CN110440932A - A kind of positioning device of fault point and fault point positioning method of polling transmission line - Google Patents
A kind of positioning device of fault point and fault point positioning method of polling transmission line Download PDFInfo
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- CN110440932A CN110440932A CN201910595041.2A CN201910595041A CN110440932A CN 110440932 A CN110440932 A CN 110440932A CN 201910595041 A CN201910595041 A CN 201910595041A CN 110440932 A CN110440932 A CN 110440932A
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C3/00—Measuring distances in line of sight; Optical rangefinders
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C9/00—Measuring inclination, e.g. by clinometers, by levels
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
- G01J5/00—Radiation pyrometry, e.g. infrared or optical thermometry
- G01J5/10—Radiation pyrometry, e.g. infrared or optical thermometry using electric radiation detectors
-
- 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
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
- G01J5/00—Radiation pyrometry, e.g. infrared or optical thermometry
- G01J2005/0077—Imaging
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
- G01J5/00—Radiation pyrometry, e.g. infrared or optical thermometry
- G01J5/10—Radiation pyrometry, e.g. infrared or optical thermometry using electric radiation detectors
- G01J2005/106—Arrays
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Abstract
The present invention provides a kind of positioning device of fault point of polling transmission line, including camera main-body；Infrared thermal imaging module, for carrying out infrared thermal imaging；GPS location module, for being positioned to the current photograph location of camera；WIFI wireless transport module is used for wireless transmission information；Gyro module, for measuring current camera angles；Laser ranging module, for measuring measured object at a distance from camera；Infrared thermal imaging module, GPS location module, WIFI wireless transport module, laser ranging module and gyro module are fixed in camera main-body, and GPS location module, WIFI wireless transport module, laser ranging module and gyro module are electrically connected with infrared thermal imaging module.The present invention determines camera position, pitch angle when taking a picture is determined by gyro module and determines by laser ranging module the linear distance of camera and testee by the way that GPS location module is arranged, it is possible thereby to calculate the actual position coordinate of testee.
Description
Technical field
The present invention relates to infrared thermal imaging technique field more particularly to a kind of positioning device of fault point of polling transmission line
And fault point positioning method.
Background technique
Infrared Thermography Technology is the infrared energy for receiving measured target using infrared detector and optical imaging objective
It is distributed in figure reflection to the light-sensitive element of infrared detector, so that Infrared Thermogram is obtained, this thermography and body surface
Heat distribution field it is corresponding.Infrared Thermography Technology relies on its non-contact temperature measuring, is not interfered by light, haze, and visual range is remote etc.
Feature can be widely applied to power-line patrolling, petroleum pipeline tour, forest fire protection inspection, solar battery detection, answer first aid
It the fields such as helps, is police, especially when carrying out high-tension line tour, can give full play to that its is at low cost, and efficiency-cost ratio is good, and no one was injured
The advantages such as risk, survival ability is strong, and mobility is good, easy to use, and detection is accurate.With the continuous social and economic development and into
Step, the safety and reliability for sending out power supply have the function of particularly important.Using infrared thermal imagery to the state of power transmission and transforming equipment into
Row checks, to enhancing equipment operational reliability, improves electric system economic benefit and reduces maintenance cost, have critically important
Meaning.
For example, Chinese patent " CN205961273U " discloses a kind of portable multi-function infrared thermal imaging camera, it is special
Sign is, including camera main-body, display screen, internal imaging control module, key and signal lamp, the display screen, key and letter
Signal lamp be set to camera main-body outside, the internal imaging control module be set to camera main-body inside and respectively with display screen,
Key is connected with signal lamp, and the internal imaging control module includes sequentially connected optical component, filter module, detector mould
Block, impedance inverter circuit, signal amplification circuit, data processing module, microprocessor, video processing module, digital video coding
Module and power supply module, the digital video coding module are also connected with storage unit and WiFi wireless communication module, WiFi without
Line communication module is also connect with microprocessor.The technical solution is merely capable of carrying out infrared imaging function, can not be in transmission line of electricity
The specific location parameter of middle fault inspecting.
Summary of the invention
For overcome it is existing in the prior art be merely capable of carrying out infrared imaging function, can not detect in transmission line of electricity former
The problem of hindering the specific location parameter of point, the present invention provides a kind of positioning device of fault point of polling transmission line and fault points
Localization method.
