CN110082780A - A kind of overhead transmission line screen of trees information collecting method - Google Patents
A kind of overhead transmission line screen of trees information collecting method Download PDFInfo
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- CN110082780A CN110082780A CN201910221807.0A CN201910221807A CN110082780A CN 110082780 A CN110082780 A CN 110082780A CN 201910221807 A CN201910221807 A CN 201910221807A CN 110082780 A CN110082780 A CN 110082780A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
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Abstract
The present invention relates to a kind of overhead transmission line screen of trees information collecting methods comprising following steps: obtain the offline distance and offline angle of unmanned plane and overhead transmission line, unmanned plane and screen of trees with a distance from tree and from tree angle；According to the offline distance and offline angle, controls unmanned plane and overhead transmission line is followed to fly；Line tree distance according to the offline distance, offline angle, with a distance from tree and from tree angle, between calculating acquisition overhead transmission line and screen of trees.A kind of overhead transmission line screen of trees information collecting method of the present invention has the advantages that line walking is high-efficient and high reliablity.
Description
Technical field
The present invention relates to air vehicle technique fields, more particularly to a kind of overhead transmission line screen of trees information collecting method.
Background technique
Overhead transmission line many places are in mountain area, and area is big, trees are more, and dangerous also more many, usually line walking, encounters at most
The problem of be exactly clear screen of trees.The trees under the line of power supply line's safe operation in tree crown or line corridor are threatened, referred to as " tree
Barrier ".According to the raw skill portion statistics of south electric network, about 70% electric network fault hidden danger is since screen of trees hidden danger causes, and screen of trees hidden danger is patrolled
Become one of the most important work of patrolling transmission line depending on defect elimination.
At present screen of trees perils detecting mainly with people naked eyes, ground hold laser ranging differentiate based on, but due to people and tree
Hinder the measurement angle and positional relationship of point, testing result is there are biggish error, and line walking inefficiency.Therefore, it is necessary to
It provides and a kind of can be realized the method that line walking is high-efficient, high reliability carries out the information collection of overhead transmission line screen of trees.
Summary of the invention
Based on this, the object of the present invention is to provide a kind of overhead transmission line screen of trees information collecting methods, have and patrol
The advantages of line is high-efficient and high reliablity.
A kind of overhead transmission line screen of trees information collecting method, includes the following steps:
Obtain the offline distance and offline angle of unmanned plane and overhead transmission line, unmanned plane and screen of trees with a distance from tree and
From tree angle；
According to the offline distance and offline angle, controls unmanned plane and overhead transmission line is followed to fly；
According to the offline distance, offline angle, with a distance from tree and from tree angle, calculating acquisition overhead transmission line and tree
Line tree distance between barrier.
Compared to the prior art, a kind of overhead transmission line screen of trees information collecting method of the invention is according to the offline of acquisition
Distance and offline angle control unmanned plane follow overhead transmission line to fly, and in flight course, remain unmanned plane and frame
Relative space relation between empty transmission line of electricity is constant, and line walking is high-efficient；Calculate the line tree between overhead transmission line and screen of trees
Distance only needs 4 parameters, and offline distance, offline angle, is carried out by unmanned plane with a distance from tree and from this 4 parameters of angle are set
Detection obtains, and the detection position of unmanned plane holds laser ranging closer to overhead transmission line compared to ground, advantageously reduces
The error of information collection, high reliablity.
In one embodiment, the offline distance and offline angle are unmanned plane and the minimum overhead power transmission of level height
Offline distance and offline angle between route.
In one embodiment, the offline distance and offline angle for obtaining unmanned plane and overhead transmission line, nobody
Machine and with a distance from tree and the step of from tree angle of screen of trees, specifically comprise the following steps:
Unmanned plane heading is adjusted, it is vertical with level height minimum overhead transmission line holding to make it, and adjust institute
State the holding same level height of single line laser radar Yu the minimum overhead transmission line of level height；
Receive several distances and angle information that the single line laser radar rotary scanning being mounted on unmanned plane obtains；
The offline distance, offline angle are filtered out, with a distance from tree and from tree angle from the distance and angle information.
