CN112230676A - Unmanned aerial vehicle flight line correction system, method and related device - Google Patents
Unmanned aerial vehicle flight line correction system, method and related device Download PDFInfo
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/0055—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot with safety arrangements
Abstract
The application discloses unmanned aerial vehicle flight line correction system, method and relevant device, and the system includes: the positioning module is used for acquiring the position information of the unmanned aerial vehicle in real time to obtain the three-dimensional coordinate of the unmanned aerial vehicle; the laser radar is used for measuring the relative distance between the unmanned aerial vehicle and the power transmission line; the data processing module is used for calculating a relative included angle between the unmanned aerial vehicle and the power transmission line according to the three-dimensional coordinates and the relative distance of the unmanned aerial vehicle; when the relative distance exceeds a preset distance range, triggering a control module to correct the route; and the control module is used for displaying the state information of the unmanned aerial vehicle in real time, and correcting the flight line of the unmanned aerial vehicle according to the relative distance and the relative included angle or prompting an operator to perform manual line correction when the unmanned aerial vehicle deviates from the flight line and exceeds a preset distance range. The problem of current unmanned aerial vehicle patrolling and examining the in-process and receiving the influence of electromagnetic field can't realize accurate flight, lead to unmanned aerial vehicle to patrol and examine efficiency reduction, it is relatively poor to patrol and examine the result, and the higher technical problem of risk is solved.
Description
Technical Field
The application relates to the technical field of unmanned aerial vehicle inspection, in particular to a system and a method for correcting flight routes of an unmanned aerial vehicle and a related device.
Background
With the continuous development of the aviation industry, the number of high-grade, long-distance, large-power-transformation capacity, extra-high voltage and high-safety transmission lines is increased, the number of distribution points is increased, the inspection difficulty is increased, and the requirement is increased. Unmanned aerial vehicle begins to extensively apply to the electric power tower and patrols and examines, and unmanned aerial vehicle inspection work also tends to frequently, and the technical application based on unmanned aerial vehicle power line patrols and examines is comparatively general.
Unmanned aerial vehicle is patrolling and examining the time, high voltage electricity can produce complicated powerful electromagnetic field again, and the inside compass of unmanned aerial vehicle can be disturbed in the electromagnetic field, leads to unmanned aerial vehicle unable current position and flight direction of judging, influences unmanned aerial vehicle's signal acquisition and positioning accuracy for unmanned aerial vehicle unable normal navigation with patrol and examine, reduce unmanned aerial vehicle work efficiency then, the result of patrolling and examining that acquires is relatively poor, and unmanned aerial vehicle damages the risk higher.
Disclosure of Invention
The application provides an unmanned aerial vehicle flight route correction system, method and related device, and aims to solve the technical problems that the unmanned aerial vehicle cannot realize accurate flight due to the influence of an electromagnetic field in the inspection process, the inspection efficiency of the unmanned aerial vehicle is reduced, the inspection result is poor, and the risk is high.
In view of this, this application first aspect provides an unmanned aerial vehicle flight route correction system, includes: the device comprises a positioning module, a laser radar, a data processing module and a control module;
the positioning module is used for acquiring the position information of the unmanned aerial vehicle in real time through the RTK dual-antenna to obtain the three-dimensional coordinate of the unmanned aerial vehicle;
the laser radar is used for transmitting a detection beam to the power transmission line to measure the relative distance between the unmanned aerial vehicle and the power transmission line;
the data processing module is used for calculating a relative included angle between the unmanned aerial vehicle and the power transmission line according to the three-dimensional coordinate of the unmanned aerial vehicle and the relative distance; when the relative distance exceeds a preset distance range, triggering the control module to correct the route;
the control module is used for displaying unmanned aerial vehicle state information in real time, controlling the positioning module, the laser radar and the data processing module, and when the unmanned aerial vehicle deviates from a flight line and exceeds the preset distance range, correcting the flight line of the unmanned aerial vehicle according to the relative distance and the relative included angle or prompting an operator to perform manual flight line correction, wherein the unmanned aerial vehicle state information comprises the three-dimensional coordinate of the unmanned aerial vehicle and the relative distance.