Above-mentioned purpose that the invention is realized by the following technical scheme: a kind of positioning device of fault point of polling transmission line,
Including camera main-body；Infrared thermal imaging module, for carrying out infrared thermal imaging；GPS location module, for currently taking a picture to camera
Position is positioned；WIFI wireless transport module is used for wireless transmission information；Gyro module, for measuring current photograph angle
Degree；Laser ranging module, for measuring measured object at a distance from camera；The infrared thermal imaging module, GPS location module,
WIFI wireless transport module, laser ranging module and gyro module are fixed in camera main-body, the GPS location mould
Block, WIFI wireless transport module, laser ranging module and gyro module are electrically connected with infrared thermal imaging module.
On this basis, the infrared thermal imaging module include light path module, face battle array infrared focus plane (CMOS) module,
Quantify memory cell, template library, specialized high-speed image processing unit and monitoring unit, the light path module and face battle array are infrared burnt flat
Face mould block is connected, and face battle array infrared focus plane (CMOS) module is connect with quantization memory cell, the quantization memory cell
Be connected with specialized high-speed image processing unit, the specialized high-speed image processing unit also respectively with template library and monitoring unit
It is connected.
On this basis, the light path module includes shutter assembly, zoom servo mechanism, auto iris and optical mirror slip
Group, the optical mirror slip group include several eyeglasses, and the eyeglass is fixedly connected with zoom servo mechanism, and the auto iris is located at
In optical mirror slip group, the shutter assembly is located between optical mirror slip group and face battle array infrared focus plane (CMOS) module.
On this basis, the optical mirror slip group is extended outside camera main-body.
On this basis, the side on the camera main-body far from optical mirror slip group is provided with several interfaces, for connecting
Computer.
It on this basis, further include unmanned plane and flight controller, the unmanned plane and flight controller are wirelessly connected, institute
Camera main-body is stated to be fixedly mounted on unmanned plane, and with unmanned plane power electric connection.
It on this basis, further include hand system, the hand system and infrared thermal imaging module are wirelessly connected, the hand
System is held to be held by patrol officer.
On this basis, step 1: infrared thermal imaging module carries out infrared thermal imaging to detected transmission line of electricity, is formed
The optical signalling of image simultaneously carries out image procossing；
Step 2: GPS location module positions the position of camera main-body, and forms coordinate A, and coordinate A is sent
Give infrared thermal imaging module；
Step 3: gyro module calculates the direction and pitch angle of camera main-body, be denoted as towards angle (with western east to
Angle) α, pitch angle size is denoted as β, and will be sent to infrared thermal imaging module towards angle [alpha] and pitch angle angle beta；
Step 4: laser ranging module measures detected transmission line of electricity at a distance from camera main-body, is denoted as distance B,
And distance B is sent to infrared thermal imaging module；
Step 5: infrared thermal imaging module calculates the position of detected transmission line of electricity, and forms coordinate C.
On this basis, the step 1 specifically: light path module carries out infrared thermal imaging, and optical signalling is sent to
Face battle array infrared focus plane (CMOS) module；Face battle array infrared focus plane (CMOS) module converts optical signals into analog current letter
Number, then it is sent to quantization memory cell；Quantify memory cell and quantification treatment is carried out to analog current signal, analog current is believed
Number it is converted into digital signal, and size, pixel and the color in digital signal about image are pre-processed and stored.
On this basis, the step 1 further includes determining fault point, specifically: quantization memory cell will pre-process
The digital signal of image is sent to specialized high-speed image processing unit, and specialized high-speed image processing unit calls template in template library
The detected transmission line status of comparison judgement, if RED sector color is deeper than template face in the image of detected transmission line of electricity
Color, i.e. judgement temperature are higher than normal value, can be labeled as fault point.
