CN111982123B - Unmanned aerial vehicle routing planning method and device - Google Patents
Unmanned aerial vehicle routing planning method and device Download PDFInfo
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- G—PHYSICS
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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Abstract
The application provides a method and a device for planning an unmanned aerial vehicle routing inspection route, wherein the method comprises the following steps: acquiring a laser point cloud of a power transmission line, and loading the laser point cloud into a three-dimensional Cartesian coordinate system; in a three-dimensional Cartesian coordinate system, constructing a tower pole tangent plane reference system of a tower pole transverse section and a tower pole longitudinal section by taking a single tower as a basic unit; establishing a spherical moving reference system based on the tower pole tangent plane reference system; acquiring an unmanned aerial vehicle routing inspection route according to the spherical moving reference system and the target position; the target position is a position on the tower pole, which needs to be photographed. By adopting the scheme, the problem that the unmanned aerial vehicle is inconvenient to move around a photographing position (namely a target position) when the unmanned aerial vehicle is patrolled and examined at the patrol position is solved, and the problem that the route is repeatedly adjusted on site according to the photographing effect is solved; meanwhile, the planning efficiency is greatly improved, the unmanned aerial vehicle inspection efficiency is further improved, and fine inspection is realized.
Description
Technical Field
The application relates to the technical field of electric power inspection, in particular to an unmanned aerial vehicle inspection route planning method and device.
Background
In order to ensure safe operation of the power transmission line, electric personnel need to periodically carry out inspection maintenance on the power transmission line. Traditional electric power inspection mode is manual inspection generally, but manual inspection is not only time consuming and labor consuming, and is efficient, and various potential safety hazards still exist in the inspection process, so that along with the rapid development of unmanned aerial vehicle technology, electric power inspection work is gradually replaced by unmanned aerial vehicles. The unmanned aerial vehicle is applied to the power inspection aspect, so that the power inspection efficiency is greatly improved, the labor intensity is reduced, further, the unmanned aerial vehicle can timely find defects and timely process the defects, and loss caused by power failure is avoided.
When the unmanned aerial vehicle is used for electric power inspection, an inspection route is usually required to be planned in advance, the unmanned aerial vehicle automatically flies according to the planned inspection route, and related actions (such as photographing, video recording and the like) are executed near key parts such as a pole tower and the like and transmitted to a control center to finish automatic inspection work. In the above process, the important link is the planning of the inspection route, the planning of the conventional route is that firstly, the coordinate system of the transmission line is obtained, and the linear route is planned at a certain distance from the coordinate point according to the coordinate system, however, when the unmanned aerial vehicle moves at the tower pole accessory, the photographing angle is considered, the photographing distance is considered, and the position is inconvenient to adjust according to the linear route, so that the inspection efficiency is reduced.
Disclosure of Invention
The application provides a routing planning method and device for unmanned aerial vehicles, which are used for solving the problem that the routing efficiency is low when unmanned aerial vehicles route-patrol according to the existing routing planning.
In a first aspect, an embodiment of the present application provides a method for planning an inspection route of an unmanned aerial vehicle, including:
acquiring a laser point cloud of a power transmission line, and loading the laser point cloud into a three-dimensional Cartesian coordinate system;
in a three-dimensional Cartesian coordinate system, constructing a tower pole tangent plane reference system of a tower pole transverse section and a tower pole longitudinal section by taking a single tower as a basic unit;
establishing a spherical moving reference system based on the tower pole tangent plane reference system;
acquiring an unmanned aerial vehicle routing inspection route according to the spherical moving reference system and the target position; the target position is a position on the tower pole, which needs to be photographed.
With reference to the first aspect, in one implementation, constructing a tower section reference frame for a tower section and a longitudinal section includes:
the pole tower is divided into a lower part, a middle part and an upper part according to the elevation;
calculating minimum bounding boxes of the lower part and the upper part respectively, connecting the midpoints of four sides of the upper part and the lower part of the minimum bounding boxes to each other, generating two tangent lines respectively, and calculating vector included angles respectively by a longer tangent line of the upper minimum bounding box and two tangent lines of the bottom minimum bounding box;
the bottom tangent line with smaller vector included angle is used as a transverse tangent line of the tower, the other tangent line is a longitudinal tangent line, and the transverse tangent line and the longitudinal tangent line are respectively expanded at equal intervals to form tangent planes, so that a tower pole tangent plane reference system of the tower pole transverse tangent plane and the longitudinal tangent plane is constructed.
