CN110557604A - unmanned aerial vehicle image full-automatic shooting method device for intelligent inspection of electric power facilities - Google Patents
unmanned aerial vehicle image full-automatic shooting method device for intelligent inspection of electric power facilities Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
- B64D47/08—Arrangements of cameras
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/183—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source
- H04N7/185—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source from a mobile camera, e.g. for remote control
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Abstract
The invention discloses a full-automatic shooting method and a full-automatic shooting device for unmanned aerial vehicle images for intelligent inspection of power facilities, wherein the unmanned aerial vehicle is provided with a camera device and a holder for supporting the camera device, and the full-automatic shooting method for the unmanned aerial vehicle images for the intelligent inspection of the power facilities comprises the following steps: respectively acquiring the position of the unmanned aerial vehicle and the position of a target object; respectively calculating a first rotating angle and a second rotating angle of the holder according to the position of the unmanned aerial vehicle and the position of the target object; and according to the first rotating angle and the second rotating angle, the camera shooting device is aligned to the target object, and a current image of the target object is shot. According to the invention, the first rotating angle and the second rotating angle of the rotating holder are calculated according to the position information of the unmanned aerial vehicle and the position information of the target object, so that the camera equipment supported by the holder can quickly acquire the image information of the target object, the inspection efficiency of the unmanned aerial vehicle is improved, and a large amount of manpower is saved.
Description
Technical Field
The invention relates to the technical field of power inspection, in particular to a full-automatic unmanned aerial vehicle image shooting method and device for intelligent inspection of power facilities.
Background
unmanned Aerial Vehicles (UAVs) are a class of Unmanned Aerial vehicles that rely on wireless remote control devices and mechanical automatic control systems for flight. Unmanned aerial vehicle portability visible light, infrared thermal imaging professional equipment such as carry out the tour of high accuracy to power line, so unmanned aerial vehicle obtains using in the aspect of on-the-spot investigation, circuit tour, operation maintenance, has played obvious effect.
at present, in the process of inspection of a traditional unmanned aerial vehicle, a flyer is required to adjust the camera equipment on the unmanned aerial vehicle according to inspection experience before the unmanned aerial vehicle takes off so as to shoot a target object to be inspected, and because the flyer only estimates that the optimal angle, which should be adjusted, of the camera equipment according to the inspection experience is an estimated value, the picture information of the target object to be inspected cannot be accurately obtained. Therefore, a certain error exists in the camera shooting angle adjusted by the flyer through the test, so that the unmanned aerial vehicle is not accurate enough in patrolling the target object, and extra workload can be added to the flyer.
disclosure of Invention
Therefore, the technical problem to be solved by the embodiment of the invention is that a certain error exists in the camera angle which is adjusted by the flyer in the routing inspection process of the traditional unmanned aerial vehicle, so that the unmanned aerial vehicle is not accurate enough in routing inspection of the target object, and extra workload is added to the flyer.
therefore, the embodiment of the invention provides the following technical scheme:
The embodiment of the invention provides a full-automatic image shooting method of an unmanned aerial vehicle for intelligent inspection of power facilities, wherein the unmanned aerial vehicle is provided with a camera device and a holder for supporting the camera device, and the method comprises the following steps:
Respectively acquiring the position of the unmanned aerial vehicle and the position of a target object;
Respectively calculating a first rotating angle and a second rotating angle of the holder according to the position of the unmanned aerial vehicle and the position of the target object;
and according to the first rotating angle and the second rotating angle, the camera shooting device is aligned to the target object, and a current image of the target object is shot.
Optionally, the first rotation angle and the second rotation angle are an azimuth angle of the horizontal rotation of the pan/tilt head and a pitch angle of the vertical rotation of the pan/tilt head, respectively.
Optionally, the step of calculating the first rotation angle of the pan/tilt head includes:
Respectively acquiring the longitude and latitude of the unmanned aerial vehicle and the longitude and latitude of the target object;
Calculating a first rotation reference angle of the holder according to the longitude and latitude of the unmanned aerial vehicle and the longitude and latitude of the target object;
And determining the first rotation angle according to the longitude and latitude of the unmanned aerial vehicle, the longitude and latitude of the target object and the first rotation reference angle.
Optionally, the step of calculating the first rotation angle of the pan/tilt head further includes:
respectively acquiring the longitude and latitude of the unmanned aerial vehicle and the longitude and latitude of the target object;
and determining the first rotation angle according to the longitude and latitude of the unmanned aerial vehicle and the longitude and latitude of the target object.