In one embodiment, it is described from the distance and angle information filter out the offline distance, offline angle, from
Set distance and from tree angle the step of, specifically comprise the following steps:
The exceptional value in the distance and angle information is rejected by Kalman filtering algorithm；
From the distance and angle for eliminating exceptional value, fit first group of distance and angle information as offline away from
From with offline angle；It fits second group of distance and angle information is used as with a distance from tree and from tree angle.
In one embodiment, from the distance and angle for eliminating exceptional value, first group is fitted away from walk-off angle
Information is spent as offline distance and offline angle；It fits second group of distance and angle information is used as with a distance from tree and from tree angle
The step of, include the following steps:
The angle and distance information that eliminates exceptional value of the angular range in 72 °~108 ° is chosen as off-line data
Collection；The angle and distance information that eliminates exceptional value of the angular range in 108 °~180 ° is chosen to be used as from tree data set；
It is concentrated in the off-line data, calculates and eliminate the average value of the angle-data of exceptional value, and the average value is made
For offline angle；Minimum value is filtered out from the range data for eliminate exceptional value, and using the minimum value as offline distance；
Described from tree data set, calculate and eliminate the average value of the angle-data of exceptional value, and the average value is made
For from tree angle；Minimum value is filtered out from the range data for eliminate exceptional value, and using the minimum value as with a distance from tree.
In one embodiment, it is described according to the offline distance, offline angle, from tree with a distance from and from tree angle, calculate
Obtain line tree between overhead transmission line and screen of trees apart from the step of, specifically comprise the following steps:
Offline angle will be subtracted from tree angle, and calculate and obtain using unmanned plane as public vertex, overhead transmission line and screen of trees
Between angle；
According to the offline distance, from tree with a distance from and angle, according to the cosine law calculate obtain overhead transmission line and tree
Line tree distance between barrier.
In one embodiment, it is described according to the offline distance, offline angle, from tree with a distance from and from tree angle, calculate
Obtain line tree between overhead transmission line and screen of trees apart from the step of after, further include following steps:
According to preset transmission line of electricity from tree safe distance, judge line tree distance whether greater than the transmission line of electricity from
Set safe distance；
If the line tree distance is not greater than the transmission line of electricity from tree safe distance, the geographical position of front and back shaft tower is obtained
The current location information of confidence breath and unmanned plane；
According to the current location information of the geographical location information of front and back shaft tower and unmanned plane, screen of trees is calculated apart from front and back shaft tower
Distance.
It is in one embodiment, described according to the geographical location information of front and back shaft tower and the current location information of unmanned plane,
Calculate screen of trees apart from front and back shaft tower apart from the step of after, further include following steps:
According to the line tree distance, the distance of the current location information of unmanned plane and screen of trees apart from front and back shaft tower, spanning tree
Hinder analysis report.
The present invention also provides a kind of computer-readable storage medias, store computer program thereon, which is characterized in that should
The step of overhead transmission line screen of trees information collecting method as described above is realized when computer program is executed by processor.
The present invention also provides a kind of computer equipment, including reservoir, processor and it is stored in the reservoir simultaneously
The computer program that can be executed by the processor, the processor realize frame as described above when executing the computer program
The step of empty transmission line of electricity screen of trees information collecting method.
In order to better understand and implement, the invention will now be described in detail with reference to the accompanying drawings.
Detailed description of the invention
Fig. 1 is the hardware block diagram of unmanned plane carry single line laser radar of the invention；
Fig. 2 is the flow chart of overhead transmission line screen of trees information collecting method of the invention；
Fig. 3 is the sub-step flow chart of step S100 of the invention；
Fig. 4 is the sub-step flow chart of step S130 of the invention；
Fig. 5 is the sub-step flow chart of step S132 of the invention；
Fig. 6 is the sub-step flow chart of step S200 of the invention；
Fig. 7 is the sub-step flow chart of step S300 of the invention；
Fig. 8 is line tree apart from schematic diagram calculation；
Fig. 9 is the flow chart of the preferred embodiment of the present invention；
Figure 10 is the inspection plan view of the embodiment of the present invention 1；
Figure 11 is the flight screen of trees figure of the embodiment of the present invention 1；
Figure 12 is the location drawing of the screen of trees of the embodiment of the present invention 1 in shaft tower section；
Figure 13 is the realtime graphic of the screen of trees of the embodiment of the present invention 1；
Figure 14 is preset offline angle of the invention, offline distance, navigating flies the set interface figure of parameter and line tree distance.
