structure carries out local paths planning using graph search algorithm, generates the shortest flight by a hovering point to another hovering point
Path.
A kind of intelligent inspection system based on transmission line of electricity three-dimensional information, including：
Parameter acquisition module connects power grid GIS system, obtains target object three-dimensional data, extracts transmission line of electricity target pair
As the appurtenances information such as model, location information；
Three-dimensional modeling module generates the threedimensional model of target object using dimensional Modeling Technology；
Position information acquisition module obtains its part in three dimensions according to the type information of each target object
Coordinate information calculates the three-dimensional space position at each target object center；
Patrol strategy builds module, determines safety patrol inspection operation distance, in conjunction with component three-dimensional space position to be detected, really
Surely hover coordinate, moves towards to formulate polling path and or local countermeasures with the coordinate that hovers according to transmission line of electricity, generates flight and patrol
Inspection task.
Compared with prior art, beneficial effects of the present invention are：
The present invention utilizes dimensional Modeling Technology, establishes the three-dimensional information of transmission line of electricity；Then mesh is determined according to patrol task
The global information and local message for marking object, calculate the center of target component；Center is by accurate GIS static informations
It is calculated, precision height high to the robustness of environment；Finally move towards and hover according to transmission line of electricity coordinate, plans inspection route
And patrol task is formed, it can independently complete the intelligent acquisition of critical component.
Description of the drawings
The accompanying drawings which form a part of this application are used for providing further understanding of the present application, and the application's shows
Meaning property embodiment and its explanation do not constitute the improper restriction to the application for explaining the application.
Fig. 1 is target object three-dimensional modeling flow chart of the present invention；
Fig. 2 is that the present invention is based on the UAV Intelligent method for inspecting flow charts of transmission line of electricity three-dimensional information.
Specific implementation mode：
The invention will be further described with embodiment below in conjunction with the accompanying drawings.
It is noted that following detailed description is all illustrative, it is intended to provide further instruction to the application.Unless another
It indicates, all technical and scientific terms used herein has usual with the application person of an ordinary skill in the technical field
The identical meanings of understanding.
It should be noted that term used herein above is merely to describe specific implementation mode, and be not intended to restricted root
According to the illustrative embodiments of the application.As used herein, unless the context clearly indicates otherwise, otherwise singulative
It is also intended to include plural form, additionally, it should be understood that, when in the present specification using term "comprising" and/or " packet
Include " when, indicate existing characteristics, step, operation, device, component and/or combination thereof.
In the present invention, term for example "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", " side ",
The orientation or positional relationship of the instructions such as "bottom" is to be based on the orientation or positional relationship shown in the drawings, only to facilitate describing this hair
Bright each component or component structure relationship and the relative of determination, not refer in particular to either component or element in the present invention, cannot understand
For limitation of the present invention.
In the present invention, term such as " affixed ", " connected ", " connection " shall be understood in a broad sense, and indicate may be a fixed connection,
Can also be to be integrally connected or be detachably connected；It can be directly connected, it can also be indirectly connected through an intermediary.For
The related scientific research of this field or technical staff can determine the concrete meaning of above-mentioned term in the present invention as the case may be,
It is not considered as limiting the invention.
As shown in Fig. 2, a kind of UAV Intelligent method for inspecting based on transmission line of electricity three-dimensional information, using shaft tower as target pair
As illustrating.
It certainly, in other embodiments, can be using other representative objects on transmission line of electricity as target pair
As such as using insulator chain as target object.
Accurately shaft tower GPS information, shaft tower model and appurtenances type are obtained by power grid GIS system, utilizes three-dimensional
Modeling technique establishes the three-dimensional information of transmission line of electricity；Then global information and the office of shaft tower and component are determined according to patrol task
Portion's information, the center of calculating unit；Finally move towards and hover according to transmission line of electricity coordinate, plans inspection route and is formed and is patrolled
Inspection task is issued to unmanned plane inspection platform and flies control end, the intelligent acquisition of critical component is independently completed by inspection platform.
Specific scheme is as follows：
Step 1：Shaft tower three-dimensional data obtains.Dock power grid GIS system, screening electric power line pole tower model, position letter
Breath, appurtenances information；
Step 2：Using dimensional Modeling Technology, critical component threedimensional model is generated, modular transmission of electricity is based on by foundation
Overhead line structures modeling specification is completed shaft tower three-dimensional data and is generated.
Step 3：Critical component position acquisition.According to the attached critical component type information of shaft tower, it is obtained in three dimensions
In local coordinate information, and the three-dimensional space position at calculating unit center forms list of elements coordinate.
Step 4：Patrol task is planned.According to inspection job specification, safety patrol inspection operation distance, bonded block three are determined
Dimension space position determines unmanned aerial vehicle platform hovering coordinate；According to transmission line of electricity move towards with the coordinate that hovers formulate polling path and or
Local countermeasures form specific flight patrol task.
Step 5：Common-denominator target information collection.The data acquisition equipment carried by flying platform carries out critical component
Data acquire.