Optionally, the data processing module is specifically configured to:
calculating the three-dimensional coordinate of the current detection point of the power transmission line according to the three-dimensional coordinate of the unmanned aerial vehicle and the relative distance;
constructing a polar coordinate system according to the three-dimensional coordinates of the unmanned aerial vehicle and the three-dimensional coordinates of the current detection point;
calculating a relative included angle between the unmanned aerial vehicle and the power transmission line according to the relative distance and the polar coordinate system;
when the relative distance is larger than the maximum distance value, triggering the control module to carry out automatic route correction;
and when the relative distance is smaller than the minimum distance value, triggering the control module to prompt an operator to correct the manual route, wherein the preset distance range comprises the maximum distance value and the minimum distance value.
Optionally, the method further includes: a distance setting module;
the distance setting module is used for acquiring tower coordinates of towers at two ends of the power transmission line, determining the position of the power transmission line according to the tower coordinates, and setting the preset distance range according to the position of the power transmission line.
The application provides in a second aspect an unmanned aerial vehicle flight line correction method, including:
acquiring position information of the unmanned aerial vehicle in real time to obtain a three-dimensional coordinate of the unmanned aerial vehicle;
measuring the relative distance between an unmanned aerial vehicle and a power transmission line by transmitting a probe beam to the power transmission line;
calculating a relative included angle between the unmanned aerial vehicle and the power transmission line according to the three-dimensional coordinate of the unmanned aerial vehicle and the relative distance;
and when the relative distance exceeds a preset distance range, correcting the flight line of the unmanned aerial vehicle according to the relative distance and the relative included angle.
Optionally, the calculating a relative included angle between the unmanned aerial vehicle and the power transmission line according to the three-dimensional coordinate of the unmanned aerial vehicle and the relative distance includes:
calculating the three-dimensional coordinate of the current detection point of the power transmission line according to the three-dimensional coordinate of the unmanned aerial vehicle and the relative distance;
constructing a polar coordinate system according to the three-dimensional coordinates of the unmanned aerial vehicle and the three-dimensional coordinates of the current detection point;
and solving a relative included angle between the unmanned aerial vehicle and the power transmission line according to the relative distance and the polar coordinate system.
Optionally, when the relative distance exceeds a preset distance range, correcting the flight path of the unmanned aerial vehicle according to the relative distance and the relative included angle, including:
when the relative distance is larger than the maximum distance value, automatically correcting the route according to the relative distance and the relative included angle;
and when the relative distance is smaller than the minimum distance value, prompting an operator to correct the manual route according to the relative distance and the relative included angle, wherein the preset distance range comprises the maximum distance value and the minimum distance value.
Optionally, when the relative distance exceeds a preset distance range, correcting the flight path of the unmanned aerial vehicle according to the relative distance and the relative included angle, including:
when the relative distance is larger than the maximum distance value, automatically correcting the route according to the relative distance and the relative included angle;
and when the relative distance is smaller than the minimum distance value, prompting an operator to correct the manual route according to the relative distance and the relative included angle, wherein the preset distance range comprises the maximum distance value and the minimum distance value.
A third aspect of the application provides an unmanned aerial vehicle flight path correction device, the device comprising a processor and a memory:
the memory is used for storing program codes and transmitting the program codes to the processor;
the processor is configured to execute the unmanned aerial vehicle flight path correction method of the second aspect according to instructions in the program code.
A fourth aspect of the present application provides a computer-readable storage medium for storing program code for executing the method for correcting flight paths of unmanned aerial vehicles according to the second aspect.
A fifth aspect of the present application provides a computer program product comprising instructions which, when run on a computer, cause the computer to perform the method of correcting a flight path of a drone according to the second aspect.
According to the technical scheme, the embodiment of the application has the following advantages:
in this application, an unmanned aerial vehicle flight line orthotic systems is provided, include: the positioning module is used for acquiring the position information of the unmanned aerial vehicle in real time through the RTK dual-antenna to obtain the three-dimensional coordinate of the unmanned aerial vehicle; the laser radar is used for transmitting a detection beam to the power transmission line to measure the relative distance between the unmanned aerial vehicle and the power transmission line; the data processing module is used for calculating a relative included angle between the unmanned aerial vehicle and the power transmission line according to the three-dimensional coordinates and the relative distance of the unmanned aerial vehicle; when the relative distance exceeds a preset distance range, triggering a control module to correct the route; the control module is used for displaying the state information of the unmanned aerial vehicle in real time, controlling the positioning module, the laser radar and the data processing module, correcting the flight line of the unmanned aerial vehicle according to the relative distance and the relative included angle or prompting an operator to perform manual line correction when the unmanned aerial vehicle deviates from the flight line and exceeds a preset distance range, and the state information of the unmanned aerial vehicle comprises the three-dimensional coordinate and the relative distance of the unmanned aerial vehicle.