With reference to the first aspect, in one implementation manner, the calculating the minimum bounding boxes of the lower portion and the upper portion respectively includes:
and after the tower is trisected, the upper and lower laser point clouds are respectively projected relative to an XOY plane, the point set convex hulls of n points in the plane are respectively calculated, and the minimum circumscribed rectangle of the convex hulls is obtained, so that the minimum bounding box is obtained.
With reference to the first aspect, in one implementation, establishing the spherical moving reference frame includes:
a rotating shaft is led out of the tower along the parallel direction of the transverse plane of the tower in the tower-pole coordinate system, and is a vector with a fixed radius, wherein the radius of the rotating shaft is determined by a target position;
rotating up and down and 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; the 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 one implementation manner, the unmanned aerial vehicle patrols and examines the power transmission line according to a spherical moving reference system, and before the unmanned aerial vehicle further includes:
simulating the visual field of the lens towards the direction of the target position in the spherical mobile reference system of the unmanned aerial vehicle in real time;
acquiring the distance between the inspection position of the unmanned aerial vehicle in the spherical mobile reference system and the tower pole;
judging whether the distance is within a preset safety distance or not;
if not, reestablishing the spherical moving reference system.
In a second aspect, an embodiment of the present application provides, in part, an unmanned aerial vehicle routing planning apparatus, including:
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 tangent plane reference system construction module is used for constructing a tower pole tangent plane reference system of a tower pole transverse section and a tower pole longitudinal section by taking a single tower as a basic unit in a three-dimensional Cartesian coordinate system;
the spherical moving reference system establishing module is used for establishing a spherical moving 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 unmanned aerial vehicle inspection route according to the spherical mobile reference system and the target position; the target position is a position on the tower pole, which needs to be photographed.
With reference to the second aspect, in one implementation manner, the tower section 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 according to the elevation;
a calculation unit for calculating minimum bounding boxes of the lower portion and the upper portion, respectively;
the tangent line generating unit is used for connecting the midpoints of the four sides of the upper minimum bounding box and the lower minimum bounding box to each other to generate two tangent lines, and vector included angles are respectively calculated by the longer tangent line of the upper minimum bounding box and the two tangent lines of the bottom minimum bounding box;
the tangent plane generating unit is used for taking the bottom tangent line with smaller vector included angle as the transverse tangent line of the tower, and the other tangent line is the longitudinal tangent line, and expanding the transverse tangent line and the longitudinal tangent line at equal intervals to form a tangent plane respectively, so as to construct a tower pole tangent plane reference system of the tower pole transverse tangent plane and the longitudinal tangent plane.
With reference to the second aspect, in one implementation manner, the computing unit specifically performs the following steps:
and after the tower is trisected, the upper and lower laser point clouds are respectively projected relative to an XOY plane, the point set convex hulls of n points in the plane are respectively calculated, and the minimum circumscribed rectangle of the convex hulls is obtained, so that the minimum bounding box is obtained.
With reference to the second aspect, in one implementation manner, the spherical moving reference frame establishment module includes:
a rotation axis acquisition unit, configured to draw a rotation axis out of a tower along a tower cross section parallel direction in a tower coordinate system, where the rotation axis is a vector with a fixed radius, and the radius of the rotation axis is determined by a target position;
the spherical moving reference system generating unit is used for rotating up and down and left and right by taking the vector as a reference, and the track at the tail end of the rotating shaft forms a spherical moving reference system; the 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 or not; the judging module comprises:
the simulation unit is used for simulating the visual field of the lens of the unmanned aerial vehicle in the spherical moving reference system towards the direction of 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 or not;
and the circulation unit is used for reestablishing the spherical moving reference system when the distance is not within the preset safety distance.
The application provides a method and a device for planning an unmanned aerial vehicle routing inspection route, wherein the method comprises the following steps: acquiring a laser point cloud of a power transmission line, and loading the laser point cloud into a three-dimensional Cartesian coordinate system; in a three-dimensional Cartesian coordinate system, constructing a tower pole tangent plane reference system of a tower pole transverse section and a tower pole longitudinal section by taking a single tower as a basic unit; establishing a spherical moving reference system based on the tower pole tangent plane reference system; acquiring an unmanned aerial vehicle routing inspection route according to the spherical moving reference system and the target position; the target position is a position on the tower pole, which needs to be photographed.
