CN109032175A - Unmanned plane electric inspection process path calculation method based on spiral of Archimedes - Google Patents
Unmanned plane electric inspection process path calculation method based on spiral of Archimedes Download PDFInfo
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Abstract
Unmanned plane electric inspection process path calculation method based on spiral of Archimedes, steps are as follows: determining coordinates of targets point information；Airborne end image procossing pylon profile and cable move towards to extract envelope；The safe flight distance of pylon envelope is established by the unmanned plane of setting and meets the aerodynamic spiral of Archimedes lift spiral safe flight path of unmanned plane, realizes automatic obstacle-avoiding around tower flight inspection.It uses the above method to provide the efficient unmanned plane automatic electric power polling path planing method of complete set for unmanned plane automatic electric power inspection, to effectively improve unmanned plane electric inspection process the degree of automation of operations, promotes operating efficiency and Image Acquisition quality.
Description
Technical field
The invention is related to a kind of unmanned plane electric inspection process path calculation method based on spiral of Archimedes, belongs to
In electric inspection process technical field.
Background technique
The paths planning method that electric inspection process is realized currently based on unmanned plane automatic path planning, pertains only to unmanned plane and prolongs respectively
The flight safety flight envelope that line is planned between electric tower, in manual operation unmanned plane during flying path and automatic planning unmanned plane
On the algorithm of flight path, using the pylon for a certain seat pylon or one section of route, unmanned plane will be according to will shoot
Target view angle position and shooting safe distance, establish safe flight channel in electric tower two sides or top, from present bit
Set and fly nonstop to a position of taking photo by plane, flight path be two o'clock take photo by plane a straight-line segment or it is intermediate be added part avoidance node formed it is more
Point line segment line.The advantages of such method is that algorithm is directly simple, because the shortest theorem of line segment makes unmanned plane during flying between two o'clock
Path can achieve most short.
But such method does not fully consider the aerodynamic characteristic of unmanned plane itself, when between node line formed close to 90 ° or
When acute angle less than 90 °, unmanned plane during flying path change dramatically, fixed-wing unmanned plane can be diversion using setting turning radius at this time
Node cut again return next section of path method, and rotor wing unmanned aerial vehicle only take deceleration or hovering turn to mode convert it is winged
Walking along the street diameter, the manipulation safety that can fly to unmanned plane during flying stability generate extreme influence.When unmanned plane takes photo by plane to electric tower
When node increases, just automatic path planning effectively can not be carried out using same path planning algorithm, needed manually or by auxiliary
Software is helped constantly to modify boundary condition calculate node, the result operated in this way causes flight path node complexity without chapter, and path is set
Set the complicated fussy degree of process and step.Either which kind of unmanned plane is in the straight line path planning of point-to-point or rounding off
When cutting path planning, can all it generate as target changes and node increases, caused automatic path planning algorithm is not general, nothing
Method realizes the problem of automation.Simultaneously because the irregular variation of flight path interior joint relative position, can not be such that unmanned plane flies
Action force parameter and state keep stablizing, and affect the manipulation and flight safety of unmanned plane.
Summary of the invention
In view of the above problems, the invention proposes a kind of unmanned plane electric inspection process road based on spiral of Archimedes
Diameter calculation method makes up the unmanned plane electric inspection process paths planning method of existing hand/semi, leads to control strategy and algorithm
The deficiency of complexity etc..A kind of unmanned plane electric inspection process path calculation method based on spiral of Archimedes, feature exist
In, comprising the following steps:
1) the coordinate points information for determining target pylon, by coordinates of targets information input into controller, using inertial navigation system
Cloud platform rotation is controlled, adjustment optical axis is directed toward, and makes holder viewing field of camera coverage goal region, and control nobody by flight controller
Machine flies along predefined parameter path to the effective image-forming range of holder camera；
2) unmanned aerial vehicle onboard end installation image processing board carry out image procossing extract pylon profile, obtain pylon height,
Width, thickness and cable trend, establish pylon three-dimensional cuboid envelope；
3) unmanned plane avoidance and around pylon flight inspection, the pylon three-dimensional cuboid packet being calculated by image processing board
Network information combines the unmanned plane safe flight distance of setting, and fitting meets the aerodynamic spiral of Archimedes liter of unmanned plane
Wrench of a force system safe flight path is manually entered quantity of taking pictures, or calculates the splicing covering of holder viewing field of camera by image processing board
Picture number needed for pylon three-dimensional cuboid envelope simultaneously generates space coordinate point position of taking pictures, and controls unmanned plane by flight controller
It flies around tower to coordinate points position of taking pictures along the spiral of Archimedes lift spiral safe flight path formulated, is referred to by holder
To camera is taken pictures.