Optionally, the step of calculating the second rotation angle of the pan/tilt head includes:
respectively acquiring the longitude and latitude, the altitude of the unmanned aerial vehicle, the longitude and latitude, the altitude and the earth average radius of the target object;
calculating a second rotation reference angle of the holder according to the longitude and latitude, the altitude of the unmanned aerial vehicle, the longitude and latitude, the altitude and the earth average radius of the target object;
Judging whether the altitude of the target object is greater than or equal to the altitude of the unmanned aerial vehicle;
If the altitude of the target object is greater than or equal to the altitude of the unmanned aerial vehicle, the second rotation angle is equal to the second rotation reference angle.
Optionally, the step of calculating the second rotation angle of the pan/tilt head further includes: the second rotation angle is equal to an opposite value of the second rotation reference angle if the altitude of the target object is less than the altitude of the drone.
optionally, the calculating the first rotation reference angle of the pan/tilt head is performed by the following formula:
wherein α 1 is the first rotation reference angle, Bw is the latitude of the drone, Bj is the longitude of the drone, Aw is the latitude of the target object, and Aj is the longitude of the target object.
optionally, the calculating the second rotation reference angle of the pan/tilt head is performed by the following formula:
Wherein β 1 is the second rotation reference angle, AH is the altitude of the target object, BH is the altitude of the drone, Bw is the latitude of the drone, Bj is the longitude of the drone, Aw is the latitude of the target object, Aj is the longitude of the target object, and R Earth is the mean radius of the earth.
Optionally, the step of determining the first rotation angle according to the longitude and latitude of the unmanned aerial vehicle, the longitude and latitude of the target object, and the first rotation reference angle is performed according to the following relation:
if Bw > Aw, and Bj > Aj, α 2 ═ α 1;
Bw < Aw, and Bj < Aj, then α 2 ═ 180- α 1;
Bw < Aw, and Bj > Aj, then α 2 ═ 180- α 1;
Bw > Aw, and Bj < Aj, then α 2 ═ α 1 + 360;
wherein Bw is a latitude of the drone, Bj is a longitude of the drone, Aw is a latitude of the target object, Aj is a longitude of the target object, α 2 is the first rotation angle, and α 1 is the first rotation reference angle.
optionally, the step of determining the first rotation angle according to the longitude and latitude of the unmanned aerial vehicle and the longitude and latitude of the target object is performed according to the following relation:
Bw > Aw, and Bj > Aj, then α 2 is 90;
Bw is Aw, and Bj < Aj, then α 2 is 270;
Bw < Aw, and Bj ═ Aj, then α 2 ═ 180;
bw > Aw, and Bj ═ Aj, then α 2 ═ 0;
wherein Bw is the latitude of the drone, Bj is the longitude of the drone, Aw is the latitude of the target object, Aj is the longitude of the target object, and α 2 is the first rotation angle.
the embodiment of the invention provides an unmanned aerial vehicle image full-automatic shooting device for intelligent inspection of power facilities, wherein the unmanned aerial vehicle is provided with a camera device and a holder for supporting the camera device, and the device comprises:
The acquisition module is used for respectively acquiring the position of the unmanned aerial vehicle and the position of a target object;
The calculation module is used for respectively calculating a first rotation angle and a second rotation angle of the holder according to the position of the unmanned aerial vehicle and the position of the target object;
And the shooting module is used for enabling the camera shooting equipment to be aligned to the target object according to the first rotating angle and the second rotating angle and shooting the current image of the target object.
the embodiment of the invention provides a computer-readable storage medium, which stores computer instructions, and the instructions are executed by a processor to realize the steps of the unmanned aerial vehicle image full-automatic shooting method for intelligent inspection of electric power facilities.
the embodiment of the invention provides unmanned aerial vehicle inspection equipment which comprises a memory, a processor and a computer program which is stored on the memory and can run on the processor, wherein the processor executes the program and realizes the steps of the unmanned aerial vehicle image full-automatic shooting method for intelligent inspection of power facilities.
