CN112197748A - Method for detecting electric clearance of power transmission equipment by utilizing photogrammetry - Google Patents
Method for detecting electric clearance of power transmission equipment by utilizing photogrammetry Download PDFInfo
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- CN112197748A CN112197748A CN202011056412.9A CN202011056412A CN112197748A CN 112197748 A CN112197748 A CN 112197748A CN 202011056412 A CN202011056412 A CN 202011056412A CN 112197748 A CN112197748 A CN 112197748A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/04—Interpretation of pictures
- G01C11/06—Interpretation of pictures by comparison of two or more pictures of the same area
- G01C11/08—Interpretation of pictures by comparison of two or more pictures of the same area the pictures not being supported in the same relative position as when they were taken
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/14—Measuring arrangements characterised by the use of optical techniques for measuring distance or clearance between spaced objects or spaced apertures
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Abstract
The invention discloses a method for detecting an electric clearance of power transmission equipment by utilizing photogrammetry, which comprises the following steps: step 1: planning a route: determining an acquisition route of the unmanned aerial vehicle by using a mode of combining a group of rectangular orthographic flight routes and a group of elliptical surrounding flight routes; step 2: collecting pictures: acquiring electrical picture information of the power transmission equipment to be tested according to the route planned in the step 1; and step 3: three-dimensional modeling: processing the collected picture by utilizing three-dimensional modeling software, and determining the internal and external orientation elements of the picture; and 4, step 4: and (3) analysis and calculation: selecting two pictures, determining the position of the power transmission equipment to be measured in the pictures, and directly analyzing and calculating the selected measuring point on the pictures to obtain the electrical clearance distance of the power transmission equipment. The problem that point cloud data of power transmission equipment are sparse and measurement and calculation cannot be achieved when laser radar scanning is adopted is effectively solved.
Description
Technical Field
The invention relates to the technical field of power transmission high-voltage lines, in particular to a method for detecting an electrical clearance of power transmission equipment by utilizing photogrammetry.
Background
Currently, when carrying out measurement of electrical clearance of power transmission equipment, personnel usually carry a measuring instrument and climb to a measuring position to carry out direct or indirect measurement. For example, before the ice-melting ground wire arcing angle detection of the power transmission line comes in the ice-protection period every year, the arc-melting ground wire arcing angle discharge gap needs to be manually checked every other base, and the insufficient discharge gap can directly cause the ice-melting failure of the power transmission line in the later period. However, the manual boarding inspection is low in inspection efficiency, time-consuming and labor-consuming, and high-altitude falling and induced electric shock risks also exist in the boarding inspection process.
According to the existing laser radar three-dimensional scanning mode, a small laser radar is carried on a multi-rotor unmanned aerial vehicle, laser point cloud data are acquired by flying around a tower, then resolving is carried out through a computer, a three-dimensional point cloud model is obtained, the point cloud outline is analyzed, two point positions are identified and measured, and finally the space distance is calculated according to the two point cloud positions.
The main technical defects are that the laser radar point cloud density is limited, the point cloud is sparse, the minimum gap judgment error risk exists, and the effective identification of equipment parts is difficult only by analyzing the point cloud outline, so that the electric gap analysis and measurement of key positions cannot be carried out by targeted point selection. Simultaneously, unmanned aerial vehicle carries on laser radar equipment expensive, and it is with high costs to maintain, is unfavorable for basic level team and organizes configuration on a large scale.
Disclosure of Invention
In view of the shortcomings of the prior art, the invention provides a method for detecting the electric clearance of power transmission equipment by utilizing photogrammetry.
The invention discloses a method for detecting an electric clearance of power transmission equipment by utilizing photogrammetry, which specifically comprises the following steps:
step 1: planning a route:
determining an acquisition route of the unmanned aerial vehicle by using a mode of combining a group of rectangular orthographic flight routes and a group of elliptical surrounding flight routes;
step 2: collecting pictures:
acquiring electrical picture information of the power transmission equipment to be tested according to the route planned in the step 1;
and step 3: three-dimensional modeling:
processing the collected picture by utilizing three-dimensional modeling software, and determining the internal and external orientation elements of the picture;
and 4, step 4: and (3) analysis and calculation:
selecting two pictures, determining the position of the power transmission equipment to be measured in the pictures, and directly analyzing and calculating the selected measuring point on the pictures to obtain the electrical clearance distance of the power transmission equipment.
