CN108733755B - Intelligent inspection method and system based on three-dimensional information of power transmission line - Google Patents
Intelligent inspection method and system based on three-dimensional information of power transmission line Download PDFInfo
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- CN108733755B CN108733755B CN201810322230.8A CN201810322230A CN108733755B CN 108733755 B CN108733755 B CN 108733755B CN 201810322230 A CN201810322230 A CN 201810322230A CN 108733755 B CN108733755 B CN 108733755B
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
- G06T17/05—Geographic models
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- G—PHYSICS
- 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
Abstract
The invention discloses an intelligent inspection method and system based on three-dimensional information of a power transmission line, which are used for acquiring three-dimensional data of a target object and extracting the model and position information of the target object of the power transmission line and/or accessory part information of the target object; generating a three-dimensional model of the target object or/and the accessory component by using a three-dimensional modeling technology; according to the type information of each target object, local coordinate information of each target object in a three-dimensional space is obtained, and the three-dimensional space position of the center of each target object is calculated; determining a safe inspection operation distance, determining a hovering coordinate by combining the three-dimensional space position of the component to be detected, formulating an inspection path and/or a local flight strategy according to the trend of the power transmission line and the hovering coordinate, and generating a flight inspection task.
Description
Technical Field
The invention relates to an intelligent inspection method and an intelligent inspection system based on three-dimensional information of a power transmission line.
Background
With the development of society and economy, the demand and dependence on electric power are increasing day by day, and the running state of the transmission line directly influences the stability of society and the development of national economy. Unmanned aerial vehicle patrols and examines the technique and is introduced daily task of patrolling and examining as a novel, efficient mode of patrolling and examining, very big improvement the work efficiency of patrolling and examining and patrol and examine the precision. But the task of patrolling and examining of unmanned aerial vehicle to transmission line still mainly relies on manual operation to accomplish at present, and the staff passes through ground station and remote controller and realizes the manual control that unmanned aerial vehicle patrolled and examined the platform, and intensity of labour is big and to staff's operation experience, patrol and examine experience and require higher, urgent need intelligent, automatic system of patrolling and examining in order to realize transmission line key element's intellectuality, automatic patrolling and examining, and then promote the application of unmanned aerial vehicle patrolling and examining the technique in the transmission line field of patrolling and examining.
In the existing automatic acquisition system and method for the power transmission line, a power transmission line unmanned aerial vehicle routing inspection tripod head control method (ZL201210302421.0) based on visual servo and a tower image acquisition system and method (ZL201510907466.7) based on visual servo, which are proposed by Shandong power-saving group power science research institute, key parts of the power transmission line and the tower are captured through the visual method, and the automatic acquisition of the key parts is realized by combining the visual servo system. Because the power transmission line is in an open natural environment, the visual method is easily influenced by factors such as illumination, weather and the like, so that the positioning accuracy of the key components is reduced, and the intelligent acquisition of the information of the key components cannot be stably realized. The line inspection standardized acquisition method and system (CN201510504379.4) proposed by the aerospace landscape (Beijing) science and technology Limited company set the route data and camera parameters of unmanned aerial vehicle inspection by utilizing the early-stage manual control flight and operation accumulated data, thereby realizing the fixed-point and repeated acquisition of specific equipment information. The method can only rely on historical data to carry out repeated inspection work, when a new inspection task is executed, the unmanned aerial vehicle inspection platform needs to be manually operated in advance to obtain track data, hovering GPS information and camera rotation data information, and a large amount of repeated labor is provided. Moreover, the outdoor working environment of the unmanned aerial vehicle is complex, and the unmanned aerial vehicle platform cannot guarantee the accuracy of repeatedly patrolling and examining the air route and the GPS information, so that the acquired information is inaccurate.
Disclosure of Invention
In order to solve the problems, the invention provides an intelligent inspection method and system based on three-dimensional information of a power transmission line, and the three-dimensional information of the power transmission line is established by utilizing a three-dimensional modeling technology; then determining global information and local information of the target object and the component according to the inspection task, and calculating the central position of the component; and finally planning a routing inspection route and forming an inspection task according to the trend and the hovering coordinates of the power transmission line, issuing the routing inspection task to a flight control end of the unmanned aerial vehicle inspection platform, and independently completing intelligent acquisition of key components by the inspection platform.