Compared with prior art, the beneficial effects of the present invention are:
The present invention carries out analysis and pre- diagnosis to infrared imaging result by specialized high-speed image processing unit, on batch
Pre- diagnosis and the Precise Diagnosis of blit spectrum or data greatly reduce workload, the process and efficiency of specification inspection work；
The present invention determines camera position by the way that GPS location module is arranged, determines pitching when taking a picture by gyro module
Angle and the linear distance that camera and testee are determined by laser ranging module, it is possible thereby to calculate the reality of testee
Position coordinates；
The present invention can remotely connect hand system by setting WIFI wireless transport module, and On-site photo is patrolled in realization
The difficult map or remote data found when inspection assists analysis, improves the response time of fault discovery and troubleshooting；
The present invention realizes data management query function by setting information memory cell, to a large amount of maps or data
Put on file management establishes breakdown judge database, typical image library, standard picture library etc. by device type, fault type, side
Continue the arrangement and inquiry to photograph data after an action of the bowels.
Detailed description of the invention
Fig. 1 is brief configuration schematic diagram when the invention works；
Fig. 2 is brief flow diagram when infrared thermal imaging module works in the present invention；
Specific embodiment
Below in conjunction with drawings and examples, the present invention will be described in further detail.It should be appreciated that described herein
Specific examples are only used to explain the present invention, is not intended to limit the present invention.
Embodiment 1
As Figure 1-Figure 2, the present invention schematically illustrate a kind of polling transmission line positioning device of fault point and
Fault point positioning method.
The present invention discloses a kind of positioning device of fault point of polling transmission line, as shown in Figure 1, a kind of transmission line of electricity patrols
The positioning device of fault point of inspection, including camera main-body；Infrared thermal imaging module, for carrying out infrared thermal imaging；GPS location mould
Block, for being positioned to the current photograph location of camera；WIFI wireless transport module is used for wireless transmission information；Gyroscope mould
Block, for measuring current camera angles；Laser ranging module, for measuring measured object at a distance from camera；It is described it is infrared heat at
As module, GPS location module, WIFI wireless transport module, laser ranging module and gyro module are fixed at camera
In main body, the GPS location module, WIFI wireless transport module, laser ranging module and gyro module with it is infrared heat at
As module is electrically connected.
As the preferred embodiment of the present invention, as shown in Fig. 2, the infrared thermal imaging module includes light path module, face
Battle array infrared focus plane (CMOS) module, quantization memory cell, template library, specialized high-speed image processing unit and monitoring unit, institute
It states light path module to be connected with face battle array infrared focus plane module, face battle array infrared focus plane (CMOS) module and quantization storage are single
Member connection, the quantization memory cell are connected with specialized high-speed image processing unit, the specialized high-speed image processing unit
Also it is connected respectively with template library and monitoring unit.Wherein battle array infrared focus plane (CMOS) module in face uses ccd image sensor,
Directly convert optical signals into analog current signal, by using face battle array infrared focus plane (CMOS) module so that it is infrared at
As the imaging frequency of module reaches 50Hz or more, it is adapted to the fast video acquisition function under higher motion velocity conditions,
Quantifying memory cell includes quantifying unit, pretreatment unit and information storage unit, the input terminal and ccd image of quantifying unit
The output end of sensor connects, and the output end of quantifying unit is connected with the input terminal of pretreatment unit, pretreatment unit it is defeated
Outlet is connected with the input terminal of information storage unit, and the output end and specialized high-speed image processing unit of information storage unit are defeated
Enter end to be connected, specialized high-speed image processing unit output end connects D/A converter, and the connection monitoring of the D/A converter other end is single
Member, further, specialized high-speed image processing unit input terminal are also connected with template library, the output of specialized high-speed image processing unit
End is also connected with computer, and specialized high-speed image processing unit post-processes image.Divide the image into pretreatment and rear place
Reason, when further improving image processing efficiency, while improving post-processing, to the accuracy of fault point judgement.
As the preferred embodiment of the present invention, the light path module includes shutter assembly, zoom servo mechanism, automatic light
Circle and optical mirror slip group, the optical mirror slip group includes several eyeglasses, and the eyeglass is fixedly connected with zoom servo mechanism, described
Auto iris is located in optical mirror slip group, and the shutter assembly is located at optical mirror slip group and face battle array infrared focus plane (CMOS) module
Between.
As the preferred embodiment of the present invention, the specialized high-speed image processing unit is ARM chip.
As the preferred embodiment of the present invention, the shutter assembly uses solenoid valve shutter.
