CN111932618A - Transmission tower infrared shooting route generation method and related device - Google Patents
Transmission tower infrared shooting route generation method and related device Download PDFInfo
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- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
- G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
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- H04N5/33—Transforming infrared radiation
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- G06T2207/10028—Range image; Depth image; 3D point clouds
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- G06T2207/00—Indexing scheme for image analysis or image enhancement
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Abstract
The application discloses a method for generating an infrared shooting route of a transmission tower and a related device, wherein the method comprises the following steps: determining the height of a central shot point in a preset tower three-dimensional model; presetting a plurality of symmetrical peripheral shooting points on a horizontal plane where a central shot point is located, and acquiring three-dimensional coordinates of the peripheral shooting points; and generating an infrared shooting route according to the preset peripheral shooting points and the preset return points. The redundancy shooting frequency of the unmanned aerial vehicle infrared shooting technology of the existing transmission tower is more, the dependence on the flying hand is large, and the technical problem that the actual shooting efficiency is low is caused.
Description
Technical Field
The application relates to the technical field of unmanned aerial vehicle infrared shooting, in particular to a transmission tower infrared shooting route generation method and a related device.
Background
In recent years, many overhead transmission towers have operation faults in China, and most of the operation faults are caused by overheating of equipment during operation. The inspection mode in daily inspection is that an unmanned aerial vehicle is adopted to perform infrared refined inspection on overhead transmission towers, and during inspection, transmission tower equipment is subjected to close-range refined shooting one by one, however, an infrared camera used by the inspection equipment has a long focal length, and a formed field angle is small and is equivalent to a telescope; the short-distance shooting is carried out, and the flyer needs to shoot the same component for multiple times, so that the equipment can be completely and completely inspected, and the inspection mode which is not suitable for refining is not suitable for the troubleshooting of the overhead transmission tower. The inspection mode easily causes equipment damage and has high dependence on the technical level of the flyer, the flyer has large workload and low efficiency, and certain difficulty is added to the work of the flyer.
Disclosure of Invention
The application provides a transmission tower infrared shooting route generation method and a related device, which are used for solving the technical problems that the existing transmission tower unmanned aerial vehicle infrared shooting technology has more redundant shooting times and larger dependence on a flying hand, and the actual shooting efficiency is lower.
In view of this, a first aspect of the present application provides a method for generating an infrared shooting route of a transmission tower, including:
determining the height of a central shot point in a preset tower three-dimensional model;
presetting a plurality of symmetrical peripheral shooting points on a horizontal plane where the central shot point is located, and acquiring three-dimensional coordinates of the peripheral shooting points;
and generating an infrared shooting route according to the preset peripheral shooting points and the preset return points.
Optionally, the determining, in the preset tower three-dimensional model, the height of the center photographed point further includes:
and acquiring point cloud data of the tower, and constructing the preset tower three-dimensional model according to the point cloud data.
Optionally, the determining the height of the central shot point in the preset tower three-dimensional model includes:
calculating the height of the central shot point according to the height of the ground wire and the height of the lower wire in the preset tower three-dimensional model by using a preset central formula, wherein the preset central formula is as follows:
wherein h isCenter shot pointHeight of the center photographed point, hGround wireIs the ground line height, hLower conducting wireIs the lower wire height.
Optionally, the generating an infrared shooting route according to the preset number of the peripheral shooting points and the preset return points further includes:
and adjusting the head orientation and the holder angle at different peripheral shooting points according to the infrared shooting route to carry out infrared shooting.
The second aspect of the present application provides a transmission tower infrared shooting route generation device, including:
the center determining module is used for determining the height of a center shot point in a preset tower three-dimensional model;
the setting module is used for setting a preset symmetrical peripheral shooting point on a horizontal plane where the central shot point is located and acquiring the three-dimensional coordinates of the peripheral shooting point;
and the route generation module is used for generating the infrared shooting route according to the preset peripheral shooting points and the preset return points.
Optionally, the method further includes:
and the construction module is used for acquiring point cloud data of the tower and constructing the preset tower three-dimensional model according to the point cloud data.
Optionally, the center determining module is specifically configured to:
calculating the height of the central shot point according to the height of the ground wire and the height of the lower wire in the preset tower three-dimensional model by using a preset central formula, wherein the preset central formula is as follows:
wherein h isCenter shot pointHeight of the center photographed point, hGround wireIs the ground line height, hLower conducting wireIs the lower wire height.