The utility model provides an unmanned aerial vehicle flight route correction system, through real-time location and measuring method monitoring unmanned aerial vehicle's flight state, judge whether unmanned aerial vehicle appears the deviation according to the relative distance between unmanned aerial vehicle and the transmission line, if appear the deviation, then correct unmanned aerial vehicle's flight route according to relative distance and relative contained angle, just can pull back unmanned aerial vehicle in the safety range, accomplish and patrol and examine the task, it is also more reliable to patrol and examine the result that obtains at the distance within range that presets, and unmanned aerial vehicle does not have the striking risk. Therefore, this application can solve current unmanned aerial vehicle and patrol and examine the in-process and receive the influence of electromagnetic field and can't realize accurate flight, lead to unmanned aerial vehicle to patrol and examine efficiency reduction, and it is relatively poor to patrol and examine the result, and the higher technical problem of risk.
Drawings
Fig. 1 is a schematic structural diagram of a correction system for a flight path of an unmanned aerial vehicle according to an embodiment of the present application;
fig. 2 is a schematic flow chart of a method for correcting a flight path of an unmanned aerial vehicle according to an embodiment of the present application;
fig. 3 is a schematic structural view of an unmanned aerial vehicle capable of finishing lane line correction according to an embodiment of the present application.
Detailed Description
In order to make the technical solutions of the present application better understood, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
For ease of understanding, referring to fig. 1, the present application provides an embodiment of a correction system for flight paths of an unmanned aerial vehicle, comprising: a positioning module 101, a lidar 102, a data processing module 103, and a control module 104.
And the positioning module 101 is used for acquiring the position information of the unmanned aerial vehicle in real time through the RTK dual-antenna to obtain the three-dimensional coordinate of the unmanned aerial vehicle.
It should be noted that, because the influence of electromagnetic field is received easily in the unmanned aerial vehicle flight process, so adopt RTK dual antenna on the unmanned aerial vehicle location, when one of them set of antenna appears unusually, another set of antenna is switched immediately to the system, and this strong electromagnetic interference that can alleviate the high-voltage line and bring to a certain extent to ensure that unmanned aerial vehicle flight location is more accurate. The positioning module firstly acquires longitude and latitude information of the unmanned aerial vehicle, and the longitude and latitude information is absolute coordinate information, so that coordinate conversion is required according to the longitude and latitude information of the unmanned aerial vehicle, and the three-dimensional coordinate of the unmanned aerial vehicle in the geographic sense is acquired. The positioning module can be arranged in the top of the unmanned aerial vehicle body, so that signals can be received conveniently.
And the laser radar 102 is used for transmitting a detection beam to the power transmission line to measure the relative distance between the unmanned aerial vehicle and the power transmission line.
It should be noted that the lidar in this embodiment is a single line lidar, and is mounted on an unmanned aerial vehicle platform, so that 360-degree all-directional scanning can be realized, and no dead angle measurement is realized, but the measurement is mainly performed on a power transmission line in this embodiment. The working process of the laser radar is as follows: firstly, emitting a beam of laser to a measured target, and then measuring parameters such as time for a reflected or scattered signal to reach an emitter, signal strength, frequency change and the like, thereby determining the distance of the measured target; in this embodiment, in order to monitor the flight state of the unmanned aerial vehicle in real time, the laser needs to be emitted continuously, and then the relative distance measurement is performed.
The data processing module 103 is used for calculating a relative included angle between the unmanned aerial vehicle and the power transmission line according to the three-dimensional coordinates and the relative distance of the unmanned aerial vehicle; and when the relative distance exceeds a preset distance range, triggering the control module to correct the route.
It should be noted that the relative distance can directly judge whether the unmanned aerial vehicle deviates from the course, but the subsequent correction needs more accurate deviation information, so the relative included angle between the unmanned aerial vehicle and the power transmission line needs to be calculated according to the three-dimensional coordinate and the relative distance of the unmanned aerial vehicle, in other words, the relative included angle is obtained, and then the correction process not only corrects the distance of the unmanned aerial vehicle, but also corrects the course angle. The preset distance range can be an adjustable range formed by the maximum distance and the minimum distance, the fluctuation in the safety range of the unmanned aerial vehicle can not generate large influence, correction is not needed, the correction times are reduced, and the inspection work efficiency of the unmanned aerial vehicle is improved. Once unmanned aerial vehicle surpasss threshold value distance range, will influence unmanned aerial vehicle's flight and the work of patrolling and examining, so, no matter surpass maximum distance or surpass minimum distance range, all belong to the condition that needs the correction. The data processing module is mainly used for processing and calculating data and judging the flying state of the unmanned aerial vehicle.
