CN111982123A - Unmanned aerial vehicle inspection route planning method and device - Google Patents
Unmanned aerial vehicle inspection route planning method and device Download PDFInfo
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Abstract
The application provides a method and a device for planning an inspection route of an unmanned aerial vehicle, wherein the method comprises the following steps: acquiring laser point cloud of a power transmission line, and loading the laser point cloud to a three-dimensional Cartesian coordinate system; in a three-dimensional Cartesian coordinate system, a single tower is used as a basic unit, and a tower pole section reference system of a tower pole transverse section and a tower pole longitudinal section is constructed; establishing a spherical mobile reference system based on the tower pole tangent plane reference system; acquiring an unmanned aerial vehicle inspection route according to the spherical mobile reference system and the target position; and the target position is a position on the tower pole, which needs to be shot. By adopting the scheme, the problem that the unmanned aerial vehicle cannot conveniently move around the photographing position (namely the target position) when the unmanned aerial vehicle patrols the inspection position is solved, and the problem that the air route is repeatedly adjusted according to the photographing effect on site is solved; simultaneously very big improvement planning efficiency, and then improved unmanned aerial vehicle and patrolled and examined efficiency, realized patrolling and examining more meticulously.
Description
Technical Field
The application relates to the technical field of power inspection, in particular to a method and a device for planning an inspection route of an unmanned aerial vehicle.
Background
In order to ensure the safe operation of the transmission line, electric power personnel need to regularly patrol and maintain the transmission line. Traditional electric power patrols and examines the mode and patrols and examines for the manual work usually, but the manual work is patrolled and examined not only wastes time and energy, and is low in efficiency, and still has various potential safety hazards at the in-process of patrolling and examining, consequently, along with the rapid development of unmanned aerial vehicle technique, electric power patrols and examines work and is replaced by unmanned aerial vehicle gradually. Use unmanned aerial vehicle to the aspect of electric power patrol and examine, improved electric power patrol and examine efficiency greatly, reduced intensity of labour simultaneously, further, discovery defect that unmanned aerial vehicle can be timely is handled in time, avoids bringing the loss because of having a power failure.
When the unmanned aerial vehicle is used for power inspection, an inspection route is usually planned in advance, the unmanned aerial vehicle automatically flies according to the planned inspection route, executes related actions (such as photographing, video recording and the like) near key parts such as a tower and the like, and transmits the actions to a control center to finish automatic inspection. In the process, an important link is planning of the routing inspection route, the planning of the conventional routing inspection route is that a coordinate system of the power transmission line is obtained firstly, and a linear routing inspection route is planned at a certain distance from a coordinate point according to the coordinate system.
Disclosure of Invention
The application provides a method and a device for planning an inspection route of an unmanned aerial vehicle, which aim to solve the problem of low inspection efficiency when the unmanned aerial vehicle inspects according to the route during planning of the existing route.
In a first aspect, an embodiment of the present application provides an unmanned aerial vehicle inspection route planning method, including:
acquiring laser point cloud of a power transmission line, and loading the laser point cloud to a three-dimensional Cartesian coordinate system;
in a three-dimensional Cartesian coordinate system, a single tower is used as a basic unit, and a tower pole section reference system of a tower pole transverse section and a tower pole longitudinal section is constructed;
establishing a spherical mobile reference system based on the tower pole tangent plane reference system;
acquiring an unmanned aerial vehicle inspection route according to the spherical mobile reference system and the target position; and the target position is a position on the tower pole, which needs to be shot.
With reference to the first aspect, in one implementation, constructing a tower rail cross-section and longitudinal-section tower rail reference frame includes:
dividing a tower into a lower part, a middle part and an upper part of laser point clouds according to the height;
respectively calculating the lowest packet enclosure frame and the upper lowest packet enclosure frame, connecting the midpoint opposite sides of the four sides of the two lowest packet enclosure frames on the upper part and the lower part to generate two tangent lines respectively, and respectively calculating a vector included angle by using the longer tangent line of the lowest packet enclosure frame on the upper part and the two tangent lines of the lowest packet enclosure frame on the bottom;
and (3) taking the bottom tangent with a smaller vector included angle as a transverse tangent of the tower, taking the other bottom tangent as a longitudinal tangent, and respectively expanding the transverse tangent and the longitudinal tangent at equal intervals to form tangent planes, thereby constructing a tower pole tangent plane reference system of the tower pole transverse tangent plane and the tower pole longitudinal tangent plane.