As the preferred embodiment of the present invention, the gyro module is six axis gyroscopes, and six axis gyroscopes are using micro-
Mechatronic Systems (MEMS) manufacture, it will mechanically and electrically subcomponent be integrated in micron-sized small-scale structure.Utilize micromachined
All electric devices, sensor and mechanical organ are integrated to a piece of shared silicon chip, thus by semiconductor and micro Process skill
Art is composed.Main element is machine assembly, detection circuit and ASIC or microcontroller.
Wherein, MEMS sensor is used to measure along one or more axial linear accelerations, or around one or more
The angular speed of a axis, using as input control system.MEM acceierometer sensor usually utilizes position measurement interface circuit measurement
Then measured value is converted to digital electric signal using A/D converter (ADC), to carry out digital processing by the displacement of object.
Gyroscope then measures the displacement that object occurs due to Coriolis acceleration.
According to Newton's second law, physics acceleration (m/s2) it is directly proportional to resultant force (N) being subject to, with its quality (kg) at
Inverse ratio, acceleration direction are identical as resultant force.
The above process can be concluded simply are as follows: active force causes object to be subjected to displacement, and then capacitance variations occur.By multiple electricity
It is extremely in parallel, it can get bigger capacitance variations, it is easier to detect displacement.V1 and V2 is connected to every side of capacitor, capacitance partial pressure
The center of device is connected to object.
Then the analog voltage of object center of gravity utilizes sigma-delta by charge amplification, signal condition, demodulation and low-pass filtering
ADC is converted into digital signal.The ADC digital bit exported is streamed to FIFO buffer, the latter converts serial signal
For parallel data stream.Then, can be by the serial protocols reading data flow such as I2C or SPI, then be passed to host and do into one
Step processing.Sigma-delta ADC has signal bandwidth relatively narrow, and resolution ratio is very high, is suitble to accelerometer application.Sigma-delta ADC output by
Its digit determines, it is easy to be converted into " g " (unit), be used for acceleration calculation." g " is acceleration of gravity.
As the preferred embodiment of the present invention, the optical mirror slip group is extended outside camera main-body.
As the preferred embodiment of the present invention, the side on the camera main-body far from optical mirror slip group is provided with several
Interface, for connecting computer.
It further include distant points to a digital transmission module, distant points pass points as the preferred embodiment of the present invention
Module is connected with infrared thermal imaging module, and distant points cooperate GPS using high stable RF data transportation module to digital transmission module
Network synchronizes Digital Transmission, guarantees that two kinds of transmission modes complement each other, and the efficiency sum number for passing total passes accurately and timely
Property greatly improves.Meanwhile by the optimization of decode-regulating mode, guarantee the accuracy and reducibility of data.Distant points pair
Point digital transmission module includes 2G/3G/4G/5G channel wireless radio multi transmission mode.
It further include unmanned plane and flight controller as the preferred embodiment of the present invention, the unmanned plane and flight are controlled
Device processed is wirelessly connected, and the camera main-body is fixedly mounted on unmanned plane, and with unmanned plane power electric connection.
It further include hand system as the preferred embodiment of the present invention, the hand system and infrared thermal imaging module
It is wirelessly connected, the hand system is held by patrol officer.
The working principle of the invention is:
Infrared thermal imaging camera is fixedly mounted on unmanned plane, is connected with the power supply on unmanned plane, operator is logical
The flight for crossing the flight controller control unmanned plane on ground, after then infrared thermal imaging camera carries out photograph processing to transmission line of electricity
Image be transferred in hand system by WIFI wireless transport module.Specific photograph treatment process is as follows: light path module into
Row photograph directly converts optical signals into then by CCD imaging sensor in battle array infrared focus plane (CMOS) module of face
Analog current signal, then quantifying unit reception carry out quantization place after the analog current signal that CCD imaging sensor issues
Reason, is converted into digital signal for analog current signal, and then the digital signal after conversion is sent to pretreatment unit and is located in advance
Reason is stored after the completion of pretreatment by digital signal of the information storage unit to image, again then by specialized high-speed image
It manages unit and carries out image procossing, specialized high-speed image processing unit determines camera position by GPS location module, passes through gyroscope
Module determine pitch angle when photograph and camera towards, determined by laser ranging module the straight line of camera and testee away from
From the final actual coordinate for calculating testee with trigonometric function relationship, finally by D/A converter, by digital signal
Analog signal is converted to, monitoring unit is sent to and is monitored, while specialized high-speed image processing unit and optical path unit may be used also
Computer, which is connected, by connector carries out photograph and image procossing.