The technical scheme of the embodiment of the invention has the following advantages:
the invention provides a full-automatic shooting method and a full-automatic shooting device for unmanned aerial vehicle images for intelligent inspection of power facilities, wherein the unmanned aerial vehicle is provided with a camera device and a holder for supporting the camera device, and the full-automatic shooting method for the unmanned aerial vehicle images for the intelligent inspection of the power facilities comprises the following steps: respectively acquiring the position of the unmanned aerial vehicle and the position of a target object; respectively calculating a first rotating angle and a second rotating angle of the holder according to the position of the unmanned aerial vehicle and the position of the target object; and according to the first rotating angle and the second rotating angle, the camera shooting device is aligned to the target object, and a current image of the target object is shot. According to the invention, the first rotating angle and the second rotating angle of the rotating holder are calculated according to the position information of the unmanned aerial vehicle and the position information of the target object, so that the camera equipment supported by the holder can quickly acquire the image information of the target object, the inspection efficiency of the unmanned aerial vehicle is improved, and a large amount of manpower is saved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a flowchart of a method for fully automatically shooting images of an unmanned aerial vehicle for intelligent inspection of power facilities in embodiment 1 of the present invention;
FIG. 2 is a schematic plan view of an area of the Earth in accordance with example 1 of the present invention;
fig. 3 is a flowchart of calculating a second rotation angle in the fully-automatic image capturing method for unmanned aerial vehicle for intelligent inspection of power facilities in embodiment 1 of the present invention;
fig. 4A is a first schematic view of the altitude of the drone and the target object in embodiment 1 of the present invention;
fig. 4B is a second schematic view of the altitude of the drone and the target object in embodiment 1 of the present invention;
fig. 5 is a block diagram of a structure of an unmanned aerial vehicle image full-automatic shooting device for intelligent inspection of power facilities in embodiment 2 of the present invention;
fig. 6 is a block diagram of a computing module in the fully-automatic image capturing device of the unmanned aerial vehicle for intelligent inspection of power facilities in embodiment 2 of the present invention;
fig. 7 is a hardware schematic diagram of the unmanned aerial vehicle inspection apparatus in embodiment 4 of the present invention.
Detailed Description
the technical solutions of the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings, and it is to be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
in the description of the embodiments of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience in describing the embodiments of the present invention and simplifying the description, but do not indicate or imply that the referred devices or elements must have specific orientations, be configured in specific orientations, and operate, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
in the description of the embodiments of the present invention, it should be noted that, unless explicitly stated or limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; the two elements may be directly connected or indirectly connected through an intermediate medium, or may be communicated with each other inside the two elements, or may be wirelessly connected or wired connected. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
in addition, the technical features involved in the different embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
Example 1
The embodiment of the invention provides an Unmanned Aerial Vehicle image full-automatic shooting method for intelligent inspection of electric power facilities, wherein an Unmanned Aerial Vehicle (Unmanned Aerial Vehicle) in the embodiment is an Unmanned aircraft mainly controlled by radio remote control or self program. The electric power facility objects of the general line inspection are as follows: pole towers, wires, transformers, insulators, cross arms, disconnecting links and other equipment.
in the embodiment, the method for fully automatically shooting the image of the unmanned aerial vehicle for intelligent inspection of the power facility is characterized in that the unmanned aerial vehicle is provided with a camera device and a holder for supporting the camera device, and as shown in fig. 1, the method comprises the following steps:
and S11, respectively acquiring the position of the unmanned aerial vehicle and the position of the target object. Unmanned aerial vehicle's position and target object's position mainly carry on laser radar through unmanned aerial vehicle and gather, then laser radar uploads unmanned aerial vehicle's positional information and target object's positional information to unmanned aerial vehicle's master controller with gathering. The position of the unmanned aerial vehicle and the position of the target object respectively refer to the longitude and latitude, the altitude of the unmanned aerial vehicle and the longitude and latitude, the altitude of the target object. For example: the target object is represented by A, the unmanned aerial vehicle is represented by B, wherein the latitude of A is 38 degrees and 64 degrees in north latitude, the longitude of A is 116 degrees and 23 degrees in east longitude, and the altitude of A is 7845 km; the latitude of B is 38 degrees and 45 degrees in north latitude, the longitude of B is 116 degrees and 60 degrees in east longitude, and the altitude of B is 6835 km.
s12, respectively calculating a first rotating angle and a second rotating angle of the holder according to the position of the unmanned aerial vehicle and the position of the target object. The first rotating angle and the second rotating angle are respectively an azimuth angle of horizontal rotation of the tripod head and a pitch angle of vertical rotation of the tripod head. Only the cloud platform rotates, and the camera equipment that supports on it just can follow the rotation, so this embodiment aligns the image information that the target object obtained the target object through the azimuth angle and the pitch angle that the cloud platform rotated, confirms whether the target object breaks down according to the image that camera equipment shot.
the step S12 of calculating the first rotation angle of the pan/tilt head includes:
the first step, the longitude and latitude of the unmanned aerial vehicle and the longitude and latitude of the target object are respectively obtained. The longitude and latitude of the unmanned aerial vehicle and the longitude and latitude of the target object respectively represent the positions of the unmanned aerial vehicle and the target object at a certain point on the earth, and the position information of the unmanned aerial vehicle and the target object is acquired so that the image of the target object can be shot by the camera equipment.
and secondly, calculating a first rotation reference angle of the holder according to the longitude and latitude of the unmanned aerial vehicle and the longitude and latitude of the target object. And the first rotating reference angle is a reference azimuth angle of the horizontal rotation of the holder, and the reference azimuth angle is calculated so as to obtain the actual rotating azimuth angle of the holder. Azimuth, also known as Azimuth, Az, is one of the methods for measuring the angular difference between objects on a plane, and is the horizontal angle from the north-pointing direction line of a certain point to the target direction line in the clockwise direction.
