CN111504257B - Visual ranging system and method for assisting unmanned aerial vehicle in accurate line patrol - Google Patents
Visual ranging system and method for assisting unmanned aerial vehicle in accurate line patrol Download PDFInfo
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Abstract
The invention discloses a visual ranging system for assisting an unmanned aerial vehicle in accurately patrolling a line and a ranging method thereof, wherein the system comprises the unmanned aerial vehicle, a server side and a user terminal; the unmanned aerial vehicle establishes signal transmission with the server end through wireless connection, the unmanned aerial vehicle also establishes signal transmission with the user terminal through wireless connection, and the server end establishes signal transmission with the user terminal through wireless connection; the server side comprises an image information acquisition module and an industrial personal computer, and the image information acquisition module is connected with the industrial personal computer; the user terminal comprises a remote controller and intelligent display equipment, and the intelligent display equipment is fixed on the remote controller. An image recognition algorithm is arranged in the industrial personal computer and used for recognizing the power circuit and calculating the pixel width of the circuit; the industrial personal computer or the intelligent display equipment is internally provided with a distance recognition algorithm for calculating the actual distance between the unmanned aerial vehicle and the line according to the pixel width of the line.
Description
Technical Field
The invention relates to the field of visual ranging, in particular to a visual ranging system for assisting an unmanned aerial vehicle in accurately patrolling a line and a ranging method thereof.
Background
At present, the electric inspection of the rotor unmanned aerial vehicle is common, and the electric inspection of the unmanned aerial vehicle requires the unmanned aerial vehicle to operate under complex environments such as multiple obstacles, strong electric fields, strong magnetic fields and the like. This has provided very high requirement to unmanned aerial vehicle accurate positioning and intelligent obstacle avoidance function. While the traditional precise positioning such as differential GPS is prone to failure caused by same frequency interference in a strong electric field environment, most of the existing main obstacle avoidance principles of unmanned aerial vehicles are based on ultrasonic ranging, and the ultrasonic obstacle avoidance module has an extremely insignificant effect on linear obstacles (such as power transmission and distribution lines, and the ultrasonic reflection surface of the linear obstacle is small).
Unmanned aerial vehicle visual ranging is an identification mode generated based on an image processing technology. Different with general visual ranging, unmanned aerial vehicle visual ranging's the degree of difficulty is very high. The wires of the power system are outdoor, and the wires are blown by wind and rain and are exposed to the sun and rain, so that the wires are likely to have dust, corrosion and other phenomena, the appearances of the wires of different lines are not completely the same, and the wires are not provided with textures with large enough areas, so that the conventional visual ranging is difficult to perform.
Disclosure of Invention
The invention provides a visual ranging system for assisting an unmanned aerial vehicle to accurately patrol lines in real time with high precision, aiming at overcoming at least one defect in the prior art.
The present invention aims to solve the above technical problem at least to some extent.
The invention aims to solve the problem that the conventional unmanned aerial vehicle obstacle avoidance module has poor distance measurement effect on a wire, and improve the safety of the unmanned aerial vehicle in line inspection operation.
The invention further aims to provide a distance measuring method of the visual distance measuring system for assisting the unmanned aerial vehicle in accurately patrolling the line.
In order to achieve the technical effects, the technical scheme of the invention is as follows:
a visual ranging system for assisting an unmanned aerial vehicle in accurately patrolling lines comprises the unmanned aerial vehicle, a server side and a user terminal; the unmanned aerial vehicle establishes signal transmission with the server end through wireless connection, the unmanned aerial vehicle also establishes signal transmission with the user terminal through wireless connection, and the server end establishes signal transmission with the user terminal through wireless connection; the server side comprises an image information acquisition module and an industrial personal computer, and the image information acquisition module is connected with the industrial personal computer; the unmanned aerial vehicle system is characterized in that the user terminal comprises a remote controller and intelligent display equipment, the intelligent display equipment is fixed on the remote controller, and a worker controls the unmanned aerial vehicle through the remote controller;
the unmanned aerial vehicle acquires data through a camera of the unmanned aerial vehicle and wirelessly transmits the data to the image information acquisition module, the image information acquisition module transmits the received data to the industrial personal computer, and the industrial personal computer receives the image information, identifies an image of a power line in the image information through an algorithm, calculates data corresponding to the line and transmits the data to the user terminal; therefore, the monitoring, data processing and operation control are divided into different parts, so that the maintenance is easy, and the stability of the system is ensured;
be provided with in the industrial computer and be used for discerning and calculating the image recognition module of the power line image data of unmanned aerial vehicle transmission, image recognition module needs to have certain processing apparatus who calculates the ability, and the operational capability of industrial computer is strong, can guarantee the speed of operation.