By adopting the scheme, the problem that the unmanned aerial vehicle is inconvenient to move around a photographing position (namely a target position) when the unmanned aerial vehicle is patrolled and examined at the patrol position is solved, and the problem that the route is repeatedly adjusted on site according to the photographing effect is solved; meanwhile, the planning efficiency is greatly improved, the unmanned aerial vehicle inspection efficiency is further improved, and fine inspection is realized.
Drawings
In order to more clearly illustrate the technical solution of the present application, the drawings that are needed in the embodiments will be briefly described below, and it will be obvious to those skilled in the art that other drawings can be obtained from these drawings without inventive effort.
FIG. 1 is a schematic flow chart of a man-machine inspection route planning method provided by an embodiment of the application;
FIG. 2 is a schematic illustration of a tower minimum bounding box in accordance with an embodiment of the present application;
FIG. 3 is a schematic view of a tangent division of a tower in accordance with one embodiment of the present application;
FIG. 4 is a schematic illustration of a tower section reference frame in accordance with one embodiment of the present application;
FIG. 5 is a schematic representation of the generation of a tower spherical mobile reference frame in one 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 following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
The application provides a routing planning method and device for unmanned aerial vehicles, which are used for solving the problem that the routing efficiency is low when unmanned aerial vehicles route-patrol according to the existing routing planning.
Referring to fig. 1, an embodiment of the present application provides a method for planning a routing inspection route of an unmanned aerial vehicle, where the method includes:
s11, acquiring laser point clouds of the power transmission line, and loading the laser point clouds to a three-dimensional Cartesian coordinate system.
The method comprises the steps of firstly acquiring all laser point clouds of a transmission line channel, wherein the surrounding environment of a finger tower is considered in route planning.
S12, constructing a tower pole tangential plane reference system of a tower pole cross section and a tower pole longitudinal section by taking a single tower as a basic unit in a three-dimensional Cartesian coordinate system.
Optionally, constructing a tower section reference frame for tower section and longitudinal section may comprise the steps of:
the pole tower is divided into a lower part, a middle part and an upper part according to the elevation.
Calculating the minimum bounding boxes of the lower part and the upper part respectively; as shown in fig. 2, the minimum bounding box of the tower top, the tower middle (i.e., the tower body portion), and the tower bottom is shown in fig. 2.
The method for calculating the minimum bounding box comprises the steps of performing trisection on a tower, respectively performing relative XOY plane projection on an upper part of laser point cloud and a lower part of laser point cloud, respectively calculating point set convex hulls (namely convex polygons) of n points in a plane, and then obtaining the minimum circumscribed rectangle of the convex hulls to obtain the minimum bounding box.
And connecting the midpoints of the four sides of the upper minimum bounding box and the lower minimum bounding box to each other to generate two tangent lines, and respectively calculating vector included angles by the longer tangent line of the upper minimum bounding box and the two tangent lines of the bottom minimum bounding box.
The bottom tangent line with smaller vector included angle is taken as a transverse tangent line of the tower, the other tangent line is a longitudinal tangent line, as shown in fig. 3, the included angle between the tangent line 1 and the long tangent line in the drawing is 0 degree, and the included angle between the tangent line 2 and the long tangent line is 90 degrees; thus, tangent 1 is a transverse tangent and tangent 2 is a longitudinal tangent.
Respectively expanding the transverse tangent line and the longitudinal tangent line at equal intervals to form tangent planes, and constructing a tower pole tangent plane reference system of the tower pole transverse tangent plane and the longitudinal tangent plane; as shown in fig. 4, fig. 4 is a tower section reference frame.
S13, based on the tower pole tangent plane reference system, establishing a spherical movable reference system.
In this step, based on the tower pole section reference system, establishing a spherical moving reference system includes:
and (3) leading out a rotating shaft which is a vector with a fixed radius 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. The target position is a position on the tower pole, which needs to be photographed.