With reference to the first aspect, in one implementation manner, the calculating minimum bounding boxes of the lower part and the upper part respectively includes:
and (3) trisecting the tower, respectively performing relative XOY plane projection on the upper and lower laser point clouds, respectively calculating point set convex hulls of n points in the plane, and then calculating the minimum external rectangle of the convex hulls to obtain the minimum enclosure frame.
With reference to the first aspect, in one implementation manner, establishing a spherical mobile reference system includes:
leading out a rotating shaft to the outside of the tower along the parallel direction of a transverse plane of the tower in a tower-tower coordinate system, wherein the rotating shaft is a vector with a fixed radius, and the radius of the rotating shaft is determined by a target position;
rotating up, down, left and right by taking the vector as a reference, and forming a spherical moving reference system by the track at the tail end of the rotating shaft; wherein, the patrol inspection position of the unmanned aerial vehicle in the spherical mobile reference system is determined by the target position and the shooting angle.
With reference to the first aspect, in an implementation manner, the unmanned aerial vehicle patrols and examines the power transmission line according to the spherical mobile reference system, and the method further includes:
simulating the visual field of the unmanned aerial vehicle in the spherical mobile reference system in the direction that the lens faces the target position in real time;
acquiring the distance between the inspection position of the unmanned aerial vehicle in the spherical mobile reference system and a tower pole;
judging whether the distance is within a preset safety distance or not;
if not, the spherical mobile reference system is reestablished.
In a second aspect, the embodiment of the present application provides an unmanned aerial vehicle patrols and examines airline planning device partly, includes:
the acquisition module is used for acquiring laser point clouds of the power transmission line and loading the laser point clouds to a three-dimensional Cartesian coordinate system;
the tower pole section reference system construction module is used for constructing a tower pole section reference system of a tower pole transverse section and a tower pole longitudinal section by taking a single tower pole as a basic unit in a three-dimensional Cartesian coordinate system;
the spherical mobile reference system establishing module is used for establishing a spherical mobile reference system based on the tower pole tangent plane reference system and the target position;
the inspection route acquisition module is used for acquiring an inspection route of the unmanned aerial vehicle according to the spherical mobile reference system and the target position; and the target position is a position on the tower pole, which needs to be shot.
With reference to the second aspect, in one implementation, the tower pole tangent plane reference frame construction module includes:
the dividing unit is used for dividing the tower into a lower part, a middle part and an upper part of laser point clouds according to the height;
a calculation unit for calculating minimum bounding boxes of the lower part and the upper part, respectively;
the tangent generating unit is used for connecting the middle points of the four edges of the upper minimum enclosing frame and the lower minimum enclosing frame to opposite sides to generate two tangents respectively, and the vector included angle is obtained by the longer tangent of the upper minimum enclosing frame and the two tangents of the bottom minimum enclosing frame respectively;
and the tangent plane generating unit is used for taking the bottom tangent line with a smaller vector included angle as a transverse tangent line of the tower, taking the other bottom tangent line as a longitudinal tangent line, and expanding the transverse tangent line and the longitudinal tangent line at equal intervals to form tangent planes which are constructed into tower pole tangent plane reference systems of the transverse tangent plane and the longitudinal tangent plane of the tower pole.
With reference to the second aspect, in an implementation manner, the computing unit specifically executes the following steps:
and (3) trisecting the tower, respectively performing relative XOY plane projection on the upper and lower laser point clouds, respectively calculating point set convex hulls of n points in the plane, and then calculating the minimum external rectangle of the convex hulls to obtain the minimum enclosure frame.
With reference to the second aspect, in one implementation manner, the spherical mobile reference establishment module includes:
the system comprises a rotating shaft acquisition unit, a positioning unit and a positioning unit, wherein the rotating shaft acquisition unit is used for leading out a rotating shaft to the outside of a tower along the direction parallel to the transverse plane of the tower in a tower-tower coordinate system, the rotating shaft is a vector with a fixed radius, and the radius of the rotating shaft is determined by a target position;
a spherical movement reference system generation unit for rotating up, down, left and right with the vector as a reference, and forming a spherical movement reference system by the track at the tail end of the rotating shaft; wherein, the patrol inspection position of the unmanned aerial vehicle in the spherical mobile reference system is determined by the target position and the shooting angle.