In order to achieve the purpose, the invention adopts the following technical scheme:
an intelligent inspection method based on three-dimensional information of a power transmission line can be applied to inspection of unmanned aerial vehicles, and comprises the following steps:
acquiring three-dimensional data of a target object, and extracting accessory information of the target object of the power transmission line;
generating a three-dimensional model of the target object by using a three-dimensional modeling technology;
according to the type information of each target object, local coordinate information of each target object in a three-dimensional space is obtained, and the three-dimensional space position of the center of each target object is calculated;
and determining a safe inspection operation distance, and determining a hovering coordinate by combining the three-dimensional space position of the component to be detected. And formulating an inspection path and/or a local flight strategy according to the trend of the power transmission line and the hovering coordinate to generate a flight inspection task.
Further, the process of generating a three-dimensional model of the target object using three-dimensional modeling techniques includes:
constructing a target object and an accessory component model comprising a target object structure, an insulator and hardware;
extracting the model number of a target object, the position of the target object, the direction of the target object and the global coordinate and local coordinate information of an accessory part in the power transmission line information to form relative position information between a part module and a target object module;
and establishing an information index table of the target object model, and performing modular three-dimensional reconstruction on the target object on the basis of the information index table to form a three-dimensional abstract diagram of the target object of the power transmission line.
Further, the process of constructing the target object and the accessory component model includes:
carrying out three-dimensional abstract modeling on the angle iron, setting transformation parameters, correcting the length of the angle iron, and combining into a support main body of a target object according to the construction specification of the target object;
modeling each type of tower head of the target object, and setting different structural parameters;
and (4) carrying out abstract modeling on the insulator and the key inspection hardware, and describing general shape information of each part.
Further, the basic information of the information index table includes device name, type, and attribute information.
Further, the attribute information includes an angle, a length, and a coordinate.
Further, the process of acquiring the local coordinate information of the target object accessory part in the three-dimensional space comprises the following steps:
acquiring three-dimensional coordinate information of each endpoint of the component according to the constructed three-dimensional abstract diagram of the target object of the power transmission line, and calculating the position of the central point of the component;
and arranging the central point positions of all the parts from bottom to top by combining the routing inspection advancing direction.
Further, the part center point position is an average value of the sum of the three-dimensional coordinate information of the respective end points of the part.
Furthermore, in the process of generating the flight inspection task, an inspection hovering sequence is generated according to the position of the component and the safe inspection operation distance, and a flight path is preliminarily planned according to the target object and the line trend, so that the flight path is the same as the line trend and the safe inspection operation distance is kept between the flight path and the line.
Further, when the hovering operation is carried out, a hovering track planning route is applied, a hovering space is cut into a grid structure, local path planning is carried out by utilizing a graph search algorithm, and a shortest flight path from one suspension point to another suspension point is generated.
The utility model provides an intelligence system of patrolling and examining based on transmission line three-dimensional information, includes:
the parameter acquisition module is connected with a power grid GIS system, acquires three-dimensional data of a target object, and extracts accessory component information such as the model and position information of the target object of the power transmission line;
the three-dimensional modeling module is used for generating a three-dimensional model of the target object by utilizing a three-dimensional modeling technology;
the position information acquisition module is used for acquiring local coordinate information of each target object in a three-dimensional space according to the type information of each target object and calculating the three-dimensional space position of the center of each target object;
and the inspection strategy building module is used for determining the safe inspection operation distance, determining a hovering coordinate by combining the three-dimensional space position of the component to be detected, formulating an inspection path and/or a local flight strategy according to the trend of the power transmission line and the hovering coordinate, and generating a flight inspection task.