Rotating up and down and 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; the 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 is defined by: the reference vector is 0, negative angles (-1,..fwdarw., -90, etc.) down, positive angles (1,..fwdarw., 90, etc.) up, and similarly negative angles on the left, positive angles on the right; and calculating the position of the unmanned aerial vehicle in a coordinate system according to the angle without changing the radius.
The moving direction of the target position is fixed to be perpendicular to or parallel to the cross section of the tower, and the moving direction of the target position is the vertical direction, and the corresponding airplane position moves integrally when the target position is moved, so that the photographing angle distance and the like are kept unchanged.
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.
The step is to carry out inspection on the power transmission line by the unmanned aerial vehicle according to a spherical mobile reference system, and the method specifically comprises the following steps of:
simulating the visual field of the lens towards the direction of the target position in the spherical mobile reference system of the unmanned aerial vehicle in real time; this step can be used as a basis for modifying the route.
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 or not.
If not, reestablishing the spherical moving reference system.
In the embodiment, the three-dimensional clearance distance from each line segment to the point cloud in the route is subjected to safety inspection, specifically, the preset safety distance is required, the preset distance is generally 2/3 of the distance between the aircraft and the point to be photographed on the tower during normal photographing, whether the distance point cloud does not meet the preset value is detected in the route track, if the distance point cloud does not meet the preset value, the route is planned again, namely, a spherical mobile reference system is circularly re-established, then the safety distance is re-judged, the route can be adjusted manually (or an automatic algorithm corresponding to the reference system is utilized), and the unmanned aerial vehicle safety inspection route meeting the requirements is planned.
S15, acquiring an unmanned aerial vehicle routing inspection route according to the spherical mobile reference system and the target position; the target position is a position on the tower pole, which needs to be photographed.
The unmanned aerial vehicle inspection route is obtained according to the spherical moving reference system and the target position.
The control center or the control end controls the unmanned aerial vehicle to carry out inspection on the power transmission line according to the inspection position in the spherical moving reference system, and the inspection route can be sent to the unmanned aerial vehicle, so that the unmanned aerial vehicle can carry out self-inspection according to the inspection position in the spherical moving reference system.
The application provides an unmanned aerial vehicle routing planning method, which comprises the following steps: acquiring a laser point cloud of a power transmission line, and loading the laser point cloud into a three-dimensional Cartesian coordinate system; in a three-dimensional Cartesian coordinate system, constructing a tower pole tangent plane reference system of a tower pole transverse section and a tower pole longitudinal section by taking a single tower as a basic unit; establishing a spherical moving 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; the target position is a position on the tower pole, which needs to be photographed.
By adopting the scheme, the problem that the unmanned aerial vehicle is inconvenient to move around a shooting position (namely a target position) when the unmanned aerial vehicle is patrolled and examined at the patrol position is solved, and the problem that the route is repeatedly adjusted on site according to the shooting effect is solved; meanwhile, the planning efficiency is greatly improved, the unmanned aerial vehicle inspection efficiency is further improved, and fine inspection is realized.
The following are examples of the apparatus of the present application that may be used to perform the method embodiments of the present application. For details not disclosed in the embodiments of the apparatus of the present application, please refer to the embodiments of the method of the present application.
Referring to fig. 6, an embodiment of the present application provides, in part, an unmanned aerial vehicle routing device, the device including:
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 tangent plane reference system construction module 20 for constructing a tower tangent plane reference system of tower transverse and longitudinal planes in a three-dimensional Cartesian coordinate system by taking a single tower as a basic unit;
a spherical moving reference frame establishing module 30, configured to establish a spherical moving reference frame based on the tower tangent plane reference frame and a target position; the target position is a position on the tower pole to be shot;
the judging module 40 is configured to judge whether a distance between the inspection position of the unmanned aerial vehicle in the spherical mobile reference system and the tower is within a preset safety distance.
A routing inspection route acquisition module 50, configured to acquire a unmanned aerial vehicle routing inspection route according to the spherical mobile reference system and the target position; the target position is a position on the tower pole, which needs to be photographed.