In step 3), described meets the aerodynamic spiral of Archimedes lift spiral safe flight road of unmanned plane
The approximating method of diameter are as follows: formulated by Archimedes spiral equation:
Xθ=r × cos (θ), Yθ=r × sin (θ), Zθ=P × θ/2 × π
Wherein:
ZθFor with Xθ、YθThe perpendicular axis of plane coordinate system, i.e. spiral of Archimedes basic circle cross the vertical axis in the center of circle, Xθ、Yθ、Zθ
Collectively constitute the three-dimensional system of coordinate of pylon pylon；
R is variable, that is, spiral of Archimedes base radius of spiral of Archimedes, r=image recognition pylon pylon three
It ties up circumradius+setting unmanned plane safe flight distance parameter in cuboid envelope section or passes through unmanned plane ranging avoidance
The safe flight distance parameter that attachment measures；
P is the screw pitch of helix, and screw pitch is that each section of short transverse numerical value ÷ of pylon pylon three-dimensional cuboid envelope encloses number；
θ crosses the vertical axis Z in the center of circle around spiral of Archimedes basic circle for unmanned planeθRotation angle.
The spiral of Archimedes variable diameter lift spiral safe flight path meets Archimedes spiral equation, by
In the property of spiral of Archimedes, multi-rotor unmanned aerial vehicle is done in each circular path section around electric tower axis horizontal direction
Uniform circular motion prolongs circumference axis direction of hanging down and does and at the uniform velocity rise or fall movement, even if making unmanned plane in each variable diameter and varying pitch
Section in can also relative power pylon angular speed it is consistent, unmanned plane in flight path each o'clock all in one balance power system
In, the state of flight of such unmanned plane keeps relative stability in flight path section, guarantees that unmanned plane flies control parameter and acquisition
The stabilization of lift；Simultaneously because the smooth flight of unmanned plane ensure that relative power pylon distance and to mesh in each reducer
The constant or regular variation of mark tracking angle of sight Space Angle angle value, enables holder camera to realize with fixed focal length or continuous vari-focus
To the identical object space resolution imaging of electric tower feature.
The invention has the beneficial effect that the invention the method by extracting to target overall profile, judges outlet
Cable trend, establishes safety patrol inspection cuboid envelope and meets the aerodynamic spiral of Archimedes variable diameter lift spiral shell of unmanned plane
Revolve safe flight path.Due to the property of spiral of Archimedes, unmanned plane is in each circular path section in electric tower
Axis horizontal direction moves in a circle, and axis direction of circumferentially hanging down, which is done, at the uniform velocity rises or falls movement, even if making unmanned plane in each variable diameter
Section in can also relative power pylon angular speed it is consistent, unmanned plane in flight path each o'clock all in one relatively balance power
In system, the flying power parameter and state of such unmanned plane keep stablizing in variable diameter section, it is ensured that unmanned plane flies control parameter
With the stabilization of lift, therefore improve unmanned plane engineer operation flight safety and reliability.Simultaneously because in each variable diameter
The smooth flight of unmanned plane ensure that relative power pylon distance and to the constant of target following angle of sight Space Angle angle value in section
Or rule variation, enable holder camera with fixed focal length or simple logic continuous vari-focus realize to electric tower etc. object spaces point
Resolution imaging, to improve the picture quality of electric inspection process.
