CN110530366A - A kind of flight course planning system and method for transmission line of electricity modeling - Google Patents
A kind of flight course planning system and method for transmission line of electricity modeling Download PDFInfo
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- CN110530366A CN110530366A CN201910730767.2A CN201910730767A CN110530366A CN 110530366 A CN110530366 A CN 110530366A CN 201910730767 A CN201910730767 A CN 201910730767A CN 110530366 A CN110530366 A CN 110530366A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/02—Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
- G05D1/0022—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement characterised by the communication link
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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Abstract
The present invention provides a kind of flight course planning system of transmission line of electricity modeling, for unmanned plane to transmission line of electricity oblique photograph three-dimensional modeling, including unmanned controller, RTK locating module, unmanned plane, gyroscope, shooting module, data transmit-receive module and data processing platform (DPP), the unmanned plane includes flight control system and fuselage, the RTK locating module, gyroscope, data transmit-receive module, shooting module are set on fuselage, and flight control system and unmanned controller are established and be wirelessly connected；RTK locating module, gyroscope, shooting module are electrically connected with data transmit-receive module, and data transmit-receive module and data processing platform (DPP) are established and be wirelessly connected.The present invention can shorten the image acquisitions time, reduce invalid operating area, improve image acquisitions efficiency, reduce work data amount, improve modeling speed.
Description
Technical field
The present invention relates to the technical fields of unmanned aerial vehicle (UAV) control and high-voltage transmission line pole tower dimensional Modeling Technology field, more
Body, it is related to a kind of flight course planning system and method for transmission line of electricity modeling.
Background technique
Ultra-high-tension power transmission line is the main artery for guaranteeing power grid operation, is the foundation stone for guaranteeing social power supply.However
Transmission line structure is complicated, and device model is various, line route information is multifarious, and traditional line facility data class is more,
Format is different, and original data is even more since difficulty of the remote past distinguishes wrong right, this has seriously affected the operation management of transmission facility, makes
At great security risk.With computer, mapping, the development of geography information and unmanned plane space technology, to construct power transmission line
Road three-dimensional visualization model provides technical support.The data information management of transmission line equipment is just towards the three of more secure and reliable
Dimension word power grid direction is developed.
Existing transmission line of electricity three-dimensional modeling method mainly includes following two: one, manned helicopter or UAV flight
Laser radar carries out laser scanning and constructs threedimensional model；Two, UAV flight's Visible Light Camera carries out oblique photograph, passes through the later period
Splice image data and carries out three-dimensional modeling.However both methods all various degrees the shortcomings that, wherein manned helicopter
Carrying laser radar modeling cost is high, make an inspection tour operation difficulty greatly, job specification is poor, quality is irregular, it is difficult to most of
Provincial, prefecture-level route O&M unit is promoted the use of；The modeling of UAV flight's laser radar, laser radar apparatus is expensive, equipment
Numerous, complicated for operation, technical threshold is higher, and operating flexibility is poor, it is difficult to promote the use of a large area.Small-sized RTK unmanned plane
It carries Visible Light Camera and three-dimensional modeling is carried out by oblique photograph, although operating cost and operation complexity can be effectively reduced,
The flexibility of operation is improved, but the problem of existing oblique photograph method remains following three aspect: one, image number
Too long according to acquisition time, oblique photograph is needed from five different angle acquisition images such as vertical, four inclinations, according to
Single holder unmanned plane carries out the three-dimensional modeling with transmission line of electricity region, and need to fly five sortie acquisition images, consumes a large amount of
Time；Two, image acquisitions low efficiency, existing oblique photograph method can only confine quadrilateral area and carry out image collection,
With this method establish electric transmission line three-dimensional model will necessarily shoot near route without modeling region, reduce image data
Collecting efficiency affects operating efficiency；Three, work data amount is big, and modeling speed is slow, and oblique photograph acquires five different angles
Image data, data volume is huge, substantially increases the difficulty of data calculation, affects modeling speed.Therefore a kind of spirit is needed
Efficient transmission line of electricity three-dimensional modeling method living, high-quality, efficient, high security complete transmission line of electricity three-dimensional modeling, big to save
The manpower and material resources of amount.