With reference to the second aspect, in one implementation manner, the tower section 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 according to the elevation;
a calculation unit for calculating minimum bounding boxes of the lower portion and the upper portion, respectively;
the tangent line generating unit is used for connecting the midpoints of the four sides of the upper minimum bounding box and the lower minimum bounding box to each other to generate two tangent lines, and vector included angles are respectively calculated by the longer tangent line of the upper minimum bounding box and the two tangent lines of the bottom minimum bounding box;
the tangent plane generating unit is used for taking the bottom tangent line with smaller vector included angle as the transverse tangent line of the tower, and the other tangent line is the longitudinal tangent line, and the transverse tangent line and the longitudinal tangent line are respectively expanded at equal intervals to form the tangent plane.
With reference to the second aspect, in one implementation manner, the computing unit specifically performs the following steps:
and after the tower is trisected, the upper and lower laser point clouds are respectively projected relative to an XOY plane, the point set convex hulls of n points in the plane are respectively calculated, and the minimum circumscribed rectangle of the convex hulls is obtained, so that the minimum bounding box is obtained.
With reference to the second aspect, in one implementation manner, the spherical moving reference frame establishment module includes:
a rotation axis acquisition unit, configured to draw a rotation axis out of a tower along a tower cross section parallel direction in a tower coordinate system, where the rotation axis is a vector with a fixed radius, and the radius of the rotation axis is determined by a target position;
the spherical moving reference system generating unit is used for rotating up and down and left and right by taking the vector as a reference, and the track at the tail end of the rotating shaft forms a spherical moving reference system; the 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 or not; the judging module comprises:
the simulation unit is used for simulating the visual field of the lens of the unmanned aerial vehicle in the spherical moving reference system towards the direction of 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 or not;
and the circulation unit is used for reestablishing the spherical moving reference system when the distance is not within the preset safety distance.
In a specific implementation, the application further provides a computer storage medium, wherein the computer storage medium can store a program, and the program can comprise the unmanned aerial vehicle routing planning method or device provided by the application when being executed. The storage medium may be a magnetic disk, an optical disk, a read-only memory (ROM), a random-access memory (random access memory, RAM), or the like.
It will be apparent to those skilled in the art that the techniques of embodiments of the present application may be implemented in software plus a necessary general purpose hardware platform. Based on such understanding, the technical solutions in the embodiments of the present application may be embodied in essence or what contributes to the prior art 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., including several instructions for causing 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 or similar parts between the various embodiments in this specification are referred to each other. In particular, for the device embodiments, since they are substantially similar to the method embodiments, the description is relatively simple, as far as reference is made to the description in the method embodiments.
The application has been described in detail in connection with the specific embodiments and exemplary examples thereof, but such description is not to be construed as limiting the application. It will be understood by those skilled in the art that various equivalent substitutions, modifications or improvements may be made to the technical solution of the present application and its embodiments without departing from the spirit and scope of the present application, and these fall within the scope of the present application. The scope of the application is defined by the appended claims.
Claims (4)
1. The unmanned aerial vehicle routing planning method is characterized by comprising the following steps of:
acquiring a laser point cloud of a power transmission line, and loading the laser point cloud into a three-dimensional Cartesian coordinate system;
in a three-dimensional Cartesian coordinate system, with a single tower as a base unit, constructing a tower mast section reference system of tower mast cross sections and longitudinal sections, comprising:
the pole tower is divided into a lower part, a middle part and an upper part according to the elevation;
calculating minimum bounding boxes of the lower part and the upper part respectively, connecting the midpoints of four sides of the upper part and the lower part of the minimum bounding boxes to the opposite sides, generating two tangent lines respectively, and respectively calculating vector included angles by a longer tangent line of the upper part of the minimum bounding box and two tangent lines of the bottom minimum bounding box, wherein the calculating of the minimum bounding boxes of the lower part and the upper part respectively comprises the following steps: after the pole tower is halved, the upper and lower laser point clouds are respectively projected relative to an XOY plane, point set convex hulls of n points in the plane are respectively calculated, and the minimum external rectangle of the convex hulls is obtained, namely the minimum bounding box is obtained;
the bottom tangent line with smaller vector included angle is used as a transverse tangent line of the tower, the other tangent line is a longitudinal tangent line, and the transverse tangent line and the longitudinal tangent line are respectively expanded at equal intervals to form tangent planes, so that a tower pole tangent plane reference system of the tower pole transverse tangent plane and the longitudinal tangent plane is constructed;
based on the tower pole tangent plane reference system, establishing a spherical mobile reference system, comprising:
a rotating shaft is led out of the tower along the parallel direction of the transverse plane of the tower in the tower-pole coordinate system, and is a vector with a fixed radius, wherein the radius of the rotating shaft is determined by a target position;
rotating up and down and 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; the inspection position of the unmanned aerial vehicle in the spherical mobile reference system is determined by the target position and the shooting angle;
acquiring an unmanned aerial vehicle routing inspection route according to the spherical moving reference system and the target position; the target position is a position on the tower pole, which needs to be photographed.