According to an embodiment of the present invention, step 1 specifically includes:
step 1.1: determining elliptical surround flight parameters
Considering the flight safety of the unmanned aerial vehicle and the picture shooting definition, according to a large amount of flight tests, when flying around, the distance d between the unmanned aerial vehicle and the shot object is the minimum distancemin≥10m；
In order to avoid excessive noise during post-processing, the pitching angle gamma of the unmanned aerial vehicle holder is set to be more than or equal to 75 degrees;
for convenience of later-stage point selection calculation, at least 2 pictures are taken by the same power transmission equipment, the included angle between adjacent pictures is not too large, the adjacent shooting interval angle alpha is set to be less than or equal to 30 degrees, and then the surrounding flight height is deduced and calculated as follows:
a. flight height of the unmanned aerial vehicle:
h1＝h2+h3
wherein h is1For unmanned aerial vehicle around flying height, h2Is the total height of the tower h3＝10·sin75°＝9.6m；
b. Unmanned aerial vehicle photo area:
horizontal distance d between unmanned aerial vehicle and central line of towerbThe calculation formula is as follows:
db＝D+10·cos75°
d is the horizontal distance between a hanging point of a tower ground wire support and a tower central line;
when the unmanned aerial vehicle flies to the vertical direction of the power transmission line in the elliptical surrounding flight mode, the maximum length d of the ground from the center of the tower is shot by the picturea：
da＝h1·tan60°-db
At the moment, the maximum width d of the picture shooting ground from the center of the towerc：
Considering the influence of the relief topography, and taking 1.5 times of safety factor, the ellipse surrounds the flight ground to form the region length l:
l＝2×1.5×da
ellipse surrounding flight ground forming area width w:
w＝2×1.5×dc；
step 1.2: determining rectangular orthographic flight parameters
Designing a group of rectangular orthographic flight paths, wherein the length l and the width w of a flight shape area, the designed course overlapping degree is 80 percent, the sidewise overlapping degree is 75 percent, the difference of the ground resolution GSD of two groups of pictures is not more than 2 times according to a formula
Wherein, delta is the pixel size of the camera, H is the flying height of the unmanned plane, f is the focal length of the camera,
when the difference between the ground resolution GSD of the two groups of pictures is 1.5 times, the flying height of the unmanned aerial vehicle is h4:
h4＝1.5·h1。
According to an embodiment of the invention, in step 2, the unmanned aerial vehicle with RTK high-precision positioning is adopted for collecting the picture information, and a field base station erection or network access RTK mode is adopted.
According to one embodiment of the invention, the parameters of the unmanned plane route planning software are set as follows: the first group of elliptic surrounding route is provided with an elliptic major semiaxis daMinor semi-axis dcThe pitch angle gamma of the holder is 75 degrees, and the interval angle alpha between adjacent shots is 30 degrees; the second group of rectangular orthographic flight paths are provided with the length l and the width w of a flight area, the designed course overlap degree is 80 percent, the sidewise overlap degree is 75 percent, the pitch angle is 90 degrees, and the flight height h4。
According to an embodiment of the present invention, in step 3, the three-dimensional modeling software is Pix4DMapper photogrammetry software.
According to an embodiment of the present invention, in step 3, the processing procedure of the inside and outside orientation elements of the picture is as follows: initializing two groups of all collected pictures, and automatically calculating the orientation element (f) in the picture by software0,x0,y0) Exterior orientation element
Wherein f is0Is the vertical distance from the center S of the camera to the picture, (x)0,y0) The center of the camera lens is relative to the center of the picture, (X)O,YO,ZO) Is the coordinate of the center of the picture in the ground coordinate system,
three angular elements of the photographic beam spatial pose.
According to an embodiment of the present invention, in step 4, the specific process of analyzing and calculating is as follows: two pictures P are selected by the Pix4 DMDpper photogrammetry software1、P2The position point A of the measuring power transmission equipment is visually determined in the two pictures, if the deviation between the selected point and the software calculation theoretical point is found, fine adjustment can be manually repeated until the selected point and the software calculation theoretical point are completely matched, then the other position point B of the measuring equipment is determined in the same way, and the position point A can be automatically calculated and displayed in Pix4DMapper photogrammetry softwareAnd (4) outputting the electric clearance distance of the power transmission equipment.
The invention has the beneficial effects that:
1. the invention adopts the photogrammetry mode of the unmanned aerial vehicle, effectively reduces the risks of easy falling and induction electric shock of personnel during climbing operation, has the advantages of low price, convenient carrying, no influence of terrain during taking off and landing, low operation cost and high efficiency.