Specific embodiment
Referring now to attached drawing hereinafter, the present invention is described in more detail below, shows the embodiment of the present invention in the figure.
However, the present invention can be presented as many different forms, and it should not be construed as being limited to specific embodiment presented herein.
Exactly, these embodiments are for conveying the scope of the invention to those skilled in the art.
Unless otherwise defined, otherwise, term (including technical and scientific terms) used herein is interpreted as
With the identical meaning of the meaning that is generally understood with the technical staff in field belonging to the present invention.Also, it is to be understood that
Term used herein be interpreted as having with the consistent meaning of meaning in this specification and related fields, and do not answer
It is explained by ideal or excessively formal meaning, unless being clearly specified that herein.
According to embodiments of the present invention, the application environment of overhead transmission line screen of trees information collecting method is additionally provided, is needed
Illustrate, step shown in the flowchart of the accompanying drawings can be in a computer system such as a set of computer executable instructions
It executes.Also, although logical order is shown in flow charts, and it in some cases, can be to be different from herein suitable
Sequence executes shown or described step.Particularly, which refers to the flight control system of unmanned plane, and Fig. 1 is that unmanned plane is hung
Carry the hardware block diagram of single line laser radar.As shown in Figure 1, unmanned plane passes through 10 carry single line laser radar 20 of holder, institute
It states single line laser radar 20 and unmanned plane is connected to by holder interface 30.The holder interface 30 includes being electrically connected with the holder 10
Electric connection, and with the holder 10 mechanical connection mechanical splice.Particularly, the holder connector 30 is using big boundary unmanned plane
DjiPayload connector.Based on the structure, 20 carry of single line laser radar in the lower section of unmanned plane, single line laser radar with
Fixed frequency or revolving speed carries out being rotated by 360 ° scanning, obtains the relative position information of unmanned plane ambient enviroment and unmanned plane.It is single
The rotary rpm of line laser radar can reach 600r/min.That is, several groups distance and angle information that single line laser radar returns
Include the overhead transmission line in unmanned plane and line walking task offline distance and offline angle information and unmanned plane and its
Between the distance and angle information, such as unmanned plane and screen of trees of other objects of surrounding from tree with a distance from and from tree angle.And
20 rotary scanning of single line laser radar obtain distance and angle information can be transmitted to by the holder interface 30 it is described nobody
Machine, unmanned plane realize overhead transmission line screen of trees information collecting method of the invention according to these distances and angle information.
In order to overcome the drawbacks of the prior art, Fig. 2 is referred to, is overhead transmission line screen of trees information collection of the invention
A kind of flow chart of method, overhead transmission line screen of trees information collecting method, includes the following steps:
S100: obtaining the offline distance and offline angle of unmanned plane and overhead transmission line, unmanned plane and screen of trees from tree
Distance and from tree angle；
S200: it according to the offline distance and offline angle, controls unmanned plane and overhead transmission line is followed to fly；
S300: according to the offline distance, offline angle, with a distance from tree and from tree angle, calculating acquisition overhead transmission line
Line tree distance between road and screen of trees.
In the step s 100, the offline distance and offline angle are unmanned plane and the minimum overhead transmission line of level height
Offline distance and offline angle between road.During carrying out screen of trees information collection, usually only need to consider level height
Minimum overhead transmission line whether there is screen of trees hidden danger, and when screen of trees hidden danger is not present in it, level height is above
Overhead transmission line screen of trees hidden danger is necessarily not present.Therefore, it when unmanned plane carries out line walking acquisition screen of trees information, needs to keep
Unmanned plane flies along minimum overhead transmission line.