To realize quick transmission line of electricity three-dimensional modeling, shaft tower three-dimensional mould is built using based on modular modeling pattern
Type, in the step 2 the specific steps are：
(1) shaft tower and appurtenances model are built.The support construction of shaft tower is composed of the angle bar of different model.It is first
Three-dimensional abstract modeling first is carried out to angle bar, and sets transformation parameter, angle bar length can be modified, is constructed and is advised according to shaft tower
Model is combined into the supportive body of shaft tower.Secondly, all types of tower heads of shaft tower are modeled, sets different tower head structure ginsengs
Number, and entire shaft tower support construction is formed with shaft tower supportive body, finally, the gold utensil patrolled insulator and emphasis is abstracted
Modeling, describes the shape information of each component substantially.
(2) power grid GIS system, filtering, the shaft tower model in extraction transmission line information, shaft tower position, shaft tower side are docked
To the world coordinates and local coordinate information of, equipment such as insulator hanging point, gold utensil hanging point, forming member module and shaft tower intermodule
Relative position information.
(3) Tower Model concordance list is established.Electric power line pole tower appurtenances are more, and the appurtenances of each shaft tower are not
It is identical to the greatest extent, unified Naming conventions are formulated thus：Shaft tower model _ appurtenances title, each component have its Representative properties and peace
Holding position adds detailed property parameters and installation site parameter in the attribute column of concordance list.
1 Tower Model concordance list of table
(4) electric power line pole tower three-dimensional reconstruction.Generalized information system is docked, forms Tower Model concordance list particular content, and with this
Based on carry out modular shaft tower three-dimensional reconstruction, form electric power line pole tower three-dimensional abstract figure.Modeling procedure is as shown in Figure 1.
In order to realize the intelligent acquisition of critical component, the spatial position for orienting critical component is needed, and form inspection and appoint
Business instructs unmanned aerial vehicle platform to carry out the acquisition of line information.Shown in step 3 is as follows：
(1) critical component spatial position is obtained.Critical component shows stereospecificity in three dimensions, passes through step 2
The electric power line pole tower three-dimensional abstract figure of middle structure, the three-dimensional coordinate information of each endpoint of obtaining widget, calculating unit central point
Position：
Here Center (x, y, z) is member center point position, Pi(x, y, z) is each member termination point position.
(2) generating unit position sequence.Member center point position is ranked up, using the Z axis coordinate of component as foundation, knot
Inspection direction of advance is closed, arrangement from the bottom to top is carried out to each member center point position.
In order to ensure that the safety of inspection operation carries out, need to keep safety centainly to make with circuit during unmanned plane inspection
Industry distance, is planned by patrol task, forms three-dimensional patrol strategy, unmanned aerial vehicle platform is instructed to carry out intelligent patrol detection.
The particular content of step 4 is as follows：
(1) hovering sequence generates inspection hovering sequence according to component locations and safe distance：
Hang (x, y, z)=Center (x, y, z)+(0, d, 0)
Hang (x, y, z) is hovering position, and (0, d, 0) is safe distance, and wherein d can be set according to actual demand.
(2) patrol task planning includes mainly two parts：When circuit trajectory planning, second is that hovering trajectory planning：
1) according to shaft tower and line alignment, preliminary planning flight path, flight path trend is identical as line alignment, and is kept with circuit
Safe distance.
2) when carrying out hovering operation, using hovering trajectory planning route, space of hovering is cut into the grid knot of N*N*N
Structure, N are set as part count to be inspected, when unmanned aerial vehicle platform by a hovering point to another hovering point when, searched using figure
Rope algorithm carries out local paths planning, generates shortest flight path.
The intelligent inspection system of transmission line of electricity three-dimensional information based on the above method, including：
Parameter acquisition module connects power grid GIS system, obtains shaft tower three-dimensional data, extraction electric power line pole tower model, position
Confidence ceases and appurtenances information；
Three-dimensional modeling module generates the threedimensional model of shaft tower appurtenances using dimensional Modeling Technology；
Position information acquisition module obtains its office in three dimensions according to each shaft tower appurtenances type information
Portion's coordinate information calculates the three-dimensional space position at each shaft tower appurtenances center；
Patrol strategy builds module, determines safety patrol inspection operation distance, in conjunction with component three-dimensional space position to be detected, really
Surely hover coordinate, moves towards to formulate polling path and or local countermeasures with the coordinate that hovers according to transmission line of electricity, generates flight and patrol
Inspection task.
The foregoing is merely the preferred embodiments of the application, are not intended to limit this application, for the skill of this field
For art personnel, the application can have various modifications and variations.Within the spirit and principles of this application, any made by repair
Change, equivalent replacement, improvement etc., should be included within the protection domain of the application.
Above-mentioned, although the foregoing specific embodiments of the present invention is described with reference to the accompanying drawings, not protects model to the present invention
The limitation enclosed, those skilled in the art should understand that, based on the technical solutions of the present invention, those skilled in the art are not
Need to make the creative labor the various modifications or changes that can be made still within protection scope of the present invention.