2. The design mode of the route planning is innovatively characterized in that a mode of combining rectangular orthographic projection and elliptical surrounding is adopted, the difficult problems that the shooting angle is poor and the elliptical surrounding overlapping degree is insufficient when the rectangular orthographic route is adopted conventionally are effectively solved, meanwhile, the picture shooting quality is comprehensively improved through optimization analysis and calculation, the picture shooting quantity is reduced, and the point selection analysis and calculation can be rapidly carried out in the later stage.
3. The analysis and calculation using mode directly realizes the measurement of the electric clearance of the power transmission equipment by selecting points on the picture, effectively solves the problem that the point cloud data of the power transmission equipment is sparse and the measurement and calculation cannot be realized when the laser radar is adopted for scanning, and can quickly and accurately obtain the minimum electric distance of the power transmission equipment by analyzing various angles of a plurality of pictures due to the fact that the ellipse is adopted for surrounding shooting.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
FIG. 1 is a schematic diagram of a power transmission equipment electrical clearance detection route planning of the present invention;
FIG. 2 is a schematic view of the elliptical orbit flight parameter determination of the present invention;
FIG. 3 is a schematic illustration of a rectangular orthographic flight parameter determination of the present invention;
FIG. 4 is a schematic diagram of the point selection calculation for photogrammetry in accordance with the present invention.
Detailed Description
In the following description, for purposes of explanation, numerous implementation details are set forth in order to provide a thorough understanding of the various embodiments of the present invention. It should be understood, however, that these implementation details are not to be interpreted as limiting the invention. That is, in some embodiments of the invention, such implementation details are not necessary. In addition, some conventional structures and components are shown in simplified schematic form in the drawings.
In addition, the descriptions related to the first, the second, etc. in the present invention are only used for description purposes, do not particularly refer to an order or sequence, and do not limit the present invention, but only distinguish components or operations described in the same technical terms, and are not understood to indicate or imply relative importance or implicitly indicate the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.
The invention relates to a method for detecting an electric clearance of power transmission equipment by utilizing photogrammetry, which specifically comprises the following steps:
step 1: planning a route:
determining an acquisition route of the unmanned aerial vehicle by using a mode of combining a group of rectangular orthographic flight routes and a group of elliptical surrounding flight routes as shown in figure 1;
step 1.1: determining elliptical surround flight parameters, as shown in FIG. 2:
considering the flight safety of the unmanned aerial vehicle and the picture shooting definition, according to a large amount of flight tests, when flying around, the distance d between the unmanned aerial vehicle and the shot object is the minimum distanceminNot less than 10 m; in order to avoid excessive noise during post-processing, the pitching angle gamma of the unmanned aerial vehicle holder is set to be more than or equal to 75 degrees; for convenience of later-stage point selection calculation, at least 2 pictures are taken by the same power transmission equipment, the included angle between adjacent pictures is not too large, the adjacent shooting interval angle alpha is set to be less than or equal to 30 degrees, and then the surrounding flight height is deduced and calculated as follows:
flight height of the unmanned aerial vehicle:
h1＝h2+h3
wherein h is1For unmanned aerial vehicle around flying height, h2Is the total height of the tower h3＝10·sin75°＝9.6m；
b. Unmanned aerial vehicle photo area:
horizontal distance d between unmanned aerial vehicle and central line of towerbThe calculation formula is as follows:
db＝D+10·cos75°
d is the horizontal distance between a hanging point of a tower ground wire support and a tower central line;
when the unmanned aerial vehicle flies to the vertical direction of the power transmission line in the elliptical surrounding flight mode, the maximum length d of the ground from the center of the tower is shot by the picturea：
da＝h1·tan60°-db
At the moment, the maximum width d of the picture shooting ground from the center of the towerc：
Considering the influence of the relief topography, and taking 1.5 times of safety factor, the ellipse surrounds the flight ground to form the region length l:
l＝2×1.5×da
ellipse surrounding flight ground forming area width w:
w＝2×1.5×dc；
step 1.2: determining rectangular orthographic flight parameters, as shown in fig. 3:
designing a group of rectangular orthographic flight paths, wherein the length l and the width w of a flight shape area, the designed course overlapping degree is 80 percent, the sidewise overlapping degree is 75 percent, the difference of the ground resolution GSD of two groups of pictures is not more than 2 times according to a formula
Wherein, delta is the pixel size of the camera, H is the flying height of the unmanned plane, f is the focal length of the camera,
when the difference between the ground resolution GSD of the two groups of pictures is 1.5 times, the flying height of the unmanned aerial vehicle is h4:
h4＝1.5·h1；
Step 2: collecting pictures:
acquiring electrical picture information of the power transmission equipment to be tested according to the route planned in the step 1;
when the pictures are collected, an unmanned aerial vehicle with RTK high-precision positioning is used, and a field base station erection mode or a network access RTK mode is adopted, so that high-precision coordinate data can be obtained;