The step of calculating the first rotation reference angle of the holder according to the longitude and latitude of the unmanned aerial vehicle and the longitude and latitude of the target object is based on the following formula:
1the formula for calculating the first rotation reference angle is to obtain the azimuth angle of the actual horizontal rotation of the cradle head through a large number of experimental researches, so that the first rotation reference angle is calculated to calculate the first rotation angle.
And thirdly, determining a first rotation angle according to the longitude and latitude of the unmanned aerial vehicle, the longitude and latitude of the target object and the first rotation reference angle.
Specifically, the step of determining the first rotation angle according to the longitude and latitude of the unmanned aerial vehicle, the longitude and latitude of the target object and the first rotation reference angle is performed according to the following relational expression:
If Bw > Aw, and Bj > Aj, α 2 ═ α 1;
Bw < Aw, and Bj < Aj, then α 2 ═ 180- α 1;
bw < Aw, and Bj > Aj, then α 2 ═ 180- α 1;
bw > Aw, and Bj < Aj, then α 2 ═ α 1 + 360;
2 1For example, as shown in FIG. 2, the area of the earth is a plane diagram, the area is divided into four quadrants, a plane coordinate system is drawn by taking the unmanned plane B as an origin, and the target object A and the unmanned plane B are just located in the area, which means that the latitude of the target object A and the latitude of the unmanned plane B belong to the north latitude range or the south latitude range at the same time in FIG. 2, and means that the longitude of the target object A and the longitude of the unmanned plane B belong to the east longitude range or the west longitude range at the same time.
the above Bw > Aw and Bj > Aj, in fig. 2, if the drone B is assumed as the origin, indicating that the target object a is located in the first quadrant, Bw < Aw and Bj < Aj, α 2 -180- α 1 indicates that the target object a is located in the third quadrant, Bw < Aw and Bj > Aj, α 2 -180- α 1 indicates that the target object a is located in the fourth quadrant, Bw > Aw and Bj < Aj, α 2 - α 1 +360 indicates that the target object a is located in the second quadrant.
specifically, the step of determining the first rotation angle according to the longitude and latitude of the unmanned aerial vehicle and the longitude and latitude of the target object is performed according to the following relational expression:
bw > Aw, and Bj > Aj, then α 2 is 90;
Bw is Aw, and Bj < Aj, then α 2 is 270;
bw < Aw, and Bj ═ Aj, then α 2 ═ 180;
Bw > Aw, and Bj ═ Aj, then α 2 ═ 0;
in fig. 2, the azimuth angle of horizontal rotation of the pan-tilt head in the coordinate system is a horizontal angle from a north-pointing direction line of a certain point to a target direction line, namely, a first rotation angle, so if it is assumed that the unmanned aerial vehicle B is an origin, the angle Bw is Aw, and Bj is Aj, α 2 is 90, indicating that the target object a is located on a positive half axis of an abscissa axis, the angle Bw is Aw, and Bj is 270, indicating that the target object a is located on a negative half axis of the abscissa axis, Bw < Aw, and Bj is Aj, α 2 is 180, indicating that the target object a is located on a negative half axis of the ordinate axis, Bw > Aw, and Bj is 2, Aj, indicating that the target object a is located on a positive half axis, and the axis B is located on a positive half axis of the unmanned aerial vehicle B, and the target object B is located on a positive axis.
the target object and the unmanned aerial vehicle in this embodiment generally lie in the same hemisphere on earth because it must have pertinence to utilize unmanned aerial vehicle to patrol and examine the target object. Such as: the target object is located china Qinghai province, and then unmanned aerial vehicle generally can patrol and examine in Qinghai province, so target object and unmanned aerial vehicle generally can be in same region, and the two is different in the position, though there is the difference in longitude and latitude and altitude of the two, because the two is located same region, but can not differ very much. Of course, the target object and the drone may be in a certain country region but not in the same province region at the same time, for example: the target object A is located in Beijing, China, and the unmanned aerial vehicle B is located in Tianjin, China, but the target object A and the unmanned aerial vehicle B belong to the region of China but do not belong to the same urban area.
for example, if the target object a is located in beijing, china, and the drone B is located in tianjin, china, so Aj is 116 ° 3 'to east longitude, Aw is 39 ° 9', Bj is 118 ° 04 'to east longitude, Bw is 38 ° 33', so by comparison we get Bw < Aw, and Bj > Aj, α 2 is 180- α 1, α 2 is the first rotation angle, α 2 is determined by α 1 if α 2 is in the four-quadrant region of the coordinate system of fig. 2, α 2 can be directly determined by the longitude and latitude of the drone B and the longitude and latitude of the target object a if α 2 is on the coordinate axis of the coordinate system of fig. 2.