With reference to the second aspect, in one implementation manner, the apparatus further includes: the judging module is used for judging whether the distance between the inspection position of the unmanned aerial vehicle in the spherical mobile reference system and the tower pole is within a preset safety distance; the judging module comprises:
the simulation unit is used for simulating the visual field of the unmanned aerial vehicle in the spherical mobile reference system in the direction of the lens facing the target position in real time;
the distance acquisition unit is used for acquiring the distance between the inspection position of the unmanned aerial vehicle in the spherical mobile reference system and the tower pole;
the judging unit is used for judging whether the distance is within a preset safety distance;
and the circulating unit is used for reestablishing the spherical mobile reference system when the distance is not within the preset safe distance.
The application provides a method and a device for planning an inspection route of an unmanned aerial vehicle, wherein the method comprises the following steps: acquiring laser point cloud of a power transmission line, and loading the laser point cloud to a three-dimensional Cartesian coordinate system; in a three-dimensional Cartesian coordinate system, a single tower is used as a basic unit, and a tower pole section reference system of a tower pole transverse section and a tower pole longitudinal section is constructed; establishing a spherical mobile reference system based on the tower pole tangent plane reference system; acquiring an unmanned aerial vehicle inspection route according to the spherical mobile reference system and the target position; and the target position is a position on the tower pole, which needs to be shot.
By adopting the scheme, the problem that the unmanned aerial vehicle cannot conveniently move around the photographing position (namely the target position) when the unmanned aerial vehicle patrols the inspection position is solved, and the problem that the air route is repeatedly adjusted according to the photographing effect on site is solved; simultaneously very big improvement planning efficiency, and then improved unmanned aerial vehicle and patrolled and examined efficiency, realized patrolling and examining more meticulously.
Drawings
In order to more clearly explain the technical solution of the present application, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious to those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic flow chart of a man-machine inspection route planning method according to an embodiment of the present disclosure;
FIG. 2 is a schematic view of a tower minimum enclosure frame according to an embodiment of the present application;
fig. 3 is a schematic view of tangent division of a tower according to an embodiment of the present application;
FIG. 4 is a schematic illustration of a tower profile reference frame in one embodiment of the present application;
FIG. 5 is a schematic diagram illustrating the generation of a tower-ball-type mobile reference system according to an embodiment of the present application;
fig. 6 is a schematic structural diagram of a man-machine inspection route planning device according to an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be described clearly and completely 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.
The application provides a method and a device for planning an inspection route of an unmanned aerial vehicle, which aim to solve the problem of low inspection efficiency when the unmanned aerial vehicle inspects according to the route during planning of the existing route.
Referring to fig. 1, an embodiment of the present application provides a method for planning an unmanned aerial vehicle inspection route, where the method includes:
and S11, acquiring laser point cloud of the power transmission line, and loading the laser point cloud to a three-dimensional Cartesian coordinate system.
The method comprises the steps of firstly obtaining all laser point clouds of a transmission line channel, wherein the route planning needs to consider the surrounding environment of a tower.
And S12, constructing a tower pole section reference system of the transverse section and the longitudinal section of the tower pole by taking the single tower pole as a basic unit in a three-dimensional Cartesian coordinate system.
Alternatively, constructing the tower beam profile reference frame for the transverse and longitudinal sections of the tower beam may comprise the steps of:
dividing the tower into a lower part, a middle part and an upper part according to the height.
Respectively calculating minimum bounding boxes of the lower part and the upper part; as shown in fig. 2, fig. 2 shows the top of the tower, the middle of the tower (i.e., the main portion of the tower), and the minimum bounding box at the bottom of the tower.
The minimum bounding box is calculated by trisecting the tower, respectively projecting the upper and lower laser point clouds on a relative XOY plane, respectively calculating the convex hulls (namely convex polygons) of point sets of n points in the plane, and then calculating the minimum circumscribed rectangle of the convex hulls to obtain the minimum bounding box.