Optionally, the method further includes:
and the shooting module is used for adjusting the head orientation and the holder angle on different peripheral shooting points according to the infrared shooting route to carry out infrared shooting.
The third aspect of the present application provides a transmission tower infrared shooting route generation device, where the device includes a processor and a memory:
the memory is used for storing program codes and transmitting the program codes to the processor;
the processor is configured to execute the method for generating the transmission tower infrared shooting route according to any one of the first aspect according to instructions in the program code.
A fourth aspect of the present application provides a computer-readable storage medium, where the computer-readable storage medium is configured to store program codes, and the program codes are configured to execute the method for generating an infrared shooting route on a transmission tower according to any one of the first aspect.
According to the technical scheme, the embodiment of the application has the following advantages:
the application provides a method for generating an infrared shooting route of a transmission tower, which comprises the following steps: determining the height of a central shot point in a preset tower three-dimensional model; presetting a plurality of symmetrical peripheral shooting points on a horizontal plane where a central shot point is located, and acquiring three-dimensional coordinates of the peripheral shooting points; and generating an infrared shooting route according to the preset peripheral shooting points and the preset return points.
The utility model provides a transmission tower infrared shooting route generation method, confirm the central point that needs to shoot through the shaft tower three-dimensional model that founds, it can ensure that the target on the shaft tower is shot spare part and all is shot to use the center to be shot the point as the benchmark, several peripheral shooting points that can detect spare part comprehensively are set up again according to the center by shooting point, then only shoot at the shooting point that sets up, the redundancy of shooting has been reduced, and the shooting route that generates according to peripheral shooting point and preset return voyage point can provide perfect flight shooting plan for unmanned aerial vehicle's shooting, realize that the autopilot is patrolled and examined. Consequently, this application has solved the redundancy of current transmission tower's unmanned aerial vehicle infrared shooting technique and has shot the number of times more, and great to the flight hand dependence, leads to actually shooting the lower technical problem of efficiency.
Drawings
Fig. 1 is a schematic flow chart of a method for generating an infrared shooting route of a transmission tower according to an embodiment of the present disclosure;
fig. 2 is a schematic structural diagram of a transmission tower infrared shooting route generation device provided in an embodiment of the present application;
fig. 3 is a schematic diagram of a layout of peripheral shot points according to an embodiment of the present application;
fig. 4 is a diagram illustrating a position of a central captured point according to an embodiment of the present disclosure.
Detailed Description
In order to make the technical solutions of the present application better understood, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. 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 application.
For convenience of understanding, please refer to fig. 1, a first embodiment of a method for generating an infrared shooting route of a transmission tower provided by the present application includes:
It should be noted that the central shot point is a "focus point" shot by the unmanned aerial vehicle, and is usually the center of an insulator string at the tower head of the tower, and the shot point is taken as the center because the tower head can be shot at a long distance, and as for the specific shooting distance, the shooting distance is determined by setting the distance from the tower, and the central shot point is taken as a center reference point, so that it is ensured that parts which generate heat, such as insulators, are detected comprehensively. After the height of the central shot point is determined, the three-dimensional coordinate information of the central shot point can be obtained according to a preset tower three-dimensional model.
And 102, presetting a plurality of symmetrical peripheral shooting points on a horizontal plane where the central shot point is located, and acquiring three-dimensional coordinates of the peripheral shooting points.
It should be noted that after the height of the central photographed point is determined, a three-dimensional coordinate system XYZ using the central photographed point as an origin can be constructed, a plane XOY where the origin is located is a target horizontal plane, and symmetric peripheral photographed points can be set according to actual conditions, do not make specific requirements, can be centrosymmetric, and can also be symmetric about coordinate axes; the preset number is generally multiple, and can be set to be a number of points which are just detected on the whole tower head completely and cover the whole tower head completely, and when the shooting point is the minimum, the shooting redundant points are reduced and the target information is comprehensively obtained; since the symmetry is present, the number of peripheral shots is generally an even number, which also facilitates the study of the computational analysis. How to set peripheral shooting points can be illustrated, please refer to fig. 3, which is a schematic diagram on an XOY horizontal plane, and includes four symmetrical shooting points A, B, C and D and two preset return points, where point O is an origin point, i.e., a central shot point, the selection principle of the four points is calculated according to the distance between the shooting point and the unmanned aerial vehicle shooting path, the distance between the shooting point and the tower, and the distance from the tower top when the tower is wound, and these data are some data necessary for the unmanned aerial vehicle to shoot the tower, and the specific setting standard is not described herein; the reason why the shooting point B coincides with the return point a and the shooting point C coincides with the return point B is that the return point is disposed right above the shooting point, and therefore when looking down the XOY plane, the two points coincide.