Summary of the invention
It is high for transmission line of electricity modeling method modeling cost in the prior art, make an inspection tour operation difficulty is big, job specification is poor,
The irregular technological deficiency of quality, the present invention provide a kind of flight course planning system of transmission line of electricity modeling, what the present invention used
Technical solution is:
A kind of flight course planning system of transmission line of electricity modeling, for unmanned plane to transmission line of electricity oblique photograph three-dimensional modeling,
It is flat including unmanned controller, RTK locating module, unmanned plane, gyroscope, shooting module, data transmit-receive module and data processing
Platform, the unmanned plane include flight control system and fuselage, the RTK locating module, gyroscope, data transmit-receive module, shooting
Module is set on fuselage, and flight control system and unmanned controller are established and be wirelessly connected；RTK locating module, gyroscope, shooting mould
Block is electrically connected with data transmit-receive module, and data transmit-receive module and data processing platform (DPP) are established and be wirelessly connected.
It in a preferred embodiment, further include terminal, the terminal includes data transmit-receive module, memory module, display
Module, memory module, display module are electrically connected with data transmit-receive module, and data transmit-receive module and data processing platform (DPP) manager are wireless
Connection.
In a preferred embodiment, the data transmit-receive module is zigbee module or GPRS module, described nobody
Set remote-controller establishes connection by WiFi technology and flight control system.
In a preferred embodiment, the shooting module is video camera or mobile phone.
It in a preferred embodiment, further include height tester, height tester is mounted on fuselage, and the height is surveyed
Examination instrument is electrically connected with data transmit-receive module.
The present invention also provides a kind of flight course planning methods of transmission line of electricity modeling, and the method is based on above-mentioned transmission line of electricity
The flight course planning system of modeling, comprising the following steps:
S1: unmanned controller matches unmanned plane model, and unmanned controller can be automatically according to nobody after connecting unmanned plane
The type of machine carries out parameter matching, obtains the detail parameters information of flight control system, for real-time control Navigation of Pilotless Aircraft, takes photo by plane etc. and to make
Industry, which provides, safely and steadily runs environment, to calculate optimal flight path and guaranteeing that flight safety provides basic data branch
Support.
S2: flight line and shaft tower section are selected by unmanned controller, parameter is set automatically, plans the line of flight；
Data processing platform (DPP) calculates automatically plans optimal flight path, automatically generates unmanned plane transmission line of electricity three-dimensional aerophotogrammetry data intelligence
Acquire course line；
S3: data processing platform (DPP) uploads course line to system for flight control computer, and unmanned plane carries out preceding safety inspection of flying；Data
After processing platform generates the line of flight, system for flight control computer executes safety inspection before flight, check flight flying height, battery automatically
Capacity, unmanned plane RTK positioning states and precision, memory card capacity, activity duration etc. information, any parameter exceed alarm value,
It can not take off and execute course line task, the safe and reliable of unmanned machine operation is guaranteed with this；
S4: unmanned plane is according to airline operation and acquires image data, and when uploading the line of flight, safety inspection is completed before flying
And it is no abnormal after, unmanned plane automatic takeoff executes transmission line of electricity three-dimensional aerophotogrammetry data intelligent acquisition by the course line planned
Operation；
S5: terminating flight operation, uploads data to data processing platform (DPP), automatically processes three-dimensional modeling, generate power transmission line three
Dimension module.After aerophotogrammetry data acquires, unmanned plane makes a return voyage automatically, landing, will acquire data by unmanned controller and upload
To data processing platform (DPP), data processing platform (DPP) can automatically process operation photo, ultimately generate electric transmission line three-dimensional model.
Compared with prior art, the beneficial effect of technical solution of the present invention is:
(1) shorten the image acquisitions time.Invention combination transmission line of electricity trend, provides a kind of boat of High Efficiency Modeling
Line planing method, need to only flying one, it is secondary to drive, the acquisition of aerial survey image data, phase needed for transmission line of electricity three-dimensional modeling can be completed
Than being substantially shorter the image acquisitions time, raising is adopted in the oblique photograph method for the five sortie acquisition images that need to fly
Collect speed, ensure that the quick progress of Collecting operation.