The method of the invention simplifies flight control system software operational data amount and path planning algorithm, difficulty, realizes
The automatic planning in unmanned plane electric inspection process path.Each device association of system, the parameter of the automation of UAV Flight Control device are set
Unmanned plane electric inspection process operating efficiency and image quality can be effectively improved compared to manual or semi-automatic operation by setting, and can make nobody
Electro-mechanical force inspection flies hand and reduces to a people by two people, to substantially reduce inspection into the incubation time and culture expense of hand.
Detailed description of the invention
Fig. 1: unmanned plane automatic detecting method flow diagram.
Fig. 2: unmanned plane automatic detecting inertial navigation rough tracking optical axis is directed toward schematic diagram.
Fig. 3: unmanned plane automatic detecting image procossing pylon profile and cable trend establish safe envelope schematic diagram.
Fig. 4: unmanned plane automatic detecting path planning software automatic Fitting meets the aerodynamic A Ji meter of unmanned plane
Moral helix lift spiral safe flight path schematic diagram.
Fig. 5: unmanned plane prolongs Archimedean lifting force spiral safe flight path and takes pictures node schematic diagram.
Specific embodiment
Illustrate in conjunction with Fig. 1-Fig. 5, the unmanned plane electric inspection process paths planning method based on spiral of Archimedes, including with
Lower step:
1) the coordinate points information for determining target pylon, by coordinates of targets information input into controller, using inertial navigation system
Cloud platform rotation is controlled, adjustment optical axis is directed toward, and makes holder viewing field of camera coverage goal region, and control nobody by flight controller
Machine flies along predefined parameter path to the effective image-forming range of holder camera；
2) unmanned aerial vehicle onboard end installation image processing board carry out image procossing extract pylon profile, obtain pylon height,
Width, thickness and cable trend, establish pylon three-dimensional cuboid envelope；
3) unmanned plane avoidance and around pylon flight inspection, the pylon three-dimensional cuboid packet being calculated by image processing board
Network information combines the unmanned plane safe flight distance of setting, and fitting meets the aerodynamic spiral of Archimedes liter of unmanned plane
Wrench of a force system safe flight path is manually entered quantity of taking pictures, or calculates the splicing covering of holder viewing field of camera by image processing board
Picture number needed for pylon three-dimensional cuboid envelope simultaneously generates space coordinate point position of taking pictures, and controls unmanned plane by flight controller
It flies around tower to coordinate points position of taking pictures along the spiral of Archimedes lift spiral safe flight path formulated, is referred to by holder
To camera is taken pictures.
Illustrate in conjunction with Fig. 3, the aerodynamic spiral of Archimedes lift spiral of unmanned plane that meets flies safely
The approximating method of walking along the street diameter are as follows: formulated by Archimedes spiral equation:
Xθ=r × cos (θ), Yθ=r × sin (θ), Zθ=P × θ/2 × π
Wherein:
ZθFor with Xθ、YθThe perpendicular axis of plane coordinate system, i.e. spiral of Archimedes basic circle cross the vertical axis in the center of circle, Xθ、Yθ、Zθ
Collectively constitute the three-dimensional system of coordinate of pylon pylon；
R is variable, that is, spiral of Archimedes base radius of spiral of Archimedes, r=image recognition pylon pylon three
It ties up circumradius+setting unmanned plane safe flight distance parameter in cuboid envelope section or passes through unmanned plane ranging avoidance
The safe flight distance parameter that attachment measures；
P is the screw pitch of helix, and screw pitch is that each section of short transverse numerical value ÷ of pylon pylon three-dimensional cuboid envelope encloses number；
θ crosses the vertical axis Z in the center of circle around spiral of Archimedes basic circle for unmanned planeθRotation angle.
Illustrate in conjunction with Fig. 5, the spiral of Archimedes variable diameter lift spiral safe flight path meets Archimedes
Helix equation, due to the property of spiral of Archimedes, multi-rotor unmanned aerial vehicle is in each circular path section around electric tower
Axis horizontal direction does uniform circular motion, prolongs circumference axis direction of hanging down and does and at the uniform velocity rise or fall movement, even if unmanned plane is made to exist
Each variable diameter in varying pitch section can also the angular speed of relative power pylon it is consistent, unmanned plane in flight path each point all in
In the power system of one balance, the state of flight of such unmanned plane keeps relative stability in flight path section, guarantees unmanned plane
Fly control parameter and obtains the stabilization of lift；Simultaneously because the smooth flight of unmanned plane ensure that relative power in each reducer
Pylon distance and the constant or regular variation to target following angle of sight Space Angle angle value, enable holder camera with fixed focal length
Or continuous vari-focus realizes the identical object space resolution imaging to electric tower feature.