Connecting the middle points of the four edges of the upper and lower two smallest bag enclosing frames to form two tangent lines, and respectively calculating the vector included angle by the longer tangent line of the upper smallest bag enclosing frame and the two tangent lines of the bottom smallest bag enclosing frame.
Taking the bottom tangent line with a smaller vector included angle as a transverse tangent line of the tower, and taking the other bottom tangent line as a longitudinal tangent line, wherein the included angle between a tangent line 1 and a long tangent line is 0 degree, and the included angle between a tangent line 2 and the long tangent line is 90 degrees as shown in figure 3; therefore, the tangent 1 is a transverse tangent and the tangent 2 is a longitudinal tangent.
Expanding the transverse tangent and the longitudinal tangent at equal intervals to form tangent planes, and constructing a tower pole tangent plane reference system of the transverse tangent plane and the longitudinal tangent plane of the tower pole; as shown in fig. 4, fig. 4 is a tower profile reference frame.
And S13, establishing a spherical mobile reference system based on the tower pole tangent plane reference system.
In this step, establishing a spherical mobile reference system based on the tower pole tangent plane reference system includes:
and leading out a rotating shaft which is a vector with a fixed radius to the outside of the tower along the parallel direction of the cross section of the tower in the tower-pole coordinate system, wherein the radius of the rotating shaft is determined by the target position. And the target position is a position on the tower pole, which needs to be shot.
Rotating up, down, left and right by taking the vector as a reference, and forming a spherical moving reference system by the track at the tail end of the rotating shaft; wherein, the patrol inspection position of the unmanned aerial vehicle in the spherical mobile reference system is determined by the target position and the shooting angle. As shown in fig. 5, R is a rotation axis, and defines: the reference vector is 0, negative angles (-1,., -90, etc.) are downward in sequence, positive angles (1,.., 90, etc.) are upward, similarly negative angles on the left and positive angles on the right; the radius is unchanged, and the position of the unmanned aerial vehicle in the coordinate system is calculated according to the angle.
The moving direction of the target position is fixed in four directions which are vertical or parallel to the cross section of the tower, and the target position is moved in the next two directions, so that the corresponding airplane position moves integrally when the target position is moved, and the photographing angle distance and the like are kept unchanged.
And S14, judging whether the distance between the inspection position of the unmanned aerial vehicle in the spherical mobile reference system and the tower pole is within a preset safety distance.
This step is unmanned aerial vehicle patrols and examines power transmission line according to ball-type removal reference system, specifically can include following step:
simulating the visual field of the unmanned aerial vehicle in the spherical mobile reference system in the direction that the lens faces the target position in real time; this step can be used as the basis for modifying the flight path.
And acquiring the distance between the inspection position of the unmanned aerial vehicle in the spherical mobile reference system and the tower pole.
And judging whether the distance is within a preset safety distance.
If not, the spherical mobile reference system is reestablished.
In the embodiment, safety inspection is carried out on the three-dimensional clearance distance from each line segment to the point cloud in the route, specifically, the safety distance needs to be preset, the general preset distance is 2/3 of the distance from the airplane to the point to be photographed on the tower during normal photographing, whether a position which is not met with the preset value from the point cloud exists in the route track is detected, if the position is not met, the route needs to be re-planned, namely, the spherical mobile reference system is circularly re-established, then the safety distance is re-judged, the route can be manually adjusted (or by using an automatic algorithm corresponding to the reference system), and the unmanned aerial vehicle safety inspection route meeting the requirements is planned.
S15, acquiring an unmanned aerial vehicle inspection route according to the spherical mobile reference system and the target position; and the target position is a position on the tower pole, which needs to be shot.
According to the spherical mobile reference system and the target position, the unmanned aerial vehicle inspection route is obtained.
The unmanned aerial vehicle is controlled by the control center or the control end to patrol the power transmission line according to the patrol position in the spherical mobile reference system, the patrol route can be sent to the unmanned aerial vehicle, and the unmanned aerial vehicle patrols the power transmission line according to the patrol position in the spherical mobile reference system.