Compared with the prior art, the invention has the beneficial effects that:
the three-dimensional information of the power transmission line is established by utilizing a three-dimensional modeling technology; then determining global information and local information of the target object according to the inspection task, and calculating the central position of the target component; the central position is calculated by accurate GIS static information, and the robustness and the precision to the environment are high; and finally, planning a routing inspection route and forming a routing inspection task according to the moving direction and the hovering coordinates of the power transmission line, and automatically completing intelligent acquisition of key components.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application.
FIG. 1 is a flow chart of the three-dimensional modeling of a target object of the present invention;
fig. 2 is a flow chart of the unmanned aerial vehicle intelligent inspection method based on three-dimensional information of the power transmission line.
The specific implementation mode is as follows:
the invention is further described with reference to the following figures and examples.
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
In the present invention, terms such as "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "side", "bottom", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only terms of relationships determined for convenience of describing structural relationships of the parts or elements of the present invention, and are not intended to refer to any parts or elements of the present invention, and are not to be construed as limiting the present invention.
In the present invention, terms such as "fixedly connected", "connected", and the like are to be understood in a broad sense, and mean either a fixed connection or an integrally connected or detachable connection; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present invention can be determined according to specific situations by persons skilled in the relevant scientific or technical field, and are not to be construed as limiting the present invention.
As shown in fig. 2, an unmanned aerial vehicle intelligent inspection method based on three-dimensional information of a power transmission line is described by taking a tower as a target object.
Of course, in other embodiments, other representative objects on the power transmission line may be used as the target object, such as an insulator string.
The method comprises the steps that accurate pole tower GPS information, pole tower models and accessory part types are obtained through a power grid GIS system, and three-dimensional information of a power transmission line is established by utilizing a three-dimensional modeling technology; then determining the global information and the local information of the tower and the component according to the polling task, and calculating the central position of the component; and finally planning a routing inspection route and forming an inspection task according to the trend and the hovering coordinates of the power transmission line, issuing the routing inspection task to a flight control end of the unmanned aerial vehicle inspection platform, and independently completing intelligent acquisition of key components by the inspection platform.
The specific scheme is as follows:
the method comprises the following steps: and acquiring three-dimensional data of the tower. Butting a power grid GIS system, and screening the model, the position information and the accessory part information of the transmission line tower;
step two: and generating a key part three-dimensional model by using a three-dimensional modeling technology, and completing tower three-dimensional data generation by establishing a modularized power transmission line tower modeling specification.
Step three: and acquiring the position of the key part. According to the type information of the tower auxiliary key components, local coordinate information of the tower auxiliary key components in a three-dimensional space is obtained, the three-dimensional space position of the center of the components is calculated, and serial component coordinates are formed.
Step four: and planning a routing inspection task. Determining a safe patrol operation distance according to the patrol operation specification, and determining a hovering coordinate of the unmanned aerial vehicle platform by combining the three-dimensional space position of the component; and formulating an inspection path and/or a local flight strategy according to the trend of the power transmission line and the hovering coordinate to form a specific flight inspection task.
Step five: and collecting key target information. And data acquisition is carried out on the key components through data acquisition equipment carried by the flight platform.
In order to realize rapid three-dimensional modeling of the power transmission line, a tower three-dimensional model is constructed by utilizing a modeling mode based on modularization, and the concrete steps in the second step are as follows:
(1) and constructing a tower and accessory part model. The support structure of the tower is formed by combining angle irons of different types. The angle iron is subjected to three-dimensional abstract modeling, transformation parameters are set, the length of the angle iron can be corrected, and a support main body of the tower is combined according to tower construction specifications. Secondly, modeling each type of tower head of the tower, setting different tower head structure parameters, forming the whole tower supporting structure with the tower supporting main body, and finally, performing abstract modeling on the insulator and the key patrol hardware to describe the general shape information of each part.
(2) And (3) butting a power grid GIS system, filtering and extracting the global coordinate and local coordinate information of equipment such as the tower model, the tower position, the tower direction, the insulator hanging point, the hardware hanging point and the like in the power transmission line information to form the relative position information between the component module and the tower module.