when the unmanned aerial vehicle route planning software sets parameters, a first group of ellipses surrounds the route, and an ellipse long semi-axis d is setaMinor semi-axis dcThe pitch angle gamma of the holder is 75 degrees, and the interval angle alpha between adjacent shots is 30 degrees; the second group of rectangular orthographic flight paths are provided with the length l and the width w of a flight area, the designed course overlap degree is 80 percent, the sidewise overlap degree is 75 percent, the pitch angle is 90 degrees, and the flight height h4(ii) a The flight path can be automatically planned by the air route planning software and uploaded to the unmanned aerial vehicle for automatic execution;
when the unmanned aerial vehicle flies around, camera parameters are optimized according to the on-site weather condition, and the picture quality is ensured;
and step 3: three-dimensional modeling:
initializing two groups of all collected pictures by using Pix4 DMaper photogrammetry software, and automatically calculating the orientation element (f) in the pictures by the software0,x0,y0) Exterior orientation element
Wherein f is0Is the vertical distance from the center S of the camera to the picture, (x)0,y0) The center of the camera lens is relative to the center of the picture, (X)O,YO,ZO) Is the coordinate of the center of the picture in the ground coordinate system,
three angular elements of the photographic beam spatial pose;
and 4, step 4: analytical calculations, as shown in fig. 4:
two pictures P are selected by the Pix4 DMDpper photogrammetry software1、P2And visually determining a position point A of the transmission equipment to be measured in the two pictures, manually and repeatedly performing fine adjustment until the position point A is completely matched with a theoretical point calculated by software if the deviation of the selected point and the theoretical point is found, then determining and measuring another position point B in the same way, and automatically calculating and displaying the electric clearance distance of the transmission equipment in Pix4DMapper photogrammetry software.
The above description is only an embodiment of the present invention, and is not intended to limit the present invention. Various modifications and alterations to this invention will become apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.
Claims (7)
1. The method for detecting the electric clearance of the power transmission equipment by utilizing photogrammetry is characterized by comprising the following steps:
step 1: planning a route:
determining an acquisition route of the unmanned aerial vehicle by using a mode of combining a group of rectangular orthographic flight routes and a group of elliptical surrounding flight routes;
step 2: collecting pictures:
acquiring electrical picture information of the power transmission equipment to be tested according to the route planned in the step 1;
and step 3: three-dimensional modeling:
processing the collected picture by utilizing three-dimensional modeling software, and determining the internal and external orientation elements of the picture;
and 4, step 4: and (3) analysis and calculation:
selecting two pictures, determining the position of the power transmission equipment to be measured in the pictures, and directly analyzing and calculating the selected measuring point on the pictures to obtain the electrical clearance distance of the power transmission equipment.
2. The method for detecting an electrical gap in a power transmission facility using photogrammetry according to claim 1, wherein the step 1 specifically comprises:
step 1.1: determining elliptical surround flight parameters
Considering the flight safety of the unmanned aerial vehicle and the picture shooting definition, according to a large amount of flight tests, when flying around, the distance d between the unmanned aerial vehicle and the shot object is the minimum distancemin≥10m；
In order to avoid excessive noise during post-processing, the pitching angle gamma of the unmanned aerial vehicle holder is set to be more than or equal to 75 degrees;
for convenience of later-stage point selection calculation, at least 2 pictures are taken by the same power transmission equipment, the included angle between adjacent pictures is not too large, the adjacent shooting interval angle alpha is set to be less than or equal to 30 degrees, and then the surrounding flight height is deduced and calculated as follows:
a. flight height of the unmanned aerial vehicle:
h1＝h2+h3
wherein h is1For unmanned aerial vehicle around flying height, h2Is the total height of the tower h3＝10·sin75°＝9.6m；
b. Unmanned aerial vehicle photo area:
horizontal distance d between unmanned aerial vehicle and central line of towerbThe calculation formula is as follows:
db＝D+10·cos75°
d is the horizontal distance between a hanging point of a tower ground wire support and a tower central line;
when the unmanned aerial vehicle flies to the vertical direction of the power transmission line in the elliptical surrounding flight mode, the maximum length d of the ground from the center of the tower is shot by the picturea：
da＝h1·tan60°-db
At the moment, the maximum width d of the picture shooting ground from the center of the towerc：
Considering the influence of the relief topography, and taking 1.5 times of safety factor, the ellipse surrounds the flight ground to form the region length l:
l＝2×1.5×da
ellipse surrounding flight ground forming area width w:
w＝2×1.5×dc；
step 1.2: determining rectangular orthographic flight parameters
Designing a group of rectangular orthographic flight paths, wherein the length l and the width w of a flight shape area, the designed course overlapping degree is 80 percent, the sidewise overlapping degree is 75 percent, the difference of the ground resolution GSD of two groups of pictures is not more than 2 times according to a formula
Wherein, delta is the pixel size of the camera, H is the flying height of the unmanned plane, f is the focal length of the camera,
when the difference between the ground resolution GSD of the two groups of pictures is 1.5 times, the flying height of the unmanned aerial vehicle is h4:
h4＝1.5·h1。
3. The method for detecting the electrical clearance of the power transmission equipment by photogrammetry as claimed in claim 1, wherein in the step 2, the image information is acquired by using an unmanned aerial vehicle with RTK high-precision positioning and using a field erection base station or an access network RTK mode.