The present invention carries out analysis and pre- diagnosis to infrared imaging result by specialized high-speed image processing unit, on batch
Pre- diagnosis and the Precise Diagnosis of blit spectrum or data greatly reduce workload, the process and efficiency of specification inspection work；
The present invention determines camera position by the way that GPS location module is arranged, determines pitching when taking a picture by gyro module
Angle and the linear distance that camera and testee are determined by laser ranging module, it is possible thereby to calculate the reality of testee
Position coordinates；
The present invention can remotely connect hand system by setting WIFI wireless transport module, and On-site photo is patrolled in realization
The difficult map or remote data found when inspection assists analysis, improves the response time of fault discovery and troubleshooting；
The present invention realizes data management query function, to a large amount of maps or data by setting quantization memory cell
Put on file management establishes breakdown judge database, typical image library, standard picture library etc. by device type, fault type, side
Continue the arrangement and inquiry to photograph data after an action of the bowels.
Embodiment 2
As shown in Figs. 1-2, a kind of fault point positioning method for polling transmission line, comprising the following steps:
Step 1: infrared thermal imaging module carries out infrared thermal imaging to detected transmission line of electricity, forms the optics of image
Signal is simultaneously pre-processed and is post-processed；
Pretreatment: light path module carries out infrared thermal imaging, and optical signalling is sent to face battle array infrared focus plane (CMOS)
Module；Face battle array infrared focus plane (CMOS) module converts optical signals into analog current signal, is then sent to quantization storage
Unit；Quantify memory cell and quantification treatment is carried out to analog current signal, analog current signal is converted into digital signal, and right
It is pre-processed and is stored about the size of image, pixel, color, image enhancement and image denoising etc. in digital signal, thus
Weaken the random noise in infrared image, improves the contrast of infrared image；Specifically, denoising method uses linear filter method
Or one of median filter method；Image enchancing method is increased using frequency domain facture, spatial processing method, morphology sharpening image
By force, one of wavelet transformation and genetic algorithm or a variety of；On the basis of image enhancement, using image binaryzation method by mesh
Logo image is effectively separated with background image, and using threshold segmentation method, this method, which is suitable for target and background, stronger comparison
The case where, the optimal segmentation threshold values of image is sought by using maximum variance between clusters (OTSU algorithm)；Certainly, for most of
It is not very apparent infrared image with marginal information, can be calculated using Roberts operator, Sobel based on first derivative
Son, Prewitt operator etc., can also be using second derivative-based boundary operator Laplace operator etc..Thus from numerous
In background information, the image edge information divided is obtained, provides image analysis processing, and then collect and be also easy to produce trouble unit
Infrared Image Information, carry out fault verification and record；
Post-processing: determining fault point, specifically, the digital signal of the image pre-processed is sent to by quantization memory cell
Specialized high-speed image processing unit, specialized high-speed image processing unit call the transmission of electricity that template comparison judgement is detected in template library
Line status, if RED sector color is deeper than template colors in the image of detected transmission line of electricity, i.e. judgement temperature is higher than just
Then constant value is labeled as fault point.
Step 2: GPS location module positions the position of camera main-body, and forms coordinate A (X, Y), and by coordinate A
(X, Y) is sent to the specialized high-speed image processing unit in infrared thermal imaging module；GPS location module is real using differential type multiple spot
When time service mode positioned；
Step 3: gyro module calculates the direction and pitch angle of camera main-body, be denoted as towards angle (with western east to
Angle) α, pitch angle size is denoted as β, and dedicated in infrared thermal imaging module by being sent to towards angle [alpha] and pitch angle angle beta
High rate burst communication unit；
Step 4: laser ranging module measures detected transmission line of electricity at a distance from camera main-body, is denoted as distance B,
And distance B is sent to the specialized high-speed image processing unit in infrared thermal imaging module；
Step 5: infrared thermal imaging module calculates the position of detected transmission line of electricity, and forms coordinate C.Specifically,
First calculate the linear distance of detected transmission line of electricity and camera main-body: B*cos β；Then detected power transmission line is calculated
Road at a distance from north and south and western east are upward, is respectively as follows: B*cos β * cos α, B*cos β * sin α with camera main-body；Finally determine
Coordinate C ((X+D*B*cos β * cos α), (Y+D*B*cos β * sin α)), wherein D is the conversion coefficient of coordinate and actual range.