(3) And establishing a tower model index table. The transmission line tower has more auxiliary components, and the auxiliary components of each tower are different, so that a unified naming standard is established: the tower model _ accessory part name, each part has its typical attribute and installation position, and detailed attribute parameters and installation position parameters are added in the attribute column of the index table.
TABLE 1 Tower model index Table
(4) And (5) three-dimensional reconstruction of the transmission line tower. And butting a GIS system to form specific contents of a tower model index table, and performing modular tower three-dimensional reconstruction on the basis of the specific contents to form a transmission line tower three-dimensional abstract diagram. The modeling flow is shown in fig. 1.
In order to realize intelligent acquisition of key components, the spatial position of the key components needs to be positioned, and an inspection task is formed to guide the unmanned aerial vehicle platform to acquire line information. The concrete steps of the third step are as follows:
(1) and acquiring the spatial position of the key component. The key component presents a three-dimensional characteristic in a three-dimensional space, three-dimensional coordinate information of each endpoint of the component is obtained through the three-dimensional abstract diagram of the transmission line tower constructed in the step two, and the position of the central point of the component is calculated:
here Center (x, y, z) is the part Center point position, Pi(x, y, z) is the position of the end points of each component.
(2) A sequence of component positions is generated. And sequencing the positions of the central points of the components, and arranging the positions of the central points of the components from bottom to top by taking the Z-axis coordinate of the components as a basis and combining the inspection advancing direction.
In order to ensure the safe operation of the inspection operation, the unmanned aerial vehicle needs to keep a certain safe operation distance with a line in the inspection process, and a three-dimensional inspection strategy is formed through inspection task planning to guide an unmanned aerial vehicle platform to carry out intelligent inspection.
The specific content of the step four is as follows:
(1) and a hovering sequence, wherein the polling hovering sequence is generated according to the position of the component and the safety distance:
Hang(x,y,z)＝Center(x,y,z)+(0,d,0)
hang (x, y, z) is the hover position and (0, d,0) is the safe distance, where d can be set according to actual requirements.
(2) The routing inspection task planning mainly comprises two parts: firstly, planning a line track and secondly planning a hovering track:
1) and planning a flight path preliminarily according to the trends of the towers and the lines, wherein the trend of the flight path is the same as the trend of the lines, and the flight path keeps a safe distance with the lines.
2) When the unmanned aerial vehicle platform is in hovering operation, a hovering track planning route is applied, a hovering space is cut into an N grid structure, N is set to be the number of parts to be inspected, when the unmanned aerial vehicle platform goes from one suspension point to another suspension point, local path planning is carried out by using a graph search algorithm, and the shortest flight path is generated.
The intelligent inspection system for the three-dimensional information of the power transmission line based on the method comprises the following steps:
the parameter acquisition module is connected with a power grid GIS system, acquires three-dimensional data of a tower, and extracts the model, position information and accessory part information of the power transmission line tower;
the three-dimensional modeling module is used for generating a three-dimensional model of the tower accessory part by utilizing a three-dimensional modeling technology;
the position information acquisition module is used for acquiring local coordinate information of each tower accessory part in a three-dimensional space according to the type information of each tower accessory part and calculating the three-dimensional space position of the center of each tower accessory part;
and the inspection strategy building module is used for determining the safe inspection operation distance, determining a hovering coordinate by combining the three-dimensional space position of the component to be detected, formulating an inspection path and/or a local flight strategy according to the trend of the power transmission line and the hovering coordinate, and generating a flight inspection task.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Although the embodiments of the present invention have been described with reference to the accompanying drawings, it is not intended to limit the scope of the present invention, and it should be understood by those skilled in the art that various modifications and variations can be made without inventive efforts by those skilled in the art based on the technical solution of the present invention.