And a distance recognition module used for calculating the actual distance between the power line and the unmanned aerial vehicle according to the data obtained by the image recognition module is arranged in the intelligent display equipment or the industrial personal computer. The distance identification module needs weaker computing capability and can be realized in an intelligent display device and an industrial personal computer.
Furthermore, the intelligent display device also comprises a real-time display module and a distance display module; the real-time display module receives the pictures shot by the unmanned aerial vehicle and plays the pictures in real time; the distance display module receives the actual distance between the unmanned aerial vehicle and the power line obtained by the distance recognition algorithm and displays the actual distance. The staff both can see the picture that unmanned aerial vehicle gathered in real time when operating the unmanned aerial vehicle operation, also can see the real-time distance of unmanned aerial vehicle and nearest power line, guarantees work efficiency and security.
Furthermore, the server and the user terminal transmit data in a Socket client mode to distinguish different application program processes and connections, and safety is high.
Further, the industrial personal computer and the image information acquisition module transmit data through an HDMI, and the industrial personal computer acquires real-time image information of the unmanned aerial vehicle camera acquired by the image information acquisition module through the HDMI and returns the real-time image information to the image recognition algorithm. The HDMI interface is simple in connection and fast in data transmission.
Furthermore, the industrial personal computer and the image information acquisition module transmit data in a Type-c mode, and the Type-c mode supports reverse insertion and is convenient to operate.
Furthermore, the server side and the user terminal transmit data through a wifi wireless network, so that energy consumption of the user terminal can be reduced, hardware connection is not needed, and feasibility of a scheme is improved.
A visual ranging method for assisting an unmanned aerial vehicle in accurately patrolling a line comprises an image recognition algorithm running in an image recognition module and a distance recognition algorithm running in the distance recognition module;
the image recognition algorithm comprises the following steps:
s1, reading pictures: the industrial personal computer reads the picture information of the power line acquired by the unmanned aerial vehicle from the image information acquisition module;
s2, straight line identification: performing primary identification on the edge of the power line in the picture information by using a Laplace operator;
s3, smooth curve processing: performing smooth curve processing on the image of the power line edge identified in S2;
s4, operation of the connected region: calculating a connected region of the image subjected to the S3 smooth curve processing;
s5, combining line sets: calculating the length, slope and offset of the straight line in the image obtained by S4, fitting the slope, merging the adjacent straight lines to obtain the combination of the line set, and obtaining a power line image close to a rectangle;
s6, calculating the pixel width: obtaining the area of the power line in the image through gray level extraction according to the image information obtained in the step S5, and obtaining the pixel width of the power line in the vertical direction of the image according to the characteristic that the line basically presents a rectangle in the image;
and after the distance recognition algorithm receives the pixel width obtained by the image recognition algorithm, calculating the actual distance between the electric power line and the unmanned aerial vehicle lens according to the actual width of the electric power line and the geometric relationship of the pixel width in the space.
According to the visual ranging method, the distance measurement of various power distribution network lines can be realized through images acquired by the aerial camera of the common unmanned aerial vehicle, and the blank that the traditional unmanned aerial vehicle obstacle avoidance module (infrared, ultrasonic, binocular vision and the like) cannot sense and measure the power lines is effectively made up.