4. The method of photogrammetry for detecting electrical clearances for electrical transmission equipment according to claim 3, wherein the parameters of the unmanned aerial vehicle route planning software are set to: the first group of elliptic surrounding route is provided with an elliptic major semiaxis daMinor semi-axis dcThe pitch angle gamma of the holder is 75 degrees, and the interval angle alpha between adjacent shots is 30 degrees; the second group of rectangular orthographic flight paths are provided with the length l and the width w of a flight area, the designed course overlap degree is 80 percent, the sidewise overlap degree is 75 percent, the pitch angle is 90 degrees, and the flight height h4。
5. The method for detecting an electrical gap in a power transmission equipment using photogrammetry as claimed in claim 1, wherein in step 3, the three-dimensional modeling software is Pix4d map photogrammetry software.
6. The method for detecting an electrical gap of power transmission equipment by photogrammetry according to claim 1, wherein in the step 3, the processing procedure of the picture inside and outside orientation elements is as follows: initializing two groups of all collected pictures, and automatically calculating the orientation element (f) in the picture by software0,x0,y0) Exterior orientation element
Wherein f is0Is the vertical distance from the center S of the camera to the picture, (x)0,y0) The center of the camera lens is relative to the center of the picture, (X)O,YO,ZO) Is the coordinate of the center of the picture in the ground coordinate system,
three angular elements of the photographic beam spatial pose.
7. The method for detecting an electrical gap of a power transmission facility according to claim 1, wherein in the step 4, the specific process of analyzing and calculating is as follows: two pictures P are selected by the Pix4 DMDpper photogrammetry software1、P2And visually determining a position point A of the transmission equipment to be measured in the two pictures, manually and repeatedly performing fine adjustment until the position point A is completely matched with a theoretical point calculated by software if the deviation of the selected point and the theoretical point is found, then determining and measuring another position point B in the same way, and automatically calculating and displaying the electric clearance distance of the transmission equipment in Pix4DMapper photogrammetry software.
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| CN113188520A (en) * | 2021-04-30 | 2021-07-30 | 成都睿铂科技有限责任公司 | Planning method and system for regional block surrounding type route and aerial photography method |
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| US20190285412A1 (en) * | 2016-11-03 | 2019-09-19 | Datumate Ltd. | System and method for automatically acquiring two-dimensional images and three-dimensional point cloud data of a field to be surveyed |
| CN110989658A (en) * | 2019-11-15 | 2020-04-10 | 广东电网有限责任公司 | High-voltage power transmission line cross-crossing oblique photography point cloud acquisition method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US20190285412A1 (en) * | 2016-11-03 | 2019-09-19 | Datumate Ltd. | System and method for automatically acquiring two-dimensional images and three-dimensional point cloud data of a field to be surveyed |
| CN110989658A (en) * | 2019-11-15 | 2020-04-10 | 广东电网有限责任公司 | High-voltage power transmission line cross-crossing oblique photography point cloud acquisition method |
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| CN113188520A (en) * | 2021-04-30 | 2021-07-30 | 成都睿铂科技有限责任公司 | Planning method and system for regional block surrounding type route and aerial photography method |
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Application publication date: 20210108 Assignee: Wuhan Liling Technology Co.,Ltd. Assignor: CHINA SOUTHERN POWER GRID CORPORATION EXTRA-HIGH VOLTAGE POWER TRANSMISSION COMPANY KUNMING BUREAU Contract record no.: X2023990000243 Denomination of invention: Method of measuring the electrical clearance of transmission equipment by photogrammetry Granted publication date: 20210820 License type: Common License Record date: 20230221 |