As the preferred embodiment of the present invention, Step 2: light path module carries out in step 3 and step 4, with step 1
The step for infrared thermal imaging, carries out simultaneously.
As the preferred embodiment of the present invention, gyro module emulates the waveform of six axis gyroscopes in step 3
Method have following three kinds:
(1) single order complementary filter
Six axis gyroscopes collect the acceleration and angular speed data obtained can be by the influence of sensor noise signal, to make
Obtaining intuitively to obtain the angle on the axis by the two data of acceleration and angular speed.So need to acceleration and
The two data of angular speed carry out that complementary filter is approximate obtains a more accurately angle.
Complementary filter algorithm can filter out the interference of low frequency and high frequency simultaneously, and the data that sensor can be better achieved are melted
It closes, the following are the real functions of single order complementary filter
Voidfilter (float angle_m, float gyro_m)
{ angle=K1*angle_m+ (1-K1) * (angle+gyro_m*dt)；
Output valve=this sampled value of // this filtering+last time filtering output valve
Angle_m and gyro_m is that the angle obtained after gyroscope acquisition data calculate and angle accelerate respectively in formula
Degree；K1 is the weight to accelerometer value；Dt is the sampling time of filter.The output valve that is once filtered in acquisition and
In the case that this gyroscope collects data, we can obtain this filtered output valve by the formula.
(2) Kalman filtering
When measuring the situation known to variance, Kalman filtering can estimate dynamical system from the data of measurement noise
State, so Kalman filtering is very helpful for the processing for the dynamic data that six axis gyroscopes are collected.
Firstly, Kalman filtering need a discrete control process system, this process can be used one linearly with
The machine differential equation describes:
K indicates an actual value, that is, the substantial amount at kth moment, such as X (k) for kth moment system in above-mentioned equation
System state, Z (k) are kth moment measured value, and U (k) is then the kth moment to the control amount of system.A and B is system parameter, is
Matrix relative to Multi-model System；H is the parameter of measuring system, is the matrix relative to more measuring systems.W (k) and V (k)
The noise in noise and measurement during respectively.They are assumed to be white Gaussian noise (White Gaussian
Noise), their covariance (covariance) is Q and R respectively.If conditions above meets, then Kalman filtering will compare
It is more satisfactory.
Within the system, need to using the process model go prediction NextState system namely NextState result=on
One state outcome+present upper state control amount (control amount can be 0), formula are as follows:
Then it after system results have been updated, needs to be updated covariance (covariance), as to how
Covariance is updated, this will use the covariance to X (k | k-1), X (k-1 | k-1), that is, NextState and laststate
Covariance, formula are as follows:
Wherein C indicates covariance, and A ' indicates the transposed matrix of A, and Q is the covariance of systematic procedure.
After obtaining the prediction result to system, we just need to start to collect the measured value of present status.In conjunction with
The result of prediction and the measured value gathered, can obtain maximum likelihood estimate now, and wherein Kg is kalman gain (Kalman
Gain), it is calculated by covariance and H-matrix, has estimated value X optimal under kth moment state (k | k), also need to update this
Covariance under kth moment state can be run down so as to Kalman filtering until systematic procedure terminates, the matrix that wherein I is 1,
Single model list is measured, I=1.C (k | k) is the C (k-1 | k-1) when system enters k+1 state in above-mentioned formula.
(3)DMP(Digital Motion Processor)
DMP (Digital Motion Processor) is that the digital moving processor hardware acceleration that gyroscope carries is drawn
It holds up, 6 axis attitude datas can be exported by I2C interface.Meanwhile InvenSense company provides corresponding embedded movement and drives
Initial data can be directly changed into the output of quaternary number in conjunction with DMP by dynamic library.And Eulerian angles can be calculated by quaternary number,
That is course angle (yaw), roll angle (roll) and pitch angle (pitch).Using built-in DMP, the codes of 6 axis can be not only allowed
Design is more succinct, and the attitude algorithm process of MCU is omitted.MCU burden can be effectively reduced with skill, and then improves system
System real-time.