The application provides an unmanned aerial vehicle inspection route planning method, which comprises the following steps: acquiring laser point cloud of a power transmission line, and loading the laser point cloud to a three-dimensional Cartesian coordinate system; in a three-dimensional Cartesian coordinate system, a single tower is used as a basic unit, and a tower pole section reference system of a tower pole transverse section and a tower pole longitudinal section is constructed; establishing a spherical mobile reference system based on the tower pole tangent plane reference system; judging whether the distance between the inspection position of the unmanned aerial vehicle in the spherical mobile reference system and the tower pole is within a preset safety distance, if so, acquiring an inspection route of the unmanned aerial vehicle according to the spherical mobile reference system and the target position; and the target position is a position on the tower pole, which needs to be shot.
By adopting the scheme, the problem that the unmanned aerial vehicle cannot conveniently move around a shooting position (namely a target position) when the unmanned aerial vehicle patrols the inspection position is solved, and the problem that a flight line is repeatedly adjusted on site according to the shooting effect is solved; simultaneously very big improvement planning efficiency, and then improved unmanned aerial vehicle and patrolled and examined efficiency, realized patrolling and examining more meticulously.
The following are embodiments of the apparatus of the present invention that may be used to perform embodiments of the method of the present invention. For details which are not disclosed in the embodiments of the apparatus of the present invention, reference is made to the embodiments of the method of the present invention.
Referring to fig. 6, the embodiment of the present application provides an unmanned aerial vehicle patrols and examines airline planning device partly, the device includes:
the acquisition module 10 is used for acquiring laser point clouds of the power transmission line and loading the laser point clouds to a three-dimensional Cartesian coordinate system;
a tower pole section reference system construction module 20, configured to construct a tower pole section reference system of a tower pole cross section and a tower pole longitudinal section by using a single tower pole as a basic unit in a three-dimensional cartesian coordinate system;
a spherical mobile reference system establishing module 30, configured to establish a spherical mobile reference system based on the tower pole tangent plane reference system and the target position; the target position is a position needing to be shot on the tower pole;
and the judging module 40 is used for judging whether the distance between the inspection position of the unmanned aerial vehicle in the spherical mobile reference system and the tower pole is within a preset safety distance.
The inspection route acquisition module 50 is used for acquiring an inspection route of the unmanned aerial vehicle according to the spherical mobile reference system and the target position; and the target position is a position on the tower pole, which needs to be shot.
With reference to the second aspect, in one implementation, the tower pole tangent plane reference frame construction module includes:
the dividing unit is used for dividing the tower into a lower part, a middle part and an upper part of laser point clouds according to the height;
a calculation unit for calculating minimum bounding boxes of the lower part and the upper part, respectively;
the tangent generating unit is used for connecting the middle points of the four edges of the upper minimum enclosing frame and the lower minimum enclosing frame to opposite sides to generate two tangents respectively, and the vector included angle is obtained by the longer tangent of the upper minimum enclosing frame and the two tangents of the bottom minimum enclosing frame respectively;
and the tangent plane generating unit is used for taking the bottom tangent line with the smaller vector included angle as a transverse tangent line of the tower, taking the other bottom tangent line as a longitudinal tangent line, and respectively expanding the transverse tangent line and the longitudinal tangent line at equal intervals to form a tangent plane.
With reference to the second aspect, in an implementation manner, the computing unit specifically executes the following steps:
and (3) trisecting the tower, respectively performing relative XOY plane projection on the upper and lower laser point clouds, respectively calculating point set convex hulls of n points in the plane, and then calculating the minimum external rectangle of the convex hulls to obtain the minimum enclosure frame.
With reference to the second aspect, in one implementation manner, the spherical mobile reference establishment module includes:
the system comprises a rotating shaft acquisition unit, a positioning unit and a positioning unit, wherein the rotating shaft acquisition unit is used for leading out a rotating shaft to the outside of a tower along the direction parallel to the transverse plane of the tower in a tower-tower coordinate system, the rotating shaft is a vector with a fixed radius, and the radius of the rotating shaft is determined by a target position;
a spherical movement reference system generation unit for rotating up, down, left and right with the vector as a reference, and forming a spherical movement reference system by the track at the tail end of the rotating shaft; wherein, the patrol inspection position of the unmanned aerial vehicle in the spherical mobile reference system is determined by the target position and the shooting angle.