(2) invalid operating area is reduced, image acquisitions efficiency is improved.It is automatic raw by intelligent flight course planning algorithm
At most efficient, the good transmission line of electricity three-dimensional modeling course line being adapted with transmission line of electricity, nothing can be effectively reduced using this method
The man-machine probability taken without modeling area image data, with the oblique photograph with a large amount of inactive area image collection operations
Course line is compared, and this method effectively improves the efficiency of image acquisitions operation, ensure that the height of transmission line of electricity three-dimensional modeling
Effect property and validity.
(3) reduce work data amount, improve modeling speed.The invention passes through plans optimal three-dimensional modeling course line automatically,
Image acquisitions quantity can be considerably reduced, to reduce on the basis of guaranteeing transmission line of electricity three-dimensional modeling quality
The difficulty of data calculation.This considerably reduce the workloads of data processing, improve the speed and efficiency of modeling.
Detailed description of the invention
Fig. 1 is the system schematic of the flight course planning system of transmission line of electricity provided by the invention modeling；
Fig. 2 is the flow chart of the flight course planning method of transmission line of electricity provided by the invention modeling；
Fig. 3 is the specific steps for the flight course planning that embodiment 3 provides.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, only for illustration, Bu Nengli
Solution is the limitation to this patent.Based on the embodiments of the present invention, those of ordinary skill in the art are not making creative labor
Every other embodiment obtained under the premise of dynamic, shall fall within the protection scope of the present invention.
The following further describes the technical solution of the present invention with reference to the accompanying drawings and examples.
Embodiment 1
A kind of flight course planning system of transmission line of electricity modeling, for unmanned plane to transmission line of electricity oblique photograph three-dimensional modeling,
It is flat including unmanned controller, RTK locating module, unmanned plane, gyroscope, shooting module, data transmit-receive module and data processing
Platform, the unmanned plane include flight control system and fuselage, the RTK locating module, gyroscope, data transmit-receive module, shooting
Module is set on fuselage, and flight control system and unmanned controller are established and be wirelessly connected；RTK locating module, gyroscope, shooting mould
Block is electrically connected with data transmit-receive module, and data transmit-receive module and data processing platform (DPP) are established and be wirelessly connected.
It in a preferred embodiment, further include terminal, the terminal includes data transmit-receive module, memory module, display
Module, memory module, display module are electrically connected with data transmit-receive module, and data transmit-receive module and data processing platform (DPP) manager are wireless
Connection.
In a preferred embodiment, the data transmit-receive module is zigbee module or GPRS module, described nobody
Set remote-controller establishes connection by WiFi technology and flight control system.
In a preferred embodiment, the shooting module is video camera or mobile phone.
It in a preferred embodiment, further include height tester, height tester is mounted on fuselage, and the height is surveyed
Examination instrument is electrically connected with data transmit-receive module.
Embodiment 2
The present invention also provides a kind of flight course planning methods of transmission line of electricity modeling, and the method is based on above-mentioned transmission line of electricity
The flight course planning system of modeling, comprising the following steps:
S1: unmanned controller matches unmanned plane model, and unmanned controller can be automatically according to nobody after connecting unmanned plane
The type of machine carries out parameter matching, obtains the detail parameters information of flight control system, for real-time control Navigation of Pilotless Aircraft, takes photo by plane etc. and to make
Industry, which provides, safely and steadily runs environment, to calculate optimal flight path and guaranteeing that flight safety provides basic data branch
Support；
S2: flight line and shaft tower section are selected by unmanned controller, parameter is set automatically, plans the line of flight；
Data processing platform (DPP) calculates automatically plans optimal flight path, automatically generates unmanned plane transmission line of electricity three-dimensional aerophotogrammetry data intelligence
Acquire course line；
S3: data processing platform (DPP) uploads course line to system for flight control computer, and unmanned plane carries out preceding safety inspection of flying；
S4: unmanned plane is according to airline operation and acquires image data, and when uploading the line of flight, safety inspection is completed before flying
And it is no abnormal after, unmanned plane automatic takeoff executes transmission line of electricity three-dimensional aerophotogrammetry data intelligent acquisition by the course line planned
Operation；
S5: terminating flight operation, uploads data to data processing platform (DPP), automatically processes three-dimensional modeling, generate power transmission line three
Dimension module.