After carrying out corresponding format conversion to quaternary number, Eulerian angles can be calculated using following formula
Pitch=asin (- 2*q1*q3+2*q0*q2) * 57.3；// pitch angle
Roll=atan2 (2*q2*q3+2*q0*q1, -2*q1*q1-2*q2*q2+ 1) * 57.3；// roll angle
Yaw=atan2 (2* (q1*q2+q0*q3), q0*q0+q1*q1-q2*q2-q3*q3) * 57.3；// course angle
Wherein quat [0]~quat [3] is the quaternary number after the DMP resolving of MPU6050, q30 format, so will be divided by one
A 2 30 powers, q30 are a constants: then 1073741824, i.e., 2 30 powers bring formula into, Euler are calculated
Angle.
As the preferred embodiment of the present invention, gyroscope bearing calibration are as follows:
Since precision of equipment when specially with debugging is limited, axis of gyroscope and zero groove generation of thermal infrared imager camera lens graticle
Usually not in same vertical plane, the settling position of axis of gyroscope is not overlapped usually the optical axis of table with geographic meridian.The two
Angle be known as instrumental constant, indicated with Δ.It can be found out together by the precision traverse side CD that is Ao with Instrument measuring azimuth
Constant:
Δ=A0-aT (3-1)
For the side CD gyro azimuth, determination of instrument constant should be carried out 2~3 times on known side, and each secondary mutual deviation should meet limit
Difference.
Step 1: the gyro azimuth of measurement directed edge
The length of directed edge should be greater than 50m, and equipment placement can measure the gyro azimuth on the side C'D' on C '.It is then fixed
To the geographic azimuth A on side are as follows:
A=a'T+ Δ (3-2)
Step 2: redeterminating instrumental constant
After equipment is on experiment porch, it should be redeterminated on known side instrumental constant 2~3 times.What front and back measured twice
Instrumental constant, it is poor that the mutual deviation of any two of them instrumental constant should meet limit.Then find out instrumental constant most or value, and press
Bessel formula once surveys centering error to evaluate.
Step 3: seeking the calculation convergence of meridians
General ground precision traverse side or triangle selvage it is known that grid azimuth α 0, needs to ask the directed edge of calculation,
It is to find out its grid azimuth α, rather than geographic azimuth A.Therefore it also needs to ask and calculates convergence of meridians γ.Geographic orientation
The relationship at angle and grid azimuth are as follows:
A0=a0+ γ 0 (3-3)
The symbol of convergence of meridians γ 0 can be determined by the position of placement instrument point, i.e., be to the east of central meridian
Just, it is negative to the west of；Its value can be acquired according to the Gauss plane coordinate of placement instrument point.
Step 4: seeking the grid azimuth for calculating directed edge
It can be obtained by above formula:
Δ=A0-aT=a0+ γ 0-aT (3-4)
The grid azimuth of directed edge is then are as follows:
A=A- γ=a'T+ Δ puts down-γ (3-5)
In formula: Δ is flat-average value of-instrumental constant.
After gyroscope is corrected, so that it may more accurately by the reading of laser range finder, in conjunction with gyroscope
Direction three-dimensional viewpoin, cooperate GPS positioning coordinate, accurately recognize the geographic coordinate information of failure source point.
The preferred embodiment of the present invention has shown and described in above description, as previously described, it should be understood that the present invention is not office
Be limited to form disclosed herein, should not be regarded as an exclusion of other examples, and can be used for various other combinations, modification and
Environment, and can be changed within that scope of the inventive concept describe herein by the above teachings or related fields of technology or knowledge
It is dynamic.And changes and modifications made by those skilled in the art do not depart from the spirit and scope of the present invention, then it all should be appended by the present invention
In scope of protection of the claims.