With reference to the second aspect, in one implementation manner, the apparatus further includes: the judging module is used for judging whether the distance between the inspection position of the unmanned aerial vehicle in the spherical mobile reference system and the tower pole is within a preset safety distance; the judging module comprises:
the simulation unit is used for simulating the visual field of the unmanned aerial vehicle in the spherical mobile reference system in the direction of the lens facing the target position in real time;
the distance acquisition unit is used for acquiring the distance between the inspection position of the unmanned aerial vehicle in the spherical mobile reference system and the tower pole;
the judging unit is used for judging whether the distance is within a preset safety distance;
and the circulating unit is used for reestablishing the spherical mobile reference system when the distance is not within the preset safe distance.
In a specific implementation, the present application further provides a computer storage medium, where the computer storage medium may store a program, and the program may include the unmanned aerial vehicle inspection route planning method or apparatus provided by the present application when executed. The storage medium may be a magnetic disk, an optical disk, a read-only memory (ROM) or a Random Access Memory (RAM).
Those skilled in the art will clearly understand that the techniques in the embodiments of the present application may be implemented by way of software plus a required general hardware platform. Based on such understanding, the technical solutions in the embodiments of the present application may be essentially implemented or a part contributing to the prior art may be embodied in the form of a software product, which may be stored in a storage medium, such as a ROM/RAM, a magnetic disk, an optical disk, etc., and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method described in the embodiments or some parts of the embodiments of the present application.
The same and similar parts in the various embodiments in this specification may be referred to each other. In particular, as for the apparatus embodiment, since it is substantially similar to the method embodiment, the description is simple, and the relevant points can be referred to the description in the method embodiment.
The present application has been described in detail with reference to specific embodiments and illustrative examples, but the description is not intended to limit the application. Those skilled in the art will appreciate that various equivalent substitutions, modifications or improvements may be made to the presently disclosed embodiments and implementations thereof without departing from the spirit and scope of the present disclosure, and these fall within the scope of the present disclosure. The protection scope of this application is subject to the appended claims.
Claims (10)
1. The utility model provides an unmanned aerial vehicle patrols and examines airline planning method which characterized in that includes:
acquiring laser point cloud of a power transmission line, and loading the laser point cloud to a three-dimensional Cartesian coordinate system;
in a three-dimensional Cartesian coordinate system, a single tower is used as a basic unit, and a tower pole section reference system of a tower pole transverse section and a tower pole longitudinal section is constructed;
establishing a spherical mobile reference system based on the tower pole tangent plane reference system;
acquiring an unmanned aerial vehicle inspection route according to the spherical mobile reference system and the target position; and the target position is a position on the tower pole, which needs to be shot.
2. The method of claim 1, wherein constructing a tower beam cross-section and longitudinal-section tower beam cross-section reference frame comprises:
dividing a tower into a lower part, a middle part and an upper part of laser point clouds according to the height;
respectively calculating the lowest packet enclosure frame and the upper lowest packet enclosure frame, connecting the midpoint opposite sides of the four sides of the two lowest packet enclosure frames on the upper part and the lower part to generate two tangent lines respectively, and respectively calculating a vector included angle by using the longer tangent line of the lowest packet enclosure frame on the upper part and the two tangent lines of the lowest packet enclosure frame on the bottom;
and (3) taking the bottom tangent with a smaller vector included angle as a transverse tangent of the tower, taking the other bottom tangent as a longitudinal tangent, and respectively expanding the transverse tangent and the longitudinal tangent at equal intervals to form tangent planes, thereby constructing a tower pole tangent plane reference system of the tower pole transverse tangent plane and the tower pole longitudinal tangent plane.
3. The method of claim 2, wherein the calculating the minimum bounding box for the lower portion and the upper portion, respectively, comprises:
and (3) trisecting the tower, respectively performing relative XOY plane projection on the upper and lower laser point clouds, respectively calculating point set convex hulls of n points in the plane, and then calculating the minimum external rectangle of the convex hulls to obtain the minimum enclosure frame.
4. The method according to claim 1 or 2, wherein establishing the spherical mobile reference system comprises:
leading out a rotating shaft to the outside of the tower along the parallel direction of a transverse plane of the tower in a tower-tower coordinate system, wherein the rotating shaft is a vector with a fixed radius, and the radius of the rotating shaft is determined by a target position;
rotating up, down, left and right by taking the vector as a reference, and forming a spherical moving reference system by the track at the tail end of the rotating shaft; wherein, the patrol inspection position of the unmanned aerial vehicle in the spherical mobile reference system is determined by the target position and the shooting angle.