The application environment of overhead transmission line screen of trees information collecting method based on foregoing description, in an optional implementation
In example, referring to Fig. 3, the offline distance and offline angle, unmanned plane and screen of trees for obtaining unmanned plane and overhead transmission line
From tree with a distance from and from tree angle step S100, specifically comprise the following steps:
S110: adjustment unmanned plane heading it is vertical with level height minimum overhead transmission line holding to make it, and adjust
The holding same level height of the whole single line laser radar and the minimum overhead transmission line of level height；
S120: several distances and angle letter that the single line laser radar rotary scanning being mounted on unmanned plane obtains are received
Breath；
S130: the offline distance, offline angle are filtered out, with a distance from tree and from tree angle from the distance and angle information
Degree.
Wherein, the adjustment unmanned plane heading keeps it vertical with level height minimum overhead transmission line holding
Step S101, can be by manually starting unmanned plane, flown by remote controlled drone to the parallel position of overhead transmission line, made
Unmanned plane head is vertical with level height minimum overhead transmission line holding.In an alternative embodiment, the step
It can be unmanned plane to be flown automatically according to the preset line of flight and GPS positioning to the parallel position of overhead transmission line, and adjust
Entire machine head direction is vertical with overhead transmission line holding.
Particularly, referring to Fig. 4, it is described from the distance and angle information filter out the offline distance, offline angle,
Step S130 with a distance from tree and from tree angle, specifically comprises the following steps:
S131: the exceptional value in the distance and angle information is rejected by Kalman filtering algorithm；
S132: from the distance and angle for eliminating exceptional value, first group of distance and angle information conduct are fitted
Offline distance and offline angle；It fits second group of distance and angle information is used as with a distance from tree and from tree angle.
Step S131 by Kalman filtering algorithm excluding outlier, exceptional value here be by the environment such as light, mist because
Element and cause certain angle and distance information the measured value being obviously mutated occur comprising measurement noise.It is filtered by Kalman
Wave algorithm eliminates measurement noise, improves accuracy.
In one embodiment, referring to Fig. 5, fitting first from the distance and angle for eliminating exceptional value
Group distance and angle information are as offline distance and offline angle；It fits second group of distance and angle information is used as with a distance from tree
With the step of from tree angle S132, include the following steps:
S1321: the angle and distance information that eliminates exceptional value of the angular range in 72 °~108 ° is chosen as offline
Data set；The angle and distance information that eliminates exceptional value of the angular range in 108 °~180 ° is chosen to be used as from tree data
Collection；
S1322: it is concentrated in the off-line data, calculates and eliminate the average value of the angle-data of exceptional value, and this is put down
Mean value is as offline angle；Minimum value is filtered out from the range data for eliminate exceptional value, and using the minimum value as offline
Distance；
S1323: it described from tree data set, calculate and eliminates the average value of the angle-data of exceptional value, and this is put down
Mean value is used as from tree angle；Minimum value is filtered out from the range data for eliminate exceptional value, and using the minimum value as from tree
Distance.
Since conducting wire is vertical with single line laser radar holding, then the distance near 90 ° of level and angle are off-line data
Collection, it is complete in order to ensure data, angular range is limited to 72 °~108 °, to eliminate the angle that unmanned plane during flying fluctuates up and down
Spend error.Similarly, the angular range that screen of trees occurs is limited to 108 °~180 °.
In one embodiment, referring to Fig. 6, it is described according to the offline distance and offline angle, control unmanned plane with
With the step S200 that overhead transmission line flies, include the following steps:
S210: according to single line laser radar return offline distance and offline angle, judge overhead transmission line whether
In the fluctuation range of preset offline distance and offline angle；
S220: if it is not, then being rectified a deviation according to preset winged parameter of navigating to unmanned plane.
The preset offline angle can be 90 °, and the fluctuation range of preset offline angle can be 85 °~95 °.Such as
It is upper described, it is single when the single line laser radar and the holding same level height of the minimum overhead transmission line of level height
The minimum overhead transmission line of line laser radar face level height, the angle between single line laser radar and overhead transmission line
About 90 °, then followed in overhead transmission line flight course in unmanned plane, it is ensured that single line laser radar return offline angle be
90 ° of preset offline angle, or fluctuated in the fluctuation range of preset offline angle for 85 °~about 95 °, that is, it can ensure that nobody
Machine and overhead transmission line are maintained at same level height.