And 103, generating an infrared shooting route according to the preset peripheral shooting points and the preset return points.
The preset return point is generally arranged above a horizontal plane where a central shot point is located, and a straight line formed by the preset return point and a certain peripheral shot point is generally parallel to the Z axis, namely is directly above the certain peripheral shot point; the preset back-navigation points can be one or two and are used for dividing the shooting stage, if the two preset back-navigation points are provided, the two points are specified to be on the same horizontal plane, namely the height is consistent, and the two back-navigation points are in an adjacent state; the preset back-navigation point is not a shooting point and is used for assisting in flying, for example, measurement and auxiliary switching are carried out on a tower, and flying shooting of the unmanned aerial vehicle is facilitated. According to the infrared shooting route generated by the peripheral shooting points and the preset return points, the automatic driving shooting of the unmanned aerial vehicle can be realized, the dependence on the flying hands is reduced, and the accuracy of the shooting process is improved.
The utility model provides a transmission tower infrared shooting route generation method, confirm the central point that needs to shoot through the shaft tower three-dimensional model that founds, it can ensure that the target on the shaft tower is shot spare part and all is shot to use the center to be shot the point as the benchmark, several peripheral shooting points that can detect spare part comprehensively are set up again according to the center by shooting point, then only shoot at the shooting point that sets up, the redundancy of shooting has been reduced, and the shooting route that generates according to peripheral shooting point and preset return voyage point can provide perfect flight shooting plan for unmanned aerial vehicle's shooting, realize that the autopilot is patrolled and examined. Consequently, this application has solved the redundancy of current transmission tower's unmanned aerial vehicle infrared shooting technique and has shot the number of times more, and great to the flight hand dependence, leads to actually shooting the lower technical problem of efficiency.
As a further improvement, the height of the central shot point is determined in the preset tower three-dimensional model, and the method also comprises the following steps: and acquiring point cloud data of the tower, and constructing a preset tower three-dimensional model according to the point cloud data.
It should be noted that the point cloud data includes three-dimensional coordinates, some of the point cloud data may include color information (RGB) or reflection Intensity information (Intensity), the point cloud data in this embodiment mainly includes three-dimensional coordinate information of a tower, and coordinate information of each point position included in a preset tower three-dimensional model that is constructed may be used in different analysis and calculation processes.
As a further improvement, the method for determining the height of the central shot point in the preset tower three-dimensional model comprises the following steps: calculating the height of a central shot point according to the height of a ground wire and the height of a lower wire in a preset tower three-dimensional model by using a preset central formula, wherein the preset central formula is as follows:
wherein h isCenter shot pointHeight of the center photographed point, hGround wireIs the height of the ground line, hLower conducting wireIs the lower wire height.