Step S12 of calculating the second rotation angle of the pan/tilt head, as shown in fig. 3, further includes:
And S31, respectively acquiring the longitude and latitude, the altitude of the unmanned aerial vehicle, the longitude and latitude, the altitude and the earth average radius of the target object. The longitude and latitude of the unmanned aerial vehicle and the longitude and latitude of the target object respectively represent the positions of the unmanned aerial vehicle and the target object at a certain point on the earth, the altitude is the current altitude information of the unmanned aerial vehicle or the current altitude information of the target object, and the average radius REarth of the earth is selected as 6378.137 km. The longitude and latitude, the altitude information and the earth average radius of the two are acquired here in order to calculate the second rotation angle so that the image pickup device picks up a picture of the target object.
and S32, calculating a second rotation reference angle of the holder according to the longitude and latitude, the altitude, the longitude and latitude of the target object, the altitude and the earth average radius of the unmanned aerial vehicle.
The step S32 of calculating the second rotation reference angle of the pan/tilt head is represented by the following formula:
beta 1 is a second rotation reference angle, AH is the altitude of the target object, BH is the altitude of the unmanned aerial vehicle, Bw is the latitude of the unmanned aerial vehicle, Bj is the longitude of the unmanned aerial vehicle, Aw is the latitude of the target object, Aj is the longitude of the target object, and R Earth is the average radius of the earth.
for example, in fig. 4A, the altitude of the unmanned aerial vehicle B is represented as being greater than the altitude of the target object a, in fig. 4B, the altitude of the target object a is represented as being greater than the altitude of the unmanned aerial vehicle B, it can be seen that when the altitude of the target object a is greater than the altitude of the unmanned aerial vehicle B, the pitch angle is β 1, and when the altitude of the target object a is less than the altitude of the unmanned aerial vehicle B, the pitch angle is β 1, so that the calculation of the second rotation angle is directly influenced by the determination of the altitude of the target object a and the altitude of the unmanned aerial vehicle B.
In the statement of step S33, fig. 4A represents that the altitude of the drone B is higher than the altitude of the drone a, and it can be seen that when the altitude of the drone a is higher than the altitude of the drone B, the pitch angle is β 1, and if the second rotation angle is β 2, β 2 is β 1.
s35, if the altitude of the target object is less than the altitude of the drone, the second rotation angle is equal to the opposite value of the second rotation reference angle, in the statement of the above step S33, it is represented in fig. 4B that the altitude of the drone B is higher than the altitude of the target object a, it can be seen that when the altitude of the target object a is higher than the altitude of the drone B, the pitch angle is β 1, and if the second rotation angle is β 2, β 2 is — β 1.
The unmanned aerial vehicle B shoots the image of the target object through the shooting equipment arranged on the unmanned aerial vehicle B, so that the unmanned aerial vehicle B can patrol and examine the fault of the target object A. the first rotation reference angle alpha 1 and the second rotation reference angle beta 1 are obtained through the steps, so that the first rotation angle alpha 2 and the second rotation angle beta 2 are determined according to alpha 1 and beta 1, when the first rotation angle alpha 2 and the second rotation angle beta 2 are obtained, and a holder arranged in the unmanned aerial vehicle and used for supporting the shooting equipment can be aligned with the target object, the shooting equipment can be directly aligned with the target object to shoot the picture of the target object, and if the target object has a certain fault, the unmanned aerial vehicle can quickly obtain the fault information of the target object.
according to the unmanned aerial vehicle image full-automatic shooting method for intelligent inspection of the power facilities, disclosed by the embodiment of the invention, the first rotation angle (azimuth angle of horizontal rotation of the holder) of the horizontal rotation of the holder and the second rotation angle (pitch angle of vertical rotation of the holder) of the vertical rotation of the holder are calculated by acquiring the position information of the unmanned aerial vehicle and the position information of the target object when the unmanned aerial vehicle is in inspection, so that not only can the specific position of the target object be accurately determined, but also the fault picture of the target object can be rapidly acquired, and the fault efficiency of the unmanned aerial vehicle in inspection of the target object is improved. The operation of flying the gymnadenia conopsea and adjusting the rotating angle of the holder is not needed, so a large amount of manpower work is saved.