The preset offline distance is 5m, and the fluctuation range of offline distance is 4.5~5.5m.Offline distance is defaulted as
5m after ensuring that unmanned plane and overhead transmission line are maintained at same level height, then keeps unmanned plane and overhead transmission line
The distance between it is constant, then the relative space relation between unmanned plane and overhead transmission line is also maintained for constant.
In step S220, the winged parameter of navigating includes horizontal velocity, vertical speed and front and back speed.The horizontal velocity
For the speed that the speed and unmanned plane of unmanned plane transverse shifting follow overhead transmission line to fly, the horizontal velocity default
For 1.8m/s.The vertical speed is the flying speed that unmanned plane moves up and down, for making somebody a mere figurehead defeated during unmanned plane during flying
When electric line is not in the fluctuation range of preset angle, the vertical height of unmanned plane is adjusted, so that unmanned plane and overhead power transmission
Route is maintained at same level height, and the vertical speed is defaulted as 0.2m/s.The front and back speed is unmanned plane back-and-forth motion
Speed when overhead transmission line is not in the fluctuation range of preset offline distance, make for during unmanned plane during flying
Unmanned plane is close or far from overhead transmission line, keeps the distance between unmanned plane and overhead transmission line constant.Thus may be used
, the relative space relation between unmanned plane and overhead transmission line is able to maintain constant, and unmanned function is with unified level speed
Degree follows overhead transmission line to fly, and completes automatic electric power line walking task.
In one embodiment, referring to Fig. 7, it is described according to the offline distance, offline angle, from tree with a distance from and from tree
Angle calculates the step S300 for obtaining the line tree distance between overhead transmission line and screen of trees, specifically comprises the following steps:
S310: will subtract offline angle from tree angle, and calculate and obtain using unmanned plane as public vertex, overhead transmission line with
Angle between screen of trees；
S320: according to the offline distance, from tree with a distance from and angle, according to the cosine law calculate obtain overhead transmission line
Line tree distance between screen of trees.
Referring to Fig. 8, it is line tree apart from schematic diagram calculation.In figure, L1For the offline of unmanned plane and overhead transmission line
Distance；α is the offline angle of unmanned plane and overhead transmission line；L2It is unmanned plane and screen of trees with a distance from tree；β be unmanned plane with
Screen of trees from tree angle；Angle theta=β-the α obtained between overhead transmission line and screen of trees is calculated by step S310；By step
S320 calculates the line tree distance obtained between overhead transmission line and screen of trees according to the cosine law
As the preferred embodiment of the present invention, referring to Fig. 9, it is described according to the offline distance, offline angle, from tree away from
From with from tree angle, after calculating the step S300 for obtaining the line tree distance between overhead transmission line and screen of trees, further include as
Lower step:
S400: according to preset transmission line of electricity from tree safe distance, judge whether the line tree distance is greater than the transmission of electricity
Route is from tree safe distance；
S500: if the line tree distance is not greater than the transmission line of electricity from tree safe distance, front and back shaft tower is obtained
The current location information of geographical location information and unmanned plane；
S600: according to the current location information of the geographical location information of front and back shaft tower and unmanned plane, screen of trees is calculated from front and back
The distance of shaft tower.
Wherein, the transmission line of electricity is determined from tree safe distance according to the high pressure level of transmission line of electricity: 1kV or less is high
Crimping is 4 meters from tree safe distance；1-10kV high-voltage line is 6 meters from tree safe distance；35-110kV high-voltage line from tree
Safe distance is 8 meters；154-220kV high-voltage line is 10 meters from tree safe distance；Along 350-500kV high from tree safety away from
From being 15 meters.
In step S500, the geographical location information of front and back shaft tower is obtained particular by the kml for importing shaft tower, obtains nothing
Man-machine current location information can be realized by the GPS module carried on unmanned plane.
Step S600 obtains screen of trees with a distance from the shaft tower of front and back convenient for positioning screen of trees position, and subsequent artefacts is facilitated to remove tree
Barrier.