Please refer to fig. 4, the height of the ground wire and the height of the lower conductor can be determined by the tower three-dimensional model, and the height h of the center photographed point can be calculated according to the above formula according to the known height informationCenter shot pointThe height of the central photographed point generally refers to the position between the ground line and the lower lead from the central point; suppose hGround wire＝a，hLower conducting wireB, then the following formula is obtained:
for a specific example, referring to fig. 3, it is assumed that the distance between the shooting point and the shooting path of the unmanned aerial vehicle is c, the distance between the shooting point and the tower is d, the distance from the tower top when the tower is wound is e, the heights of the 4 shooting points are kept horizontal with the center of the tower head of the tower, so that the shooting effect is best, and a (x) can be obtainedA,yA,zA)，B(xB,yB,zB)、C(xC,yC,zC)、D(xD,yD,zD) The height of the center photographed point is known, wherein zA＝hA，zB＝hB，zC＝hC，zD＝hD(ii) a And Y on the Y axis in FIG. 31And y2The distance from the point O is the distance between the shooting point and the tower, namely y1＝y2D; x on the X axis1And x2The distance to the point O is the distance between the shooting point and the unmanned aerial vehicle shooting path, namely x1＝x2C; since the heights of the 4 shooting points are kept horizontal to the center of the tower head by the shooting point, the following relationship can be obtained:
the coordinates of the shooting point a can be expressed as
Coordinates of shot point B are
Coordinates of the shooting point C are
Coordinates of the shot point D are
At the moment, the two preset back-navigation points are positioned on the large-size side of the tower, and if the back-navigation points set the distanceThe vertical distance of the tower top is 10 meters, and the height h is knownGround wireWhen a, the return point height can be determined:
hreturn point A＝hPoint of return B＝hDistance between ground wire and tower top＝a+e；
The preset fly-back point a has coordinates (-c, d, (a + e)) and the preset fly-back point B has coordinates (c, d, (a + e)).
As a further improvement, an infrared shooting route is generated according to preset peripheral shooting points and preset return points, and then the method further comprises the following steps: and adjusting the direction of the machine head and the angle of the holder at different peripheral shooting points according to the infrared shooting route to carry out infrared shooting.
It should be noted that, according to the above description, 1 central photographed point, 4 photographed points, and 2 preset return points are set in this embodiment, a planned infrared photographing route can be obtained according to these points, a specified photographing point is already on the route corresponding to each tower, after the unmanned aerial vehicle reaches the photographing point, the head orientation and the cradle head angle are adjusted to scan all the photographed targets, the head orientation is adjusted at the photographing point to adjust the imaging point cloud left and right, and the cradle head angle is adjusted to adjust the imaging point cloud up and down, so as to present the whole tower head in the point cloud data, thereby achieving full coverage photographing. According to the air route in the embodiment, the unmanned aerial vehicle starts to take off from the right phase of the large-size side of the tower in the flight sequence, and stops from the shooting point D to shoot according to the adjusted angle; then, the aircraft nose flies towards a shooting point C, and shooting is carried out according to the adjusted angle when the aircraft nose stops at the shooting point C; the unmanned aerial vehicle translates upwards to reach a preset back-navigation point B; the aircraft nose flies towards the preset back-navigation point A and reaches the back-navigation point A; the unmanned aerial vehicle translates downwards to reach a shooting point B, and the shooting point B stops shooting according to the adjusted angle; the machine head flies towards the shooting point A; therefore, the shooting task of the tower can be completed according to the route. The infrared shooting is carried out to obtain a heat distribution image, namely a heat map of heating parts on a tower, and corresponding measures can be taken for the parts with higher temperature so as to avoid or eliminate the faults of the parts.
For convenience of understanding, please refer to fig. 2, the present application further provides an embodiment of an infrared shooting route generating device for a transmission tower, including:
the center determining module 201 is configured to determine the height of a center photographed point in a preset tower three-dimensional model;
the setting module 202 is used for setting a preset symmetrical peripheral shooting point on a horizontal plane where the central shot point is located and acquiring a three-dimensional coordinate of the peripheral shooting point;
and the route generation module 203 is used for generating an infrared shooting route according to the preset peripheral shooting points and the preset return points.
Further, still include:
the building module 204 is configured to obtain point cloud data of a tower, and build a preset tower three-dimensional model according to the point cloud data.
Further, the center determination module is specifically configured to:
calculating the height of a central shot point according to the height of a ground wire and the height of a lower wire in a preset tower three-dimensional model by using a preset central formula, wherein the preset central formula is as follows:
wherein h isCenter shot pointHeight of the center photographed point, hGround wireIs the height of the ground line, hLower conducting wireIs the lower wire height.
Further, still include:
and the shooting module 205 is used for adjusting the head orientation and the holder angle at different peripheral shooting points according to the infrared shooting route to perform infrared shooting.
The application also provides transmission tower infrared shooting route generation equipment, which is characterized by comprising a processor and a memory:
the memory is used for storing the program codes and transmitting the program codes to the processor;
the processor is used for executing the transmission tower infrared shooting route generation method in any one of the first aspect according to instructions in the program codes.