example 2
the embodiment of the invention provides an unmanned aerial vehicle image full-automatic shooting device for intelligent inspection of power facilities, wherein the unmanned aerial vehicle is provided with a camera device and a holder for supporting the camera device, and the unmanned aerial vehicle image full-automatic shooting method for the intelligent inspection of the power facilities in the embodiment 1 is shown in figure 5 and comprises the following steps:
an obtaining module 51, configured to obtain a position of the unmanned aerial vehicle and a position of the target object respectively;
the calculating module 52 is configured to calculate a first rotation angle and a second rotation angle of the pan/tilt head according to the position of the unmanned aerial vehicle and the position of the target object;
and a shooting module 53, configured to enable the image capturing apparatus to aim at the target object according to the first rotation angle and the second rotation angle, and capture a current image of the target object.
According to the unmanned aerial vehicle image full-automatic shooting device for intelligent inspection of the electric power facility, the first rotating angle and the second rotating angle are respectively an azimuth angle of horizontal rotation of the holder and a pitch angle of vertical rotation of the holder.
In the embodiment of the present invention, the calculation module 52 of the full-automatic image capturing device for unmanned aerial vehicle for intelligent inspection of power facilities, as shown in fig. 5, includes:
The first obtaining submodule 521 is used for respectively obtaining the longitude and latitude of the unmanned aerial vehicle and the longitude and latitude of the target object;
The second calculation submodule 522 is configured to calculate a first rotation reference angle of the pan/tilt head according to the longitude and latitude of the unmanned aerial vehicle and the longitude and latitude of the target object;
The first determining submodule 523 is configured to determine the first rotation angle according to the longitude and latitude of the unmanned aerial vehicle, the longitude and latitude of the target object, and the first rotation reference angle.
In the embodiment of the present invention, the calculation module 52 of the full-automatic image capturing device for unmanned aerial vehicle for intelligent inspection of power facilities, as shown in fig. 5, further includes:
a second obtaining submodule 524, configured to obtain longitude and latitude, an altitude of the unmanned aerial vehicle, and longitude and latitude, altitude and an average radius of the earth of the target object, respectively;
the third calculation sub-module 525 is used for calculating a second rotation reference angle of the holder according to the longitude and latitude, the altitude of the unmanned aerial vehicle, the longitude and latitude, the altitude and the earth average radius of the target object;
a first determining submodule 526, configured to determine whether the altitude of the target object is greater than or equal to the altitude of the drone;
The first execution submodule 527 is configured to, if the altitude of the target object is greater than or equal to the altitude of the drone, make the second rotation angle equal to the second rotation reference angle.
the second execution sub-module 528, if the altitude of the target object is less than the altitude of the drone, the second rotation angle is equal to the opposite value of the second rotation reference angle.
in the embodiment of the present invention, the calculation module 52 of the full-automatic image capturing device for unmanned aerial vehicle for intelligent inspection of power facilities, as shown in fig. 5, further includes:
a third obtaining sub-module 529, configured to obtain the longitude and latitude of the unmanned aerial vehicle and the longitude and latitude of the target object respectively;
The second determining submodule 530 is configured to determine the first rotation angle according to the longitude and latitude of the drone and the longitude and latitude of the target object.
In the fully-automatic unmanned aerial vehicle image shooting device for intelligent inspection of power facilities in the embodiment of the invention, the calculation module 52 calculates the first rotation reference angle of the holder according to the following formula:
wherein α 1 is the first rotation reference angle, Bw is the latitude of the drone, Bj is the longitude of the drone, Aw is the latitude of the target object, and Aj is the longitude of the target object.
In the fully-automatic unmanned aerial vehicle image shooting device for intelligent inspection of power facilities in the embodiment of the invention, the calculation module 52 calculates the second rotation reference angle of the holder according to the following formula:
wherein β 1 is the second rotation reference angle, AH is the altitude of the target object, BH is the altitude of the drone, Bw is the latitude of the drone, Bj is the longitude of the drone, Aw is the latitude of the target object, Aj is the longitude of the target object, and R Earth is the average radius of the earth.
In the fully-automatic image capturing device for unmanned aerial vehicle for intelligent inspection of power facilities in the embodiment of the invention, the first determining submodule 530 determines that the first rotation angle passes through the following relation:
if Bw > Aw, and Bj > Aj, α 2 ═ α 1;
bw < Aw, and Bj < Aj, then α 2 ═ 180- α 1;
bw < Aw, and Bj > Aj, then α 2 ═ 180- α 1;
bw < Aw, and Bj < Aj, then α 2 ═ α 1 + 360;
Wherein Bw is the latitude of the unmanned aerial vehicle, Bj is the longitude of the unmanned aerial vehicle, Aw is the latitude of the target object, Aj is the longitude of the target object, α 2 is a first rotation angle, and α 1 is a first rotation reference angle.