In one embodiment, please continue to refer to Fig. 9, the geographical location information and unmanned plane according to front and back shaft tower
Current location information, calculate screen of trees apart from front and back shaft tower apart from the step of after, further include following steps:
S700: raw according to the line tree distance, the distance of the current location information of unmanned plane and screen of trees apart from front and back shaft tower
At screen of trees analysis report.
Embodiment 1:
Embodiment 1 shows the screen of trees analysis report that unmanned plane carries out the information collection of transmission line of electricity screen of trees:
1, inspection is summarized
Line name: Lianping village
Voltage class: 220kv
The inspection date: 2018-09-18 14:41:19
Teams and groups' title: nothing
Inspection responsible person: nothing
Item remark: nothing
2, inspection plan view please refers to Figure 10
3, flight overview
Flight duration: 01:13
Flying distance: 125.41m
Line tree average distance: 623.15cm
Line tree minimum range: 210.60cm
4, flight screen of trees figure, please refers to Figure 11, wherein after entering flight screen of trees diagram page, a) x-axis is the line walking time；b)y
Axis is line tree distance at this time；C) if figure grey straight line is 220kv from tree safe distance；
If single line laser data line is lower than 220kv from tree safe distance line, representing this moment conducting wire lower section, there are screens of trees.
5, defect point
Position of the screen of trees in shaft tower section please refers to Figure 12, and the realtime graphic of screen of trees please refers to Figure 13.
Particularly, Figure 14 is please referred to, the preset offline angle, offline distance, winged parameter of navigating and line tree distance can lead to
It crosses the terminal device that one establishes communication connection with unmanned plane to be configured, which can be mobile phone, plate and unmanned plane
Remote control station, the installing terminal equipment have one fly control app comprising horizontal velocity, vertical speed, front and back speed, offline distance and
Transmission line of electricity is from the setting control such as tree safe distance (being shown as with a distance from line tree in figure).
The present invention also provides a kind of computer-readable storage medias, store computer program thereon, the computer program
The step of overhead transmission line screen of trees information collecting method as described above is realized when being executed by processor.
It wherein includes storage medium (the including but not limited to disk of program code that the present invention, which can be used in one or more,
Memory, CD-ROM, optical memory etc.) on the form of computer program product implemented.Computer-readable storage media packet
Permanent and non-permanent, removable and non-removable media is included, can be accomplished by any method or technique information storage.Letter
Breath can be computer readable instructions, data structure, the module of program or other data.The example packet of the storage medium of computer
Include but be not limited to: phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM),
Other kinds of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory
(EEPROM), flash memory or other memory techniques, read-only disc read only memory (CD-ROM) (CD-ROM), digital versatile disc
(DVD) or other optical storage, magnetic cassettes, tape magnetic disk storage or other magnetic storage devices or any other non-biography
Defeated medium, can be used for storage can be accessed by a computing device information.
The present invention also provides a kind of computer equipment, including reservoir, processor and it is stored in the reservoir simultaneously
The computer program that can be executed by the processor, the processor realize frame as described above when executing the computer program
The step of empty transmission line of electricity screen of trees information collecting method.
The embodiments described above only express several embodiments of the present invention, and the description thereof is more specific and detailed, but simultaneously
It cannot therefore be construed as limiting the scope of the patent.It should be pointed out that coming for those of ordinary skill in the art
It says, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to protection of the invention
Range.
Claims (10)
1. a kind of overhead transmission line screen of trees information collecting method, which comprises the steps of:
Obtain the offline distance and offline angle of unmanned plane and overhead transmission line, unmanned plane and screen of trees with a distance from tree and from tree
Angle；
According to the offline distance and offline angle, controls unmanned plane and overhead transmission line is followed to fly；
According to the offline distance, offline angle, with a distance from tree and from tree angle, calculate obtain overhead transmission line and screen of trees it
Between line tree distance.
2. overhead transmission line screen of trees information collecting method according to claim 1, it is characterised in that: the offline distance
And offline angle is the offline distance and offline angle between unmanned plane and the minimum overhead transmission line of level height.