Further, the distance identification algorithm has the following principle:
assuming that the power line image is in the center of the image shot by the unmanned aerial vehicle, the image of the power line is calculated as P pixel points by the image recognition algorithm, the total vertical resolution of the image shot by the lens of the unmanned aerial vehicle is L, assuming that the lens of the unmanned aerial vehicle is undistorted, and the actual distances between L and P are L1 and P1, (L/P is L1/P1), where P1 is that the actual width of the power line is known;
if the actual distance between the unmanned aerial vehicle lens and the power line is D and the shooting angle of the unmanned aerial vehicle lens is α, the distance is (L1/2)/D is tan (α/2), and if (tan β is P1/D), tan β is 1/2(L1/P1)/tan (α/2), that is, tan β is 1/2(L/P)/tan (α/2);
wherein α is known, (L/P) can be obtained by a ratio of pixel points in the image, that is, a value of β can be obtained, and a value of an actual distance D can be obtained according to (tan β ═ P1/D);
for the case where the power line is not at the center of the image, since the power line is a cylinder, if D is not changed, P1 becomes a chord corresponding to the angle β; when D is much larger than P1, it can be considered approximately as being consistent with the case where the power line is at the center of the image.
Further, when the distance recognition algorithm calculates that the actual distance between the electric power circuit and the unmanned aerial vehicle lens reaches a set value, the intelligent display device gives out a warning, including reminding on the display screen and reminding the operator with sound, and effective safety guarantee is provided.
Further, when the unmanned aerial vehicle detects that the distance between the unmanned aerial vehicle and the electric power line is larger than one, the image recognition algorithm calculates the pixel width of each electric power line respectively, and transmits the corresponding pixel width of the electric power line closest to the distance recognition algorithm, so that the accuracy of measurement is guaranteed.
Compared with the prior art, the technical scheme of the invention has the beneficial effects that:
the visual ranging system for assisting the unmanned aerial vehicle in accurately patrolling the line provided by the invention analyzes the collected visible light data by utilizing the carried visible light equipment of the unmanned aerial vehicle, identifies the power line, calculates the pixel width of the power line in an image, thereby accurately calculating the relative angle and other related position information of the camera and the power line, further converting the relative angle and other related position information into the actual distance between the unmanned aerial vehicle and the power line, displaying the calculated real-time distance in real time, and giving an alarm when the distance exceeds a safety range; the unmanned aerial vehicle of flying hand accurate control of being convenient for avoids unmanned aerial vehicle to touch power line, also can assist the range finding when being applied to other special type unmanned aerial vehicle operations that need accurate control distance, improves the security that unmanned aerial vehicle circuit patrolled and examined operation and special type operation greatly, patrols and examines the operation increase a powerful safety guarantee for distribution network unmanned aerial vehicle patroller flies under daily complicated site environment and patrols and examines the operation.
Drawings
Fig. 1 is a schematic structural diagram of a visual ranging system according to an embodiment of the present invention.
FIG. 2 is a diagram of the operation process of the image recognition algorithm of the present invention.
Fig. 3 is a schematic diagram of the distance recognition algorithm of the present invention.
Detailed Description
The drawings are for illustrative purposes only and are not to be construed as limiting the patent;
for the purpose of better illustrating the embodiments, certain features of the drawings may be omitted, enlarged or reduced, and do not represent the size of an actual product;
it will be understood by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted.
The technical solution of the present invention is further described below with reference to the accompanying drawings and examples.
Example 1
Fig. 1 shows that the visual ranging system's that supplementary unmanned aerial vehicle is accurate patrols line that this embodiment provided structure schematic diagram, this ranging system includes:
the system comprises an unmanned aerial vehicle, a server side and a user terminal; the unmanned aerial vehicle establishes signal transmission with the server end through wireless connection, the unmanned aerial vehicle also establishes signal transmission with the user terminal through wireless connection, and the server end establishes signal transmission with the user terminal through wireless connection; the server side comprises an image information acquisition module and an industrial personal computer, and the image information acquisition module is connected with the industrial personal computer; the system is characterized in that the user terminal comprises a remote controller and intelligent display equipment, and the intelligent display equipment is fixed on the remote controller;
an image recognition module used for recognizing and calculating the power line image data transmitted by the unmanned aerial vehicle is further arranged in the industrial personal computer; the image recognition module recognizes an electric power circuit in the image received by the industrial personal computer, calculates the pixel width of the electric power circuit in the image, and transmits the calculated data to the user terminal through wireless transmission at the server end;
a distance recognition module used for calculating the actual distance between the power line and the unmanned aerial vehicle according to the data obtained by the image recognition module is arranged in the intelligent display equipment; the data that intelligent display device received is the pixel width of power line in the image, and distance identification module calculates the actual distance that reachs unmanned aerial vehicle and power line according to the pixel width of power line and known actual width and their space geometry about the unmanned aerial vehicle camera lens.