In the fully-automatic image shooting device for the unmanned aerial vehicle for the intelligent inspection of the electric power facilities in the embodiment of the invention, the second determining submodule 530 determines the first rotation angle according to the longitude and latitude of the unmanned aerial vehicle and the longitude and latitude of the target object through the following relational expression:
Bw > Aw, and Bj > Aj, then α 2 is 90;
bw is Aw, and Bj < Aj, then α 2 is 270;
bw < Aw, and Bj ═ Aj, then α 2 ═ 180;
Bw > Aw, and Bj ═ Aj, then α 2 ═ 0;
wherein Bw is the latitude of the unmanned aerial vehicle, Bj is the longitude of the unmanned aerial vehicle, Aw is the latitude of the target object, Aj is the longitude of the target object, and α 2 is the first rotation angle.
according to the unmanned aerial vehicle image full-automatic shooting device for intelligent inspection of the power facilities, disclosed by the embodiment of the invention, the first rotation angle (azimuth angle of horizontal rotation of the holder) of the horizontal rotation of the holder and the second rotation angle (pitch angle of vertical rotation of the holder) of the vertical rotation of the holder are calculated by acquiring the position information of the unmanned aerial vehicle and the position information of the target object when the unmanned aerial vehicle is in inspection, so that not only can the specific position of the target object be accurately determined, but also the fault picture of the target object can be rapidly acquired, and the fault efficiency of the unmanned aerial vehicle in inspection of the target object is improved. The operation of flying the gymnadenia conopsea and adjusting the rotating angle of the holder is not needed, so a large amount of manpower work is saved.
Example 3
the embodiment of the invention provides a computer-readable storage medium, on which computer instructions are stored, and the instructions, when executed by a processor, implement the steps of the unmanned aerial vehicle image full-automatic shooting method for intelligent inspection of power facilities in embodiment 1. The storage medium is also stored with the longitude and latitude, the altitude of the unmanned aerial vehicle, the longitude and latitude of the target object, the altitude, the average radius of the earth, a first rotation angle, a first rotation reference angle, a second rotation angle and a second rotation reference angle.
The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a Flash Memory (Flash Memory), a Hard disk (Hard disk Drive, abbreviated as HDD) or a Solid State Drive (SSD), etc.; the storage medium may also comprise a combination of memories of the kind described above.
it will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware related to instructions of a computer program, which can be stored in a computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. The storage medium may be a magnetic disk, an optical disk, a read-only memory (ROM), a Random Access Memory (RAM), or the like.
Example 4
An embodiment of the present invention provides an unmanned aerial vehicle inspection device, as shown in fig. 7, including a memory 720, a processor 710, and a computer program stored in the memory 720 and capable of running on the processor 710, where the processor 710 implements the steps of the unmanned aerial vehicle image full-automatic shooting method for intelligent inspection of electric power facilities in embodiment 1 when executing the program.
Fig. 7 is a schematic diagram of a hardware structure of a processing method for executing list item operations according to an embodiment of the present invention, and as shown in fig. 7, the unmanned aerial vehicle inspection apparatus includes one or more processors 710 and a memory 720, where one processor 710 is taken as an example in fig. 7.
the apparatus for performing the processing method of the list item operation may further include: acquisition device 730 and computing device 740.
The processor 710, the memory 720, the obtaining device 730 and the computing device 740 may be connected by a bus or other means, and fig. 7 illustrates an example of a bus connection.
Processor 710 may be a Central Processing Unit (CPU). The Processor 710 may also be other general purpose processors, Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field Programmable Gate Arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components, or any combination thereof. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications therefrom are within the scope of the invention.
Claims (13)
1. the utility model provides a full-automatic shooting method of unmanned aerial vehicle image for electric power facility intelligence is patrolled and examined, be provided with camera equipment on the unmanned aerial vehicle and support camera equipment's cloud platform, its characterized in that includes following step:
respectively acquiring the position of the unmanned aerial vehicle and the position of a target object;
respectively calculating a first rotating angle and a second rotating angle of the holder according to the position of the unmanned aerial vehicle and the position of the target object;
and according to the first rotating angle and the second rotating angle, the camera shooting device is aligned to the target object, and a current image of the target object is shot.
2. the method of claim 1, wherein the first and second angles of rotation are an azimuth angle of horizontal rotation of the head and a pitch angle of vertical rotation of the head, respectively.