The inertial navigation system and holder, inertial navigation system and flight controller, holder camera and image processing board, pass through nothing
Man-machine master control core communication connection.
Embodiment 1:
As shown in Figure 1, carrying out task path setting using Target Coordinate Data library as the basic data of inspection operation
When the minimum turning radius of unmanned plane, electric tower coordinate points, unmanned plane safe flight distance, tower height and electric tower type,
Using the tall and handsome TK1 that reaches as the unmanned plane master control machine core of core, synthesis contains image processing board for the parameters such as quantity of taking pictures input
And master board.Using big boundary M600 multi-rotor unmanned aerial vehicle as flying platform, inspection, input are carried out to 200kv double-circuit suspension tower
Electric tower coordinate parameters, are arranged unmanned plane safe flight distance 15m, pylon height 40m, and pylon type pendency tower is taken pictures a little
At quantity 8, it sets quantity of taking pictures to the Along ent of spiral of Archimedes path overall length, is a little in due to taking pictures at the 8th
" ground " position, therefore will subtract at one in software controlling strategies and take pictures a little at totally 7 automatically.
As shown in Fig. 2, carrying out opposite position by electric tower coordinate parameters and unmanned plane changing coordinates after unmanned plane takes off
Resolving is set, and inertial navigation tracking is combined to enter target power pylon in the effective viewing field of holder for aerial photographing camera image identification, this
The benefit of sample design is effectively reduced because of flight-path deviation and systematic search target bring locking time deficiency problem, is mentioned
High search efficiency, and then improve lock onto target area camera picture under fast state and all features identifications of target are completely covered
The probability of target.
Unmanned plane image software matches pylon shape using gray level skeleton extraction method and graphics template at this time, judge pylon and
Cable trend establishes the safety patrol inspection cuboid envelope (as shown in Figure 3) for meeting electric tower and cable trend, and image trace is soft
Part controls holder optical axis and is directed toward tracking.As shown in figure 4, path planning software is according to unmanned plane current coordinate point to 15m at this time
The spiral of Archimedes basic circle tangent line that safe flight distance generates is access path, is originated by spiral of Archimedes of point of contact
Point i.e. first count determines that spiral of Archimedes axis is long by starting point coordinate apart from the big ground level height difference of electric tower according to point
Degree, the tall and handsome Archimedean lifting force as shown in Figure 5 up to TK1 master control core operation spiral of Archimedes path planning Software Create
Spiral safe flight path and node location of taking pictures.It takes pictures when unmanned plane prolongs Archimedean lifting force spiral safe flight path and flies to
When node location, holder camera, which is directed toward, at this time remains that holder camera optical axis is directed toward by inspection target, together by inertial navigation control
The enough coverage goal features of Shi Yuntai viewing field of camera are simultaneously taken pictures.
In conclusion being designed by detailed analysis to working-flow and planning is proposed based on Archimedes's spiral shell
The multi-rotor unmanned aerial vehicle electric inspection process paths planning method of spin line can be very good to guarantee walking operation efficiency, safety and quality.
Claims (3)
1. a kind of unmanned plane electric inspection process path calculation method based on spiral of Archimedes, which is characterized in that including following
Step:
1) determine that the coordinate points information of target pylon is controlled by coordinates of targets information input into controller using inertial navigation system
Cloud platform rotation, adjustment optical axis are directed toward, and make holder viewing field of camera coverage goal region, and control unmanned plane edge by flight controller
It flies to the effective image-forming range of holder camera in predefined parameter path；
2) unmanned aerial vehicle onboard end installation image processing board carry out image procossing extract pylon profile, obtain pylon height, width,
Thickness and cable trend, establish pylon three-dimensional cuboid envelope；
3) unmanned plane avoidance and around pylon flight inspection, is believed by the pylon three-dimensional cuboid envelope that image processing board is calculated
Breath combines the unmanned plane safe flight distance of setting, and fitting meets the aerodynamic spiral of Archimedes lift spiral shell of unmanned plane
Safe flight path is revolved, is manually entered quantity of taking pictures, or holder viewing field of camera splicing covering pylon is calculated by image processing board
Picture number needed for three-dimensional cuboid envelope simultaneously generates space coordinate point position of taking pictures, and controls unmanned plane along system by flight controller
Fixed spiral of Archimedes lift spiral safe flight path is flown around tower to coordinate points position of taking pictures, and is directed toward by holder,
Camera is taken pictures.