Embodiment 3
The present embodiment provides flight course planning method detailed processes of the invention, referring to Fig. 1, it is advised for course line of the invention
The specific flying quality of the method for drawing acquires route map.In this example, it is assumed that the region for needing to shoot is shaft tower 1 to shaft tower
2 transmission line of electricity section passes through 4 course lines, respectively A, B, C, D altogether from starting point to end point.Specific steps when flight are as follows:
(1) unmanned plane, which takes off, reaches starting point, and course line A is executed since starting point, takes pictures around the fixed point of shaft tower 1, at this
In embodiment, course line A is provided with 18 destinations altogether.Data processing platform (DPP) can carry out optimal destination quantity according to shaft tower height and set
It sets, while destination and shaft tower coordinate distance can be also set, specific distance calculation formula are as follows: distance L=unmanned plane during flying flying height
H*tan(20°)。
(2) unmanned plane unmanned plane head adjust automatically in course line A flight, towards 1 coordinate points of shaft tower of line center, phase
Machine camera lens is consistent with heading, after reaching fixed destination, adjusts camera lens vertical direction, tilts down 80 degree, shooting the
One photo, then adjusts camera lens vertical direction again, tilts down 70 degree, shoots second photo, and each destination is clapped altogether
Take the photograph two photos.After the shooting of the last one destination of course line A, unmanned plane enters destination B1.
(3) unmanned plane flies along the line of destination B1 and destination B2, this course line B is shaft tower 1 and 2 coordinate points line of shaft tower
The course line being parallel to each other, in the top of shaft tower 1 and 2 coordinate points line of shaft tower, distance is arranged automatically according to drone flying height,
Specific distance calculation formula are as follows: distance L=unmanned plane during flying flying height H*tan (15 °).
(4) unmanned plane unmanned plane head in course line B flight fixes direction, is oriented destination B1 to 1 coordinate points of shaft tower
Direction, shooting module camera lens is consistent with unmanned plane heading, and camera tilts down 80 degree, and every 2 second beats of Fixed Time Interval is taken the photograph
One photo terminates to take pictures after reaching destination B2, and unmanned plane enters and destination C1.
(5) unmanned plane reaches destination C1, and course line C is executed since C1, takes pictures around the fixed point of shaft tower 2, in the present embodiment,
Course line C is provided with 18 destinations altogether.Data processing platform (DPP) can carry out optimal destination quantity setting according to shaft tower height, while
Destination and shaft tower coordinate distance, specific distance calculation formula can be set are as follows: distance L=unmanned plane during flying flying height H*tan
(20°)。
(6) unmanned plane unmanned plane head adjust automatically in course line C flight, towards 2 coordinate points of shaft tower of line center, phase
Machine camera lens is consistent with heading, after reaching fixed destination, adjusts camera lens vertical direction, tilts down 80 degree, shooting the
One photo, then adjusts camera lens vertical direction again, tilts down 70 degree, shoots second photo, and each destination is clapped altogether
Take the photograph two photos.After the shooting of the last one destination of course line C, unmanned plane enters destination D1.
(7) unmanned plane flies along destination D1 and the line of end point, this course line D is shaft tower 1 and 2 coordinate points line of shaft tower
The course line being parallel to each other, in the lower section of shaft tower 1 and 2 coordinate points line of shaft tower, distance is arranged automatically according to drone flying height,
Specific distance calculation formula are as follows: distance L=unmanned plane during flying flying height H*tan (15 °).
(8) unmanned plane unmanned plane head in course line D flight fixes direction, is oriented destination D1 to 2 coordinate points of shaft tower
Direction, camera lens are consistent with heading, and camera tilts down 80 degree, and every 2 second beats of Fixed Time Interval takes the photograph a photo, arrive
Terminate to take pictures after up to end point, unmanned plane returns to takeoff point, and landing terminates the acquisition flight of transmission line of electricity three-dimensional modeling data and makees
Industry.
(9) terminate flight operation, upload data to data processing platform (DPP), automatically process three-dimensional modeling, generate power transmission line three
Dimension module.After aerophotogrammetry data acquires, unmanned plane makes a return voyage automatically, landing, is uploaded to number for data are acquired by intelligent terminal
According to processing platform, data processing platform (DPP) can automatically process operation photo, ultimately generate electric transmission line three-dimensional model.