Claims (8)
1. An intelligent inspection method based on three-dimensional information of a power transmission line is characterized by comprising the following steps: the method comprises the following steps:
acquiring three-dimensional data of a target object, and extracting accessory information of the target object of the power transmission line;
generating a three-dimensional model of the target object by using a three-dimensional modeling technology;
according to the type information of each target object, local coordinate information of each target object in a three-dimensional space is obtained, and the three-dimensional space position of the center of each target object is calculated;
determining a safety inspection operation distance, and determining a hovering coordinate by combining a three-dimensional space position of a target object center; making a routing inspection path and/or a local flight strategy according to the trend of the power transmission line and the hovering coordinate to generate a flight routing inspection task; the routing inspection task comprises a line track planning and a hovering track planning;
in the process of generating a flight inspection task, generating an inspection hovering sequence according to the position of a component of a target object and the safe inspection operation distance, preliminarily planning a flight path according to the target object and the line trend, enabling the flight path to be the same as the line trend, and keeping the safe inspection operation distance with the line;
when hovering operation is carried out, a hovering track is applied to plan a route, a hovering space is cut into a grid structure, local path planning is carried out by utilizing a graph search algorithm, and a shortest flying path hovering from one hovering point to another is generated.
2. The intelligent inspection method based on the three-dimensional information of the power transmission line, as claimed in claim 1, is characterized in that: the process of generating a three-dimensional model of a target object using three-dimensional modeling techniques includes:
constructing a structure or/and accessory component model of the target object;
extracting the model number of a target object, the position of the target object, the direction of the target object and the global coordinate and local coordinate information of an accessory part in the power transmission line information to form relative position information between a part module and a target object module;
and establishing an information index table of the target object model, and performing modular three-dimensional reconstruction on the target object on the basis of the information index table to form a three-dimensional abstract diagram of the target object of the power transmission line.
3. The intelligent inspection method based on the three-dimensional information of the power transmission line, as claimed in claim 2, is characterized in that: the process of constructing the target object and the accessory component model comprises the following steps:
carrying out three-dimensional abstract modeling on the angle iron, setting transformation parameters, correcting the length of the angle iron, and combining into a support main body of a target object according to the construction specification of the target object;
modeling each type of tower head of the target object, and setting different structural parameters;
and (4) carrying out abstract modeling on the insulator and the key inspection hardware, and describing general shape information of each part.
4. The intelligent inspection method based on the three-dimensional information of the power transmission line, as claimed in claim 2, is characterized in that: the basic information of the information index table includes device name, type, and attribute information.
5. The intelligent inspection method based on the three-dimensional information of the power transmission line, as claimed in claim 4, is characterized in that: the attribute information includes an angle, a length, and a coordinate.
6. The intelligent inspection method based on the three-dimensional information of the power transmission line, as claimed in claim 2, is characterized in that: the process of acquiring the local coordinate information of the target object accessory part in the three-dimensional space comprises the following steps:
acquiring three-dimensional coordinate information of each endpoint of the component according to the constructed three-dimensional abstract diagram of the target object of the power transmission line, and calculating the position of the central point of the component;
and arranging the central point positions of all the parts from bottom to top by combining the routing inspection advancing direction.
7. The intelligent inspection method based on the three-dimensional information of the power transmission line, as claimed in claim 6, is characterized in that: the part center point position is an average value of the sum of the three-dimensional coordinate information of each end point of the part.
8. An intelligent inspection system based on three-dimensional information of a power transmission line by using the method of any one of claims 1 to 7, which is characterized in that: the method comprises the following steps:
the parameter acquisition module is connected with a power grid GIS system, acquires three-dimensional data of a target object, and extracts the model and position information of an accessory part of the target object of the power transmission line;
the three-dimensional modeling module is used for generating a three-dimensional model of the target object by utilizing a three-dimensional modeling technology;
the position information acquisition module is used for acquiring local coordinate information of each target object in a three-dimensional space according to the type information of each target object and calculating the three-dimensional space position of the center of each target object;
and the inspection strategy building module is used for determining the safe inspection operation distance, determining a hovering coordinate by combining the three-dimensional space position of the component to be detected, formulating an inspection path and/or a local flight strategy according to the trend of the power transmission line and the hovering coordinate, and generating a flight inspection task.
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| "三维输电线路构建方法的研究与应用";许斌锋等;《现在电子技术》;20151015;第38卷(第20期);第121-124页 * |
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| CN108733755A (en) | 2018-11-02 |
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