Control module 104 for show unmanned aerial vehicle status information in real time, control orientation module, laser radar and data processing module to when unmanned aerial vehicle deviates from the airline and surpasss the preset distance scope, correct unmanned aerial vehicle's flight route according to relative distance and relative contained angle, perhaps indicate operating personnel to carry out manual airline correction, unmanned aerial vehicle status information includes unmanned aerial vehicle three-dimensional coordinate and relative distance.
It should be noted that the control positioning module and the laser radar mainly implement real-time monitoring, and the control data processing module is used for completing tasks such as data processing, calculation and judgment; the control module is used for carrying out instruction control and adjustment in the system, and reasonable operation of the system is realized. The most important control is to unmanned aerial vehicle, and when deviation appears in unmanned aerial vehicle, and surpassed preset distance range, just need carry out the course line correction to unmanned aerial vehicle according to the relative distance and the relative contained angle that have obtained, pull back the course line within range with unmanned aerial vehicle. Referring to fig. 3, fig. 3 is a schematic structural diagram of an unmanned aerial vehicle capable of performing route correction, and the correction system is applied to the inspection of the unmanned aerial vehicle and does not affect the normal functions of the unmanned aerial vehicle.
Further, the specific corrective process is as follows: calculating the three-dimensional coordinate of the current detection point of the power transmission line according to the three-dimensional coordinate of the unmanned aerial vehicle and the relative distance; constructing a polar coordinate system according to the three-dimensional coordinates of the unmanned aerial vehicle and the three-dimensional coordinates of the current detection point; calculating a relative included angle between the unmanned aerial vehicle and the power transmission line according to the relative distance and the polar coordinate system; when the relative distance is larger than the maximum distance value, triggering a control module to carry out automatic course correction; and when the relative distance is smaller than the minimum distance value, triggering the control module to prompt an operator to correct the manual route, wherein the preset distance range comprises a maximum distance value and a minimum distance value.
It should be noted that the relative distance is directly obtained according to the measurement of the laser radar, but the included angle needs to be analyzed and calculated; the current detection point is on the power transmission line and corresponds to the position of the unmanned aerial vehicle, and is a position point currently detected by the unmanned aerial vehicle; when the relative distance is greater than the maximum distance value, the unmanned aerial vehicle deviates towards the outer side of the power transmission line, and is not necessarily the deviation influenced by an electromagnetic field, and even under the influence of a magnetic field, the influence of the unmanned aerial vehicle is weakened due to the fact that the distance is lengthened, and the unmanned aerial vehicle can be automatically adjusted directly according to the relative distance and the relative included angle; when relative distance is less than minimum distance value, explain that unmanned aerial vehicle has received the strong electromagnetic interference of high-voltage line, pull away unmanned aerial vehicle from safe flight distance scope, can realize that the unmanned aerial vehicle airline is corrected according to relative distance and relative contained angle this moment, but when deviating comparatively seriously, unmanned aerial vehicle can't the automatic control, so under this kind of condition, in order to avoid unmanned aerial vehicle to hit transmission line because of excessive deviation, need control module suggestion operating personnel directly pull back unmanned aerial vehicle in the safe distance scope.
Further, the distance setting module 105 is configured to obtain tower coordinates of towers at two ends of the power transmission line, determine the position of the power transmission line according to the tower coordinates, and set a preset distance range according to the position of the power transmission line.
It should be noted that a straight line similar to the power transmission line is determined by determining coordinates of the two towers, the position of the straight line is used as the position of the power transmission line, the length and the position of the power transmission line are used as references, and a distance range is set, so that the unmanned aerial vehicle can be ensured not to be interfered by strong electromagnetism of a high-voltage wire or be interfered with little enough to cause flight trajectory deviation while accurately acquiring line data. The preset distance range can be a determined value or a dynamic range, if the preset distance range is the former, the flight requirement is higher, and correction is needed once deviation occurs; the latter is more suitable for practical application.