Claims (10)
1. a kind of intelligent polling method based on transmission line of electricity three-dimensional information, it is characterized in that：Include the following steps：
Target object three-dimensional data is obtained, the satellite information of transmission line of electricity target object is extracted；
The threedimensional model of target object is generated using dimensional Modeling Technology；
According to each target object type information, its local coordinate information in three dimensions is obtained, each target pair is calculated
As the three-dimensional space position at center；
It determines safety patrol inspection operation distance, in conjunction with component three-dimensional space position to be detected, determines hovering coordinate；According to power transmission line
Road is moved towards to formulate polling path and or local countermeasures with hovering coordinate, generates flight patrol task.
2. a kind of intelligent polling method based on transmission line of electricity three-dimensional information as described in claim 1, it is characterized in that：Utilize three
The process of threedimensional model that dimension modeling technique generates target object appurtenances includes：
Build target object and including target object in structure or/and appurtenances model；
Extract target object model in transmission line information, target object position, target object direction and appurtenances
World coordinates and local coordinate information, the relative position information of forming member module and target object intermodule；
The information index table for establishing target object model carries out modular target object Three-dimensional Gravity based on information index table
It builds, forms transmission line of electricity target object three-dimensional abstract figure.
3. a kind of intelligent polling method based on transmission line of electricity three-dimensional information as described in claim 1, it is characterized in that：Build mesh
Mark object and the process of appurtenances model include：
Three-dimensional abstract modeling is carried out to angle bar, and sets transformation parameter, angle bar length is modified, is constructed according to target object
Specification is combined into the supportive body of target object；
The all types of tower heads of target object are modeled, different structural parameters are set；
The gold utensil patrolled insulator and emphasis carries out abstract modeling, describes the shape information of each component substantially.
4. a kind of intelligent polling method based on transmission line of electricity three-dimensional information as claimed in claim 2, it is characterized in that：Information rope
The essential information for drawing table includes device name, type and attribute information.
5. a kind of intelligent polling method based on transmission line of electricity three-dimensional information as claimed in claim 2, it is characterized in that：The category
Property information includes angle, length and coordinate.
6. a kind of intelligent polling method based on transmission line of electricity three-dimensional information as described in claim 1, it is characterized in that：Obtain mesh
The process of the local coordinate information of mark object appurtenances in three dimensions includes：
According to the transmission line of electricity target object three-dimensional abstract figure of structure, the three-dimensional coordinate information of each endpoint of obtaining widget calculates
Member center point position；
In conjunction with inspection direction of advance, arrangement from the bottom to top is carried out to each member center point position.
7. a kind of intelligent polling method based on transmission line of electricity three-dimensional information as claimed in claim 6, it is characterized in that：In component
Heart point is set to the average value of the sum of three-dimensional coordinate information of each endpoint of the component.
8. a kind of intelligent polling method based on transmission line of electricity three-dimensional information as claimed in claim 2, it is characterized in that：It generates and flies
During row patrol task, inspection hovering sequence is generated according to component locations and safety patrol inspection operation distance, according to target pair
As and line alignment, preliminary planning flight path keep flight path identical as line alignment, and with circuit keep safety patrol inspection operation distance.
9. a kind of intelligent polling method based on transmission line of electricity three-dimensional information as claimed in claim 2, it is characterized in that：Carry out
When hovering operation, using hovering trajectory planning route, hovering space is cut into network, utilizes graph search algorithm carry out office
Portion's path planning generates the shortest flight path to be hovered to another by a hovering point.
10. a kind of intelligent inspection system based on transmission line of electricity three-dimensional information, it is characterized in that：Including：
Parameter acquisition module connects power grid GIS system, obtains target object three-dimensional data, extracts transmission line of electricity target object type
Number, the appurtenances information such as location information；
Three-dimensional modeling module generates the threedimensional model of target object using dimensional Modeling Technology；
Position information acquisition module obtains its local coordinate in three dimensions according to the type information of each target object
Information calculates the three-dimensional space position at each target object center；
Patrol strategy builds module, determines safety patrol inspection operation distance, in conjunction with component three-dimensional space position to be detected, determines outstanding
Stop coordinate, moves towards to formulate polling path and or local countermeasures with the coordinate that hovers according to transmission line of electricity, generate flight inspection and appoint
Business.
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| CN110659778A (en) * | 2019-09-26 | 2020-01-07 | 山东鲁能软件技术有限公司 | Inspection method and system based on three-dimensional model |
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| CN111476112B (en) * | 2020-03-20 | 2023-08-15 | 深圳块织类脑智能科技有限公司 | Unmanned aerial vehicle multi-hybrid task inspection tour method and platform system |
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| CN111929329A (en) * | 2020-07-30 | 2020-11-13 | 广东寰球智能科技有限公司 | Intelligent detection method and system for glass curtain wall and storage medium |
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