2. The method of claim 1, wherein the acquiring the unmanned aerial vehicle routing based on the spherical moving reference frame and the target position further comprises:
simulating the visual field of the lens towards the direction of the target position in the spherical mobile reference system of the unmanned aerial vehicle in real time;
acquiring the distance between the inspection position of the unmanned aerial vehicle in the spherical mobile reference system and the tower pole;
judging whether the distance is within a preset safety distance or not;
if not, reestablishing the spherical moving reference system.
3. Unmanned aerial vehicle inspection route planning device, its 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 utility model provides a tower pole tangent plane reference frame construction module for in three-dimensional cartesian coordinate system, regard single pole tower as basic unit, the tower pole tangent plane reference frame of construction tower pole tangent plane and longitudinal section, wherein, 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 according to the elevation;
a calculating unit for calculating minimum bounding boxes of the lower part and the upper part respectively, wherein the calculating unit specifically executes the following steps: after the pole tower is halved, the upper and lower laser point clouds are respectively projected relative to an XOY plane, point set convex hulls of n points in the plane are respectively calculated, and the minimum external rectangle of the convex hulls is obtained, namely the minimum bounding box is obtained;
the tangent line generating unit is used for connecting the midpoints of the four sides of the upper minimum bounding box and the lower minimum bounding box to each other to generate two tangent lines, and vector included angles are respectively calculated by the longer tangent line of the upper minimum bounding box and the two tangent lines of the bottom minimum bounding box;
the tangent plane generating unit is used for taking the bottom tangent line with smaller vector included angle as a transverse tangent line of the tower, taking the other 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 to form a tower pole tangent plane reference system of the tower pole transverse tangent plane and the longitudinal tangent plane;
the spherical moving reference system establishing module is used for establishing a spherical moving reference system based on the tower pole tangent plane reference system, wherein the spherical moving reference system establishing module comprises:
a rotation axis acquisition unit, configured to draw a rotation axis out of a tower along a tower cross section parallel direction in a tower coordinate system, where the rotation axis is a vector with a fixed radius, and the radius of the rotation axis is determined by a target position;
the spherical moving reference system generating unit is used for rotating up and down and left and right by taking the vector as a reference, and the track at the tail end of the rotating shaft forms a spherical moving reference system; the inspection position of the unmanned aerial vehicle in the spherical mobile reference system is determined by the target position and the shooting angle;
the inspection route acquisition module is used for acquiring an unmanned aerial vehicle inspection route according to the spherical mobile reference system and the target position; the target position is a position on the tower pole, which needs to be photographed.
4. A device according to claim 3, characterized in that the device further comprises: 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 or not; the judging module comprises:
the simulation unit is used for simulating the visual field of the lens of the unmanned aerial vehicle in the spherical moving reference system towards the direction of 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 or not;
and the circulation unit is used for reestablishing the spherical moving reference system when the distance is not within the preset safety distance.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010869667.0A CN111982123B (en) | 2020-08-26 | 2020-08-26 | Unmanned aerial vehicle routing planning method and device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010869667.0A CN111982123B (en) | 2020-08-26 | 2020-08-26 | Unmanned aerial vehicle routing planning method and device |
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| CN111982123A CN111982123A (en) | 2020-11-24 |
| CN111982123B true CN111982123B (en) | 2023-10-31 |
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| CN113031640B (en) * | 2021-03-31 | 2022-12-02 | 国网江苏省电力有限公司徐州供电分公司 | Method and device for realizing unmanned aerial vehicle inspection of tower, terminal equipment and medium |
| CN112987795B (en) * | 2021-04-30 | 2023-03-21 | 成都思晗科技股份有限公司 | Mountain fire monitoring autonomous route planning method, device and system based on unmanned aerial vehicle |
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