The unmanned aerial vehicle flight route correction system that this application embodiment provided, through real-time location and measuring method monitoring unmanned aerial vehicle's flight state, judge whether deviation appears in unmanned aerial vehicle according to the relative distance between unmanned aerial vehicle and the transmission line, if the deviation appears, then correct unmanned aerial vehicle's flight route according to relative distance and relative contained angle, just can pull back unmanned aerial vehicle in the safety range, accomplish and patrol and examine the task, it is also more reliable to patrol and examine the result that obtains to patrol and examine at the distance range of presetting, and unmanned aerial vehicle does not have the striking risk. Therefore, this application embodiment can solve current unmanned aerial vehicle and patrol and examine the in-process and receive the influence of electromagnetic field and can't realize accurate flight, lead to unmanned aerial vehicle to patrol and examine efficiency reduction, and it is relatively poor to patrol and examine the result, and the higher technical problem of risk.
For ease of understanding, referring to fig. 2, the present application provides an embodiment of a method for correcting a flight path of an unmanned aerial vehicle, comprising:
and 204, correcting the flight line of the unmanned aerial vehicle according to the relative distance and the relative included angle when the relative distance exceeds the preset distance range.
Further, according to unmanned aerial vehicle three-dimensional coordinate and relative distance calculation unmanned aerial vehicle and transmission line's relative contained angle includes:
calculating the three-dimensional coordinate of the current detection point of the power transmission line according to the three-dimensional coordinate of the unmanned aerial vehicle and the relative distance;
constructing a polar coordinate system according to the three-dimensional coordinates of the unmanned aerial vehicle and the three-dimensional coordinates of the current detection point;
and solving a relative included angle between the unmanned aerial vehicle and the power transmission line according to the relative distance and the polar coordinate system.
Further, when the relative distance exceeds the preset distance range, the flight line of the unmanned aerial vehicle is corrected according to the relative distance and the relative included angle, and the method comprises the following steps:
when the relative distance is greater than the maximum distance value, automatically correcting the flight path according to the relative distance and the relative included angle;
and when the relative distance is smaller than the minimum distance value, prompting an operator to correct the manual route according to the relative distance and the relative included angle, wherein the preset distance range comprises a maximum distance value and a minimum distance value.
Further, when the relative distance exceeds the preset distance range, the flight line of the unmanned aerial vehicle is corrected according to the relative distance and the relative included angle, and the method also comprises the following steps:
acquiring tower coordinates of towers at two ends of the power transmission line, and determining the position of the power transmission line according to the tower coordinates;
and setting a preset distance range according to the position of the power transmission line.
The application also provides an embodiment of unmanned aerial vehicle flight line correction equipment, and equipment includes treater and memory:
the memory is used for storing the program codes and transmitting the program codes to the processor;
the processor is used for executing the unmanned aerial vehicle flight path correction method in the above method embodiment according to instructions in the program code.
The application also provides a computer-readable storage medium for storing program codes, wherein the program codes are used for executing the unmanned aerial vehicle flight path correction method in the above method embodiment.
The present application also provides a computer program product comprising instructions which, when run on a computer, cause the computer to perform the method of correcting a flight path of a drone in the above method embodiments.
In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be substantially implemented or contributed to by the prior art, or all or part of the technical solution may be embodied in a software product, which is stored in a storage medium and includes instructions for executing all or part of the steps of the method described in the embodiments of the present application through a computer device (which may be a personal computer, a server, or a network device). And the aforementioned storage medium includes: a U disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The above embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions in the embodiments of the present application.
Claims (10)
1. An unmanned aerial vehicle flight line correction system, comprising: the device comprises a positioning module, a laser radar, a data processing module and a control module;
the positioning module is used for acquiring the position information of the unmanned aerial vehicle in real time through the RTK dual-antenna to obtain the three-dimensional coordinate of the unmanned aerial vehicle;
the laser radar is used for transmitting a detection beam to the power transmission line to measure the relative distance between the unmanned aerial vehicle and the power transmission line;
the data processing module is used for calculating a relative included angle between the unmanned aerial vehicle and the power transmission line according to the three-dimensional coordinate of the unmanned aerial vehicle and the relative distance; when the relative distance exceeds a preset distance range, triggering the control module to correct the route;
the control module is used for displaying unmanned aerial vehicle state information in real time, controlling the positioning module, the laser radar and the data processing module, and when the unmanned aerial vehicle deviates from a flight line and exceeds the preset distance range, correcting the flight line of the unmanned aerial vehicle according to the relative distance and the relative included angle or prompting an operator to perform manual flight line correction, wherein the unmanned aerial vehicle state information comprises the three-dimensional coordinate of the unmanned aerial vehicle and the relative distance.