3. the method of claim 1, wherein the step of calculating a first angle of rotation of the pan/tilt head comprises:
Respectively acquiring the longitude and latitude of the unmanned aerial vehicle and the longitude and latitude of the target object;
Calculating a first rotation reference angle of the holder according to the longitude and latitude of the unmanned aerial vehicle and the longitude and latitude of the target object;
and determining the first rotation angle according to the longitude and latitude of the unmanned aerial vehicle, the longitude and latitude of the target object and the first rotation reference angle.
4. The method of claim 3, wherein the step of calculating the first angle of rotation of the pan/tilt head further comprises:
respectively acquiring the longitude and latitude of the unmanned aerial vehicle and the longitude and latitude of the target object;
And determining the first rotation angle according to the longitude and latitude of the unmanned aerial vehicle and the longitude and latitude of the target object.
5. the method of claim 1, wherein the step of calculating the second angle of rotation of the pan/tilt head comprises:
Respectively acquiring the longitude and latitude, the altitude of the unmanned aerial vehicle, the longitude and latitude, the altitude and the earth average radius of the target object;
Calculating a second rotation reference angle of the holder according to the longitude and latitude, the altitude of the unmanned aerial vehicle, the longitude and latitude, the altitude and the earth average radius of the target object;
judging whether the altitude of the target object is greater than or equal to the altitude of the unmanned aerial vehicle;
If the altitude of the target object is greater than or equal to the altitude of the unmanned aerial vehicle, the second rotation angle is equal to the second rotation reference angle.
6. the method of claim 5, wherein the step of calculating the second angle of rotation of the pan/tilt head further comprises: the second rotation angle is equal to an opposite value of the second rotation reference angle if the altitude of the target object is less than the altitude of the drone.
7. a method according to claim 3, wherein said calculating a first rotation reference angle of said head is performed by the following formula:
Wherein α 1 is the first rotation reference angle, Bw is the latitude of the drone, Bj is the longitude of the drone, Aw is the latitude of the target object, and Aj is the longitude of the target object.
8. The method according to claim 5, wherein said calculating a second rotation reference angle of said head is performed by the following formula:
Wherein β 1 is the second rotation reference angle, AH is the altitude of the target object, BH is the altitude of the drone, Bw is the latitude of the drone, Bj is the longitude of the drone, Aw is the latitude of the target object, Aj is the longitude of the target object, and R Earth is the mean radius of the earth.
9. The method of claim 3, wherein the step of determining the first rotation angle from the latitude and longitude of the drone, the latitude and longitude of the target object, and the first rotation reference angle is via the following relationship:
if Bw > Aw, and Bj > Aj, α 2 ═ α 1;
bw < Aw, and Bj < Aj, then α 2 ═ 180- α 1;
Bw < Aw, and Bj > Aj, then α 2 ═ 180- α 1;
bw > Aw, and Bj < Aj, then α 2 ═ α 1 + 360;
Wherein Bw is a latitude of the drone, Bj is a longitude of the drone, Aw is a latitude of the target object, Aj is a longitude of the target object, α 2 is the first rotation angle, and α 1 is the first rotation reference angle.
10. The method of claim 4, wherein the step of determining the first rotation angle based on the longitude and latitude of the drone and the longitude and latitude of the target object is via the following relationship:
Bw > Aw, and Bj > Aj, then α 2 is 90;
bw is Aw, and Bj < Aj, then α 2 is 270;
Bw < Aw, and Bj ═ Aj, then α 2 ═ 180;
Bw > Aw, and Bj ═ Aj, then α 2 ═ 0;
Wherein Bw is the latitude of the drone, Bj is the longitude of the drone, Aw is the latitude of the target object, Aj is the longitude of the target object, and α 2 is the first rotation angle.
11. the utility model provides an unmanned aerial vehicle inspection device, be provided with camera equipment and support on the unmanned aerial vehicle camera equipment's cloud platform, its characterized in that includes:
The acquisition module is used for respectively acquiring the position of the unmanned aerial vehicle and the position of a target object;
The calculation module is used for respectively calculating a first rotation angle and a second rotation angle of the holder according to the position of the unmanned aerial vehicle and the position of the target object;
and the shooting module is used for enabling the camera shooting equipment to be aligned to the target object according to the first rotating angle and the second rotating angle and shooting the current image of the target object.
12. a computer readable storage medium having stored thereon computer instructions, wherein the instructions when executed by a processor implement the steps of the method for fully automatically capturing images of a drone for smart inspection of electrical power facilities according to any one of claims 1 to 10.
13. an unmanned aerial vehicle inspection apparatus comprising a memory, a processor and a computer program stored on the memory and operable on the processor, wherein the processor implements the steps of the unmanned aerial vehicle image full-automatic shooting method for intelligent inspection of electric power facilities according to any one of claims 1 to 10 when executing the program.
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