5. The method according to claim 1, wherein the obtaining of the unmanned aerial vehicle patrol route according to the spherical mobile reference system and the target position further comprises:
simulating the visual field of the unmanned aerial vehicle in the spherical mobile reference system in the direction that the lens faces the target position in real time;
acquiring the distance between the inspection position of the unmanned aerial vehicle in the spherical mobile reference system and a tower pole;
judging whether the distance is within a preset safety distance or not;
if not, the spherical mobile reference system is reestablished.
6. The utility model provides an unmanned aerial vehicle patrols and examines airline planning device which characterized in that includes:
the acquisition module is used for acquiring laser point clouds of the power transmission line and loading the laser point clouds to a three-dimensional Cartesian coordinate system;
the tower pole section reference system construction module is used for constructing a tower pole section reference system of a tower pole transverse section and a tower pole longitudinal section by taking a single tower pole as a basic unit in a three-dimensional Cartesian coordinate system;
the spherical mobile reference system establishing module is used for establishing a spherical mobile reference system based on the tower pole tangent plane reference system;
the inspection route acquisition module is used for acquiring an inspection route of the unmanned aerial vehicle according to the spherical mobile reference system and the target position; and the target position is a position on the tower pole, which needs to be shot.
7. The apparatus of claim 6, wherein the tower tangent plane reference frame construction module comprises:
the dividing unit is used for dividing the tower into a lower part, a middle part and an upper part of laser point clouds according to the height;
a calculation unit for calculating minimum bounding boxes of the lower part and the upper part, respectively;
the tangent generating unit is used for connecting the middle points of the four edges of the upper minimum enclosing frame and the lower minimum enclosing frame to opposite sides to generate two tangents respectively, and the vector included angle is obtained by the longer tangent of the upper minimum enclosing frame and the two tangents of the bottom minimum enclosing frame respectively;
and the tangent plane generating unit is used for taking the bottom tangent line with a smaller vector included angle as a transverse tangent line of the tower, taking the other bottom tangent line as a longitudinal tangent line, and expanding the transverse tangent line and the longitudinal tangent line at equal intervals to form tangent planes which are constructed into tower pole tangent plane reference systems of the transverse tangent plane and the longitudinal tangent plane of the tower pole.
8. The apparatus according to claim 7, wherein the computing unit performs the following steps:
and (3) trisecting the tower, respectively performing relative XOY plane projection on the upper and lower laser point clouds, respectively calculating point set convex hulls of n points in the plane, and then calculating the minimum external rectangle of the convex hulls to obtain the minimum enclosure frame.
9. The apparatus according to claim 6 or 7, wherein the ball-type moving reference system establishing module comprises:
the system comprises a rotating shaft acquisition unit, a positioning unit and a positioning unit, wherein the rotating shaft acquisition unit is used for leading out a rotating shaft to the outside of a tower along the direction parallel to the transverse plane of the tower in a tower-tower coordinate system, the rotating shaft is a vector with a fixed radius, and the radius of the rotating shaft is determined by a target position;
a spherical movement reference system generation unit for rotating up, down, left and right with the vector as a reference, and forming a spherical movement reference system by the track at the tail end of the rotating shaft; wherein, the patrol inspection position of the unmanned aerial vehicle in the spherical mobile reference system is determined by the target position and the shooting angle.
10. The apparatus of claim 6, further comprising: the judging module is used for judging whether the distance between the inspection position of the unmanned aerial vehicle in the spherical mobile reference system and the tower pole is within a preset safety distance; the judging module comprises:
the simulation unit is used for simulating the visual field of the unmanned aerial vehicle in the spherical mobile reference system in the direction of the lens facing the target position in real time;
the distance acquisition unit is used for acquiring the distance between the inspection position of the unmanned aerial vehicle in the spherical mobile reference system and the tower pole;
the judging unit is used for judging whether the distance is within a preset safety distance;
and the circulating unit is used for reestablishing the spherical mobile reference system when the distance is not within the preset safe distance.
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