The intelligent display equipment also comprises a real-time display module and a distance display module; the real-time display module receives the pictures shot by the unmanned aerial vehicle and plays the pictures in real time; the distance display module receives the actual distance between the unmanned aerial vehicle and the power line obtained by the distance recognition algorithm and displays the actual distance.
The distance display module has a suspension display function, so that the distance between the unmanned aerial vehicle and the nearest power line can be obtained in real time when a worker operates the unmanned aerial vehicle and observes a shot picture; when the distance data between the wires and the camera is obtained, the distance display module updates the distance between the unmanned aerial vehicle and the power line in real time through a suspension window method, and the observation of workers is facilitated.
And, when the distance of unmanned aerial vehicle and power line is outside the safe distance that sets up, user terminal sends out the warning, arouses staff's attention with the mode of sound and screen suggestion.
In addition, the server side and the user terminal transmit data in a Socket client interface mode to distinguish different application program processes and connections, safety is high, and the client side can support multiple unmanned aerial vehicles to work simultaneously.
The industrial personal computer and the image information acquisition module transmit data through HDMI, and the industrial personal computer acquires real-time image information of the unmanned aerial vehicle camera acquired by the image information acquisition module through HDMI and returns the real-time image information to the image recognition algorithm.
The server side and the user terminal transmit data through a wifi wireless network, energy consumption of the user terminal can be reduced, hardware connection is not needed, and feasibility of a scheme is improved.
According to the visual ranging system for assisting the precise line patrol of the unmanned aerial vehicle, the invention provides a visual ranging method for assisting the precise line patrol of the unmanned aerial vehicle, which comprises an image recognition algorithm running in an image recognition module and a distance recognition algorithm running in a distance recognition module;
the image recognition algorithm comprises the following steps:
s1, reading pictures: the industrial personal computer reads the picture information of the power line acquired by the unmanned aerial vehicle from the image information acquisition module;
s2, straight line identification: performing primary identification on the edge of the power line in the picture information by using a Laplace operator;
s3, smooth curve processing: performing smooth curve processing on the image of the power line edge identified in S2;
s4, operation of the connected region: calculating a connected region of the image subjected to the S3 smooth curve processing;
s5, combining line sets: calculating the length, slope and offset of the straight line in the image obtained in S4, fitting the slope, merging the adjacent straight lines, and obtaining the combination of the line set;
s6, calculating the pixel width: obtaining the area of the power line in the image by gray extraction according to the image information obtained in the step S5, and obtaining the pixel width;
and after the distance recognition algorithm receives the pixel width obtained by the image recognition algorithm, calculating the actual distance between the electric power line and the unmanned aerial vehicle lens according to the actual width of the electric power line and the geometric relationship of the pixel width in the space.
The distance recognition algorithm principle is shown in fig. 3:
assuming that the power line image is in the center of the image shot by the unmanned aerial vehicle, the image of the power line is calculated as P pixel points by the image recognition algorithm, the total vertical resolution of the image shot by the lens of the unmanned aerial vehicle is L, assuming that the lens of the unmanned aerial vehicle is undistorted, and the actual distances between L and P are L1 and P1, (L/P is L1/P1), where P1 is that the actual width of the power line is known;
if the actual distance between the unmanned aerial vehicle lens and the power line is D and the shooting angle of the unmanned aerial vehicle lens is α, the distance is (L1/2)/D is tan (α/2), and if (tan β is P1/D), tan β is 1/2(L1/P1)/tan (α/2), that is, tan β is 1/2(L/P)/tan (α/2);
wherein, α is that the shooting angle parameter of the unmanned aerial vehicle camera is known, (L/P) can be obtained by the ratio of pixel points in the image, the value of β can be obtained according to the above formula, and then the value of the actual distance D can be obtained according to (tan β ═ P1/D);
for the case where the power line is not at the center of the image, since the power line is a cylinder, if D is not changed, P1 becomes a chord corresponding to the angle β; when D is much larger than P1, it can be considered approximately as being consistent with the case where the power line is at the center of the image.