3. overhead transmission line screen of trees information collecting method according to claim 2, it is characterised in that: described to obtain nobody
With a distance from tree and the step of from tree angle of the offline distance and offline angle of machine and overhead transmission line, unmanned plane and screen of trees,
Specifically comprise the following steps:
Unmanned plane heading is adjusted, it is vertical with level height minimum overhead transmission line holding to make it, and adjust the list
The holding same level height of line laser radar and the minimum overhead transmission line of level height；
Receive several distances and angle information that the single line laser radar rotary scanning being mounted on unmanned plane obtains；
The offline distance, offline angle are filtered out, with a distance from tree and from tree angle from the distance and angle information.
4. overhead transmission line screen of trees information collecting method according to claim 3, it is characterised in that: it is described from it is described away from
Walk-off angle degree information sifting goes out the offline distance, offline angle, with a distance from tree and the step of from tree angle, specifically includes as follows
Step:
The exceptional value in the distance and angle information is rejected by Kalman filtering algorithm；
From the distance and angle for eliminating exceptional value, fit first group of distance and angle information as offline distance and
Offline angle；It fits second group of distance and angle information is used as with a distance from tree and from tree angle.
5. overhead transmission line screen of trees information collecting method according to claim 4, it is characterised in that: from eliminating exception
In the distance and angle of value, first group of distance and angle information are fitted as offline distance and offline angle；It fits
Second group of distance and angle information include the following steps: as with a distance from tree and the step of from tree angle
The angle and distance information that eliminates exceptional value of the angular range in 72 °~108 ° is chosen as off-line data collection；Choosing
The angle and distance information that eliminates exceptional value of the angular range in 108 °~180 ° is taken to be used as from tree data set；
The off-line data concentrate, calculate eliminate exceptional value angle-data average value, and using the average value as from
Line angle degree；Minimum value is filtered out from the range data for eliminate exceptional value, and using the minimum value as offline distance；
It is described from tree data set in, calculate eliminate exceptional value angle-data average value, and using the average value as from
Set angle；Minimum value is filtered out from the range data for eliminate exceptional value, and using the minimum value as with a distance from tree.
6. overhead transmission line screen of trees information collecting method according to claim 1, it is characterised in that: described according to
Offline distance, offline angle, the line tree distance with a distance from tree and from tree angle, between calculating acquisition overhead transmission line and screen of trees
The step of, specifically comprise the following steps:
Offline angle will be subtracted from tree angle, and calculate and obtain using unmanned plane as public vertex, between overhead transmission line and screen of trees
Angle；
According to the offline distance, with a distance from tree and angle, calculated according to the cosine law obtain overhead transmission line and screen of trees it
Between line tree distance.
7. overhead transmission line screen of trees information collecting method according to claim 1, it is characterised in that: described according to
Offline distance, offline angle, the line tree distance with a distance from tree and from tree angle, between calculating acquisition overhead transmission line and screen of trees
The step of after, further include following steps:
According to preset transmission line of electricity from tree safe distance, judge whether the line tree distance is greater than the transmission line of electricity and pacifies from tree
Full distance；
If the line tree distance is not greater than the transmission line of electricity from tree safe distance, the geographical location letter of front and back shaft tower is obtained
The current location information of breath and unmanned plane；
According to the current location information of the geographical location information of front and back shaft tower and unmanned plane, calculate screen of trees apart from front and back shaft tower away from
From.
8. overhead transmission line screen of trees information collecting method according to claim 7, it is characterised in that: described according to front and back
The geographical location information of shaft tower and the current location information of unmanned plane, calculate screen of trees apart from front and back shaft tower apart from the step of it
Afterwards, further include following steps:
According to the line tree distance, the distance of the current location information of unmanned plane and screen of trees apart from front and back shaft tower, screen of trees point is generated
Analysis report.
9. a kind of computer-readable storage media, stores computer program thereon, which is characterized in that the computer program is located
Manage the step of realizing the overhead transmission line screen of trees information collecting method as described in claim 1 to 8 any one when device executes.
10. a kind of computer equipment, including reservoir, processor and it is stored in the reservoir and can be by the processor
The computer program of execution, the processor are realized as described in claim 1 to 8 any one when executing the computer program
Overhead transmission line screen of trees information collecting method the step of.
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