Obviously, the above embodiment of the present invention be only to clearly illustrate example of the present invention, and not be pair
The restriction of embodiments of the present invention.For those of ordinary skill in the art, may be used also on the basis of the above description
To make other variations or changes in different ways.There is no necessity and possibility to exhaust all the enbodiments.It is all this
Made any modifications, equivalent replacements, and improvements etc., should be included in the claims in the present invention within the spirit and principle of invention
Protection scope within.
Claims (6)
1. a kind of flight course planning system of transmission line of electricity modeling, for unmanned plane to transmission line of electricity oblique photograph three-dimensional modeling,
It is characterized in that, including unmanned controller, RTK locating module, unmanned plane, gyroscope, shooting module, data transmit-receive module sum number
According to processing platform, the unmanned plane includes flight control system and fuselage, the RTK locating module, gyroscope, data transmit-receive mould
Block, shooting module are set on fuselage, and flight control system and unmanned controller are established and be wirelessly connected；RTK locating module, gyro
Instrument, shooting module are electrically connected with data transmit-receive module, and data transmit-receive module and data processing platform (DPP) are established and be wirelessly connected.
2. the flight course planning system of transmission line of electricity modeling according to claim 1, which is characterized in that it further include terminal, institute
The terminal stated includes data transmit-receive module, memory module, display module, memory module, display module and data transmit-receive module electricity
Connection, data transmit-receive module and data processing platform (DPP) manager are wirelessly connected.
3. the flight course planning system of transmission line of electricity modeling according to claim 1, which is characterized in that the data transmit-receive
Module is zigbee module or GPRS module, and the unmanned controller establishes connection by WiFi technology and flight control system.
4. the flight course planning system of transmission line of electricity modeling according to claim 1, which is characterized in that the shooting module
For video camera or mobile phone.
5. the flight course planning system of transmission line of electricity modeling according to claim 1, which is characterized in that further include high measure
Instrument, height tester are mounted on fuselage, and the height tester is electrically connected with data transmit-receive module.
6. a kind of flight course planning method of transmission line of electricity modeling, the method are built based on transmission line of electricity described in claim 1-5
The flight course planning system of mould, which comprises the following steps:
S1: unmanned controller matches unmanned plane model, and unmanned controller can be automatically according to unmanned plane after connecting unmanned plane
Type carries out parameter matching, obtains the detail parameters information of flight control system, mentions for real-time control Navigation of Pilotless Aircraft, the operations such as take photo by plane
It has supplied to safely and steadily run environment, to calculate optimal flight path and guaranteeing that flight safety provides basic data support；
S2: flight line and shaft tower section are selected by unmanned controller, parameter is set automatically, plans the line of flight；Data
Processing platform calculates automatically plans optimal flight path, automatically generates unmanned plane transmission line of electricity three-dimensional aerophotogrammetry data intelligent acquisition
Course line；
S3: data processing platform (DPP) uploads course line to system for flight control computer, and unmanned plane carries out preceding safety inspection of flying；
S4: unmanned plane is according to airline operation and acquires image data, and when uploading the line of flight, safety inspection is completed not before flying
After noting abnormalities, unmanned plane automatic takeoff executes the intelligent acquisition operation of transmission line of electricity three-dimensional aerophotogrammetry data by the course line planned；
S5: terminating flight operation, uploads data to data processing platform (DPP), automatically processes three-dimensional modeling, generate power transmission line three-dimensional mould
Type.
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110989670A (en) * | 2019-12-11 | 2020-04-10 | 国网陕西省电力公司电力科学研究院 | Unmanned aerial vehicle system for environmental water conservation monitoring of power transmission and transformation project and aerial photography method thereof |
| CN111142556A (en) * | 2019-12-20 | 2020-05-12 | 中国电波传播研究所（中国电子科技集团公司第二十二研究所） | Aerial surveying system based on laser radar and long-endurance unmanned aerial vehicle and automatic operation method thereof |
| CN111272148A (en) * | 2020-01-20 | 2020-06-12 | 江苏方天电力技术有限公司 | Unmanned aerial vehicle autonomous inspection self-adaptive imaging quality optimization method for power transmission line |
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| CN114111799A (en) * | 2021-12-07 | 2022-03-01 | 青岛市勘察测绘研究院 | Unmanned aerial vehicle aerial photography path planning method aiming at high monomer fine modeling |
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Application publication date: 20191203 |