And when the distance recognition algorithm calculates that the actual distance between the power line and the unmanned aerial vehicle lens reaches a set value, the intelligent display equipment sends out a warning.
The line width of the power line and the preset value of the alarm are set in the intelligent display device.
In addition, when the unmanned aerial vehicle detects that the distance between the unmanned aerial vehicle and the power line is larger than one, the image recognition algorithm calculates the pixel width of each power line respectively, and transmits the corresponding pixel width of the power line closest to the unmanned aerial vehicle to the distance recognition algorithm.
The visual ranging method of the embodiment mainly utilizes the Laplacian operator to preliminarily identify the edge of the wire; then, correspondingly processing the graph, selecting a proper line set, and performing sobel operation and regional cutting; after the obtained result is processed, the basic outline area of the lead can be extracted through gray level extraction; the pixel width of the conducting wire can be obtained by utilizing the characteristic that the conducting wire basically presents a rectangle in the picture through the area/length; and the actual distance between the wire and the lens of the unmanned aerial vehicle can be converted by combining the known actual width of the wire.
It should be noted that, it is a complicated process to perform distance measurement according to the power line in the image, the calculation of each step will affect the final solution, some errors are not eliminated, and some errors can be eliminated by accurate control or reasonable parameter setting during flying photography, for example: contrast at the edges of the lines. The initial screening of the conducting wire is to use the Laplace operator to carry out edge identification, if the contrast of the conducting wire and the background is not strong enough, the conducting wire is difficult to be accurately found, and therefore fine parameter adjustment is carried out on the algorithm, and the identification precision of the system is improved.
Example 2
The difference between this embodiment and the above embodiments is: a distance identification module in a visual ranging system for assisting the unmanned aerial vehicle in accurately patrolling the line is arranged in an industrial personal computer, and intelligent display equipment does not perform the operation of a distance identification algorithm; and after the industrial personal computer completes the pixel width calculation of the power line image, the calculation of the actual distance between the power line and the unmanned aerial vehicle is completed.
The signal that intelligent display device received the industrial computer is the data of unmanned aerial vehicle and electric power circuit actual distance that the industrial computer calculated to the actual width parameter of electric power circuit is set for in the industrial computer.
The intelligent display device displays the data at the distance display module after receiving the actual distance data of the unmanned aerial vehicle and the power line, compares the received data with the preset safe distance, and gives an alarm after the actual distance exceeds the range of the safe distance.
The image recognition algorithm steps and the distance recognition algorithm principle of the embodiment are the same as those of the embodiment, and are not repeated.
Compared with the first embodiment, the technical scheme of the embodiment can reduce the operation amount of the intelligent display device, and has lower performance requirements on the intelligent display device.
The same or similar reference numerals correspond to the same or similar parts;
the positional relationships depicted in the drawings are for illustrative purposes only and are not to be construed as limiting the present patent;
it should be understood that the above-described embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. 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. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.