The application also provides a computer-readable storage medium, which is characterized in that the computer-readable storage medium is used for storing program codes, and the program codes are used for executing the transmission tower infrared shooting route generation method of any one of the first aspect.
In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be substantially implemented or contributed to by the prior art, or all or part of the technical solution may be embodied in a software product, which is stored in a storage medium and includes instructions for executing all or part of the steps of the method described in the embodiments of the present application through a computer device (which may be a personal computer, a server, or a network device). And the aforementioned storage medium includes: a U disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The above embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions in the embodiments of the present application.
Claims (10)
1. A method for generating an infrared shooting route of a transmission tower is characterized by comprising the following steps:
determining the height of a central shot point in a preset tower three-dimensional model;
presetting a plurality of symmetrical peripheral shooting points on a horizontal plane where the central shot point is located, and acquiring three-dimensional coordinates of the peripheral shooting points;
and generating an infrared shooting route according to the preset peripheral shooting points and the preset return points.
2. The method for generating the infrared shooting route of the transmission tower as claimed in claim 1, wherein the step of determining the height of the central shot point in the three-dimensional model of the preset tower further comprises the following steps:
and acquiring point cloud data of the tower, and constructing the preset tower three-dimensional model according to the point cloud data.
3. The method for generating the infrared shooting route of the transmission tower as claimed in claim 1, wherein the step of determining the height of the central shot point in the preset tower three-dimensional model comprises the following steps:
calculating the height of the central shot point according to the height of the ground wire and the height of the lower wire in the preset tower three-dimensional model by using a preset central formula, wherein the preset central formula is as follows:
wherein h isCenter shot pointHeight of the center photographed point, hGround wireIs the ground line height, hLower conducting wireIs the lower wire height.
4. The method for generating the infrared shooting route of the transmission tower according to claim 1, wherein the method for generating the infrared shooting route according to the preset number of the peripheral shooting points and the preset return points further comprises:
and adjusting the head orientation and the holder angle at different peripheral shooting points according to the infrared shooting route to carry out infrared shooting.
5. A transmission tower infrared shooting route generation device is characterized by comprising:
the center determining module is used for determining the height of a center shot point in a preset tower three-dimensional model;
the setting module is used for setting a preset symmetrical peripheral shooting point on a horizontal plane where the central shot point is located and acquiring the three-dimensional coordinates of the peripheral shooting point;
and the route generation module is used for generating the infrared shooting route according to the preset peripheral shooting points and the preset return points.
6. The transmission tower infrared shooting route generation device according to claim 5, further comprising:
and the construction module is used for acquiring point cloud data of the tower and constructing the preset tower three-dimensional model according to the point cloud data.
7. The transmission tower infrared shooting route generation device according to claim 5, wherein the center determination module is specifically configured to:
calculating the height of the central shot point according to the height of the ground wire and the height of the lower wire in the preset tower three-dimensional model by using a preset central formula, wherein the preset central formula is as follows:
wherein h isCenter shot pointHeight of the center photographed point, hGround wireIs the ground line height, hLower conducting wireIs the lower wire height.
8. The transmission tower infrared shooting route generation device according to claim 5, further comprising:
and the shooting module is used for adjusting the head orientation and the holder angle on different peripheral shooting points according to the infrared shooting route to carry out infrared shooting.
9. The device for generating the infrared shooting route of the transmission tower is characterized by comprising a processor and a memory:
the memory is used for storing program codes and transmitting the program codes to the processor;
the processor is used for executing the transmission tower infrared shooting route generation method according to any one of claims 1 to 4 according to instructions in the program code.
10. A computer-readable storage medium for storing program code for executing the method for generating an infrared shooting route of a power transmission tower according to any one of claims 1 to 4.
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| CN112362068A (en) * | 2020-12-04 | 2021-02-12 | 浙江煤炭测绘院有限公司 | Unmanned aerial vehicle surveying and mapping method, device and system |
| CN113419559A (en) * | 2021-07-08 | 2021-09-21 | 国网江西省电力有限公司电力科学研究院 | Three-dimensional route planning and patrolling system and method based on transmission line GIM model |
| CN113485424A (en) * | 2021-07-19 | 2021-10-08 | 武汉中测晟图遥感技术有限公司 | Design method of pole tower inspection route |
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