Claims (10)
1. a kind of positioning device of fault point of polling transmission line, it is characterised in that: including camera main-body；Infrared thermal imaging mould
Block, for carrying out infrared thermal imaging；GPS location module, for being positioned to the current photograph location of camera；WIFI wireless transmission
Module is used for wireless transmission information；Gyro module, for measuring current camera angles；Laser ranging module, for measuring quilt
Object is surveyed at a distance from camera；The infrared thermal imaging module, GPS location module, WIFI wireless transport module, laser ranging module
It is fixed in camera main-body with gyro module, the GPS location module, WIFI wireless transport module, laser ranging
Module and gyro module are electrically connected with infrared thermal imaging module.
2. a kind of positioning device of fault point of polling transmission line according to claim 1, it is characterised in that: described infrared
Thermal imaging module includes light path module, face battle array infrared focus plane (CMOS) module, quantization memory cell, template library, specialized high-speed
Image processing unit and monitoring unit, the light path module are connected with face battle array infrared focus plane module, the infrared coke of the face battle array
Plane (CMOS) module is connect with quantization memory cell, and the quantization memory cell is connected with specialized high-speed image processing unit
It connects, the specialized high-speed image processing unit is also connected with template library and monitoring unit respectively.
3. a kind of positioning device of fault point of polling transmission line according to claim 2, it is characterised in that: the optical path
Module includes shutter assembly, zoom servo mechanism, auto iris and optical mirror slip group, and the optical mirror slip group includes several mirrors
Piece, the eyeglass are fixedly connected with zoom servo mechanism, and the auto iris is located in optical mirror slip group, the shutter assembly position
Between optical mirror slip group and face battle array infrared focus plane (CMOS) module.
4. a kind of positioning device of fault point of polling transmission line according to claim 3, it is characterised in that: the optics
Lens set is extended outside camera main-body.
5. a kind of positioning device of fault point of polling transmission line according to claim 1, it is characterised in that: the camera
Side in main body far from optical mirror slip group is provided with several interfaces, for connecting computer.
6. a kind of positioning device of fault point of polling transmission line according to claim 1, it is characterised in that: further include nothing
Man-machine and flight controller, the unmanned plane and flight controller are wirelessly connected, and the camera main-body is fixedly mounted on unmanned plane
On, and with unmanned plane power electric connection.
7. a kind of positioning device of fault point of polling transmission line according to claim 1, it is characterised in that: further include hand
System is held, the hand system and infrared thermal imaging module are wirelessly connected, and the hand system is held by patrol officer.
8. a kind of fault point positioning method using positioning device of fault point as claimed in claim 2, which is characterized in that including with
Lower step:
Step 1: infrared thermal imaging module carries out infrared thermal imaging to detected transmission line of electricity, forms the optical signalling of image
And carry out image procossing；
Step 2: GPS location module positions the position of camera main-body, and forms coordinate A, and coordinate A is sent to red
Outer thermal imaging module；
Step 3: gyro module calculates the direction and pitch angle of camera main-body, is denoted as towards angle (with western east to folder
Angle) α, pitch angle size is denoted as β, and will be sent to infrared thermal imaging module towards angle [alpha] and pitch angle angle beta；
Step 4: laser ranging module measures detected transmission line of electricity at a distance from camera main-body, is denoted as distance B, and will
Distance B is sent to infrared thermal imaging module；
Step 5: infrared thermal imaging module calculates the position of detected transmission line of electricity, and forms coordinate C.
9. a kind of fault point positioning method according to claim 8, which is characterized in that the step 1 specifically: optical path
Module carries out infrared thermal imaging, and optical signalling is sent to face battle array infrared focus plane (CMOS) module；Face battle array infrared focus plane
(CMOS) module converts optical signals into analog current signal, is then sent to quantization memory cell；Quantify memory cell pair
Analog current signal carries out quantification treatment, and analog current signal is converted into digital signal, and in digital signal about image
Size, pixel and color pre-processed and stored.
10. a kind of fault point positioning method according to claim 9, which is characterized in that the step 1 further includes determining
Fault point, specifically: the digital signal of the image pre-processed is sent to specialized high-speed image procossing list by quantization memory cell
Member, specialized high-speed image processing unit calls the transmission line status that template comparison judgement is detected in template library, if being detected
Transmission line of electricity image in RED sector color be deeper than template colors, i.e., judgement temperature be higher than normal value, can labeled as therefore
Barrier point.
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