Claims (9)
1. A visual ranging system for assisting an unmanned aerial vehicle in accurately patrolling lines comprises the unmanned aerial vehicle, a server side and a user terminal; the unmanned aerial vehicle establishes signal transmission with the server end through wireless connection, the unmanned aerial vehicle also establishes signal transmission with the user terminal through wireless connection, and the server end establishes signal transmission with the user terminal through wireless connection; the server side comprises an image information acquisition module and an industrial personal computer, and the image information acquisition module is connected with the industrial personal computer; the system is characterized in that the user terminal comprises a remote controller and intelligent display equipment, and the intelligent display equipment is fixed on the remote controller;
an image recognition module used for recognizing and calculating power line image data transmitted by the unmanned aerial vehicle is arranged in the industrial personal computer;
a distance recognition module used for calculating the actual distance between the power line and the unmanned aerial vehicle according to the data obtained by the image recognition module is arranged in the intelligent display equipment or the industrial personal computer;
the visual ranging system for assisting the precise line patrol of the unmanned aerial vehicle applies a visual ranging method for assisting the precise line patrol of the unmanned aerial vehicle, and the method comprises an image recognition algorithm running in an image recognition module and a distance recognition algorithm running in a distance recognition module;
the image recognition algorithm comprises the following steps:
s1, reading pictures: the industrial personal computer reads the picture information of the power line acquired by the unmanned aerial vehicle from the image information acquisition module;
s2, straight line identification: performing primary identification on the edge of the power line in the picture information by using a Laplace operator;
s3, smooth curve processing: performing smooth curve processing on the image of the power line edge identified in S2;
s4, operation of the connected region: calculating a connected region of the image subjected to the S3 smooth curve processing;
s5, combining line sets: calculating the length, slope and offset of the straight line in the image obtained in S4, fitting the slope, merging the adjacent straight lines, and obtaining the combination of the line set;
s6, calculating the pixel width: obtaining the area of the power line in the image by gray extraction according to the image information obtained in the step S5, and obtaining the pixel width;
and after the distance recognition algorithm receives the pixel width obtained by the image recognition algorithm, calculating the actual distance between the electric power line and the unmanned aerial vehicle lens according to the actual width of the electric power line and the geometric relationship of the pixel width in the space.
2. The visual ranging system for assisting the precise line patrol of the unmanned aerial vehicle according to claim 1, wherein the intelligent display device further comprises a real-time display module and a distance display module; the real-time display module receives the pictures shot by the unmanned aerial vehicle and plays the pictures in real time; the distance display module receives the actual distance between the unmanned aerial vehicle and the power line obtained by the distance recognition algorithm and displays the actual distance.
3. The visual ranging system assisting unmanned aerial vehicle in accurately patrolling the line according to claim 1 or 2, wherein the server side and the user terminal transmit data in a Socket client side mode.
4. The visual ranging system assisting in precise line patrol of the unmanned aerial vehicle according to claim 1 or 2, wherein the industrial personal computer and the image information acquisition module transmit data through an HDMI.
5. The visual ranging system assisting in precise line patrol of the unmanned aerial vehicle as claimed in claim 1 or 2, wherein the industrial personal computer and the image information acquisition module transmit data in a Type-c manner.
6. The visual ranging system for assisting the unmanned aerial vehicle in accurately patrolling the line according to claim 1, wherein the server terminal and the user terminal transmit data through a wifi wireless network.
7. The visual ranging system for assisting the unmanned aerial vehicle in accurately patrolling the line according to claim 1, wherein the distance recognition algorithm has the following principle:
assuming that the power line image is in the center of the image shot by the unmanned aerial vehicle, the image of the power line is calculated as P pixel points by the image recognition algorithm, the total vertical resolution of the image shot by the lens of the unmanned aerial vehicle is L, assuming that the lens of the unmanned aerial vehicle is undistorted, and the actual distances between L and P are L1 and P1, then L/P is L1/P1, where P1 is that the actual width of the power line is known;
if the actual distance between the unmanned aerial vehicle lens and the power line is D and the shooting angle of the unmanned aerial vehicle lens is α, the distance is (L1/2)/D is tan (α/2), and tan β is P1/D, so that tan β is 1/2(L1/P1)/tan (α/2), that is, tan β is 1/2(L/P)/tan (α/2);
wherein alpha is known, L/P can be obtained by the ratio of pixel points in the image, that is, the value of beta can be obtained, and the value of the actual distance D can be obtained according to the value of tan beta as P1/D;
for the case where the power line is not at the center of the image, since the power line is a cylinder, if D is not changed, P1 becomes a chord corresponding to the angle β; when D is much larger than P1, it can be considered approximately as being consistent with the case where the power line is at the center of the image.
8. The system according to claim 7, wherein the intelligent display device sends a warning when the distance recognition algorithm calculates that the actual distance between the power line and the lens of the unmanned aerial vehicle reaches a set value.
9. The system of claim 8, wherein when the unmanned aerial vehicle detects more than one power line, the image recognition algorithm calculates the pixel width of each power line and transmits the corresponding pixel width of the nearest power line to the distance recognition algorithm.
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