2. a kind of unmanned plane electric inspection process path calculation method based on spiral of Archimedes according to claim 1,
It is characterized by: the aerodynamic spiral of Archimedes lift spiral of unmanned plane that meets flies safely in step 3)
The approximating method of walking along the street diameter are as follows: formulated by Archimedes spiral equation:
Xθ=r × cos (θ), Yθ=r × sin (θ), Zθ=P × θ/2 × π
Wherein:
ZθFor with Xθ、YθThe perpendicular axis of plane coordinate system, i.e. spiral of Archimedes basic circle cross the vertical axis in the center of circle, Xθ、Yθ、ZθJointly
Form the three-dimensional system of coordinate of pylon pylon；
R is variable, that is, spiral of Archimedes base radius of spiral of Archimedes, and r=image recognition pylon pylon three-dimensional is long
Circumradius+setting unmanned plane safe flight distance parameter in cube envelope section passes through unmanned plane ranging avoidance attachment
The safe flight distance parameter measured；
P is the screw pitch of helix, and screw pitch is that each section of short transverse numerical value ÷ of pylon pylon three-dimensional cuboid envelope encloses number；
θ crosses the vertical axis Z in the center of circle around spiral of Archimedes basic circle for unmanned planeθRotation angle.
3. a kind of unmanned plane electric inspection process path calculation method based on spiral of Archimedes according to claim 2,
It is characterized by: the spiral of Archimedes variable diameter lift spiral safe flight path meets spiral of Archimedes side
Journey, due to the property of spiral of Archimedes, multi-rotor unmanned aerial vehicle is horizontal around electric tower axis in each circular path section
Uniform circular motion is done in direction, is prolonged circumference axis direction of hanging down and is done and at the uniform velocity rise or fall movement, though make unmanned plane each variable diameter with
In varying pitch section can also relative power pylon angular speed it is consistent, unmanned plane in flight path each o'clock all in one balance
Power system in, the state of flight of such unmanned plane keeps relative stability in flight path section, guarantee unmanned plane fly control parameter
With the stabilization for obtaining lift；Simultaneously because the smooth flight of unmanned plane ensure that relative power pylon distance in each reducer
And the constant or regular variation to target following angle of sight Space Angle angle value, enable holder camera with fixed focal length or continuous change
Coke realizes the identical object space resolution imaging to electric tower feature.
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| CN110751859B (en) * | 2019-10-17 | 2021-01-12 | 深圳市瑞达飞行科技有限公司 | Data processing method and device, computer system and readable storage medium |
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| CN112932367A (en) * | 2021-03-05 | 2021-06-11 | 深圳拓邦股份有限公司 | Fixed-point sweeping method of cleaning equipment and cleaning equipment |
| CN112932367B (en) * | 2021-03-05 | 2022-06-17 | 深圳拓邦股份有限公司 | Fixed-point sweeping method of cleaning equipment and cleaning equipment |
| CN115063901A (en) * | 2022-04-27 | 2022-09-16 | 大连船舶重工集团有限公司 | Automatic ship inspection method |
| CN115200528A (en) * | 2022-09-15 | 2022-10-18 | 杭州申昊科技股份有限公司 | Thickness measuring method and device based on thickness measuring unmanned aerial vehicle |
| CN115200528B (en) * | 2022-09-15 | 2022-12-09 | 杭州申昊科技股份有限公司 | Thickness measuring method and device based on thickness measuring unmanned aerial vehicle |
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