2. The unmanned aerial vehicle flight path correction system of claim 1, wherein the data processing module is specifically configured to:
calculating the three-dimensional coordinate of the current detection point of the power transmission line according to the three-dimensional coordinate of the unmanned aerial vehicle and the relative distance;
constructing a polar coordinate system according to the three-dimensional coordinates of the unmanned aerial vehicle and the three-dimensional coordinates of the current detection point;
calculating a relative included angle between the unmanned aerial vehicle and the power transmission line according to the relative distance and the polar coordinate system;
when the relative distance is larger than the maximum distance value, triggering the control module to carry out automatic route correction;
and when the relative distance is smaller than the minimum distance value, triggering the control module to prompt an operator to correct the manual route, wherein the preset distance range comprises the maximum distance value and the minimum distance value.
3. The unmanned aerial vehicle flight path correction system of claim 1, further comprising: a distance setting module;
the distance setting module is used for acquiring tower coordinates of towers at two ends of the power transmission line, determining the position of the power transmission line according to the tower coordinates, and setting the preset distance range according to the position of the power transmission line.
4. An unmanned aerial vehicle flight path correction method is characterized by comprising the following steps:
acquiring position information of the unmanned aerial vehicle in real time to obtain a three-dimensional coordinate of the unmanned aerial vehicle;
measuring the relative distance between an unmanned aerial vehicle and a power transmission line by transmitting a probe beam to the power transmission line;
calculating a relative included angle between the unmanned aerial vehicle and the power transmission line according to the three-dimensional coordinate of the unmanned aerial vehicle and the relative distance;
and when the relative distance exceeds a preset distance range, correcting the flight line of the unmanned aerial vehicle according to the relative distance and the relative included angle.
5. The unmanned aerial vehicle flight line correction method of claim 1, wherein the calculating of the relative angle between the unmanned aerial vehicle and the power transmission line according to the three-dimensional coordinates of the unmanned aerial vehicle and the relative distance comprises:
calculating the three-dimensional coordinate of the current detection point of the power transmission line according to the three-dimensional coordinate of the unmanned aerial vehicle and the relative distance;
constructing a polar coordinate system according to the three-dimensional coordinates of the unmanned aerial vehicle and the three-dimensional coordinates of the current detection point;
and solving a relative included angle between the unmanned aerial vehicle and the power transmission line according to the relative distance and the polar coordinate system.
6. The unmanned aerial vehicle flight path correction method of claim 1, wherein when the relative distance exceeds a preset distance range, correcting the flight path of the unmanned aerial vehicle according to the relative distance and the relative included angle comprises:
when the relative distance is larger than the maximum distance value, automatically correcting the route according to the relative distance and the relative included angle;
and when the relative distance is smaller than the minimum distance value, prompting an operator to correct the manual route according to the relative distance and the relative included angle, wherein the preset distance range comprises the maximum distance value and the minimum distance value.
7. The method for correcting the flight path of the unmanned aerial vehicle according to claim 1, wherein when the relative distance exceeds a preset distance range, the method for correcting the flight path of the unmanned aerial vehicle according to the relative distance and the relative included angle further comprises:
obtaining tower coordinates of towers at two ends of the power transmission line, and determining the position of the power transmission line according to the tower coordinates;
and setting the preset distance range according to the position of the power transmission line.
8. An unmanned aerial vehicle flight path correction device, characterized in that, the equipment includes processor and memory:
the memory is used for storing program codes and transmitting the program codes to the processor;
the processor is configured to execute the unmanned aerial vehicle flight path correction method of any one of claims 4-7 according to instructions in the program code.
9. A computer-readable storage medium, wherein the computer-readable storage medium is configured to store program code for performing the method of correcting flight paths of a drone of any one of claims 4 to 7.
10. A computer program product comprising instructions that, when run on a computer, cause the computer to perform the unmanned aerial vehicle flight path correction method of any of claims 4-7.
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| CN202011133867.6A CN112230676B (en) | 2020-10-21 | 2020-10-21 | Unmanned aerial vehicle flight line correction system, method and related device |
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| CN202011133867.6A CN112230676B (en) | 2020-10-21 | 2020-10-21 | Unmanned aerial vehicle flight line correction system, method and related device |
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Application publication date: 20210115 Assignee: Guangdong Suixin Energy Technology Co.,Ltd. Assignor: DALI BUREAU OF ULTRA HIGH VOLTAGE TRANSMISSION COMPANY, CHINA SOUTHERN POWER GRID Co.,Ltd. Contract record no.: X2023980051117 Denomination of invention: A drone flight path correction system, method, and related device Granted publication date: 20220513 License type: Common License Record date: 20231208 |