CN112437252A - Power grid project planning method based on unmanned aerial vehicle oblique camera shooting - Google Patents
Power grid project planning method based on unmanned aerial vehicle oblique camera shooting Download PDFInfo
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Abstract
The invention discloses a power grid project planning method based on unmanned aerial vehicle oblique photography, aiming at the requirements of on-site survey, utilizing oblique photography to acquire pictures through unmanned aerial vehicle aerial photography, generating and displaying a three-dimensional live-action model of a corresponding area; monitoring signals of the on-site key regions are labeled on the three-dimensional live-action model, and real-time information of the key regions is displayed by triggering the labels; fusing two-dimensional monitoring video projections shot by each camera on site to a three-dimensional live-action model, and displaying the three-dimensional live-action model through a desktop terminal, a display screen or wearable VR equipment; taking a time axis as a main line, acquiring pictures by adopting an unmanned aerial vehicle aerial photography, and periodically manufacturing a three-dimensional live view aerial view of a site at each stage of a project; and sequencing the manufactured and stored three-dimensional live-action aerial view according to a time axis, generating a three-dimensional live-action evolution animation, and displaying the evolution process of the project site. The method provides effective support for fine planning, so that the scientificity and the economy of power grid planning work are comprehensively improved.
Description
Technical Field
The invention relates to the field of power grid project management, in particular to a power grid project planning method based on unmanned aerial vehicle oblique shooting.
Background
The power grid planning work is carried out based on the plane drawing, is limited by the limitation of a 2D plane, cannot visually display the space information of a site, such as the conditions of house height, tree shielding and the like, a large number of personnel need to be arranged to carry out site survey in the early stage, the consumed human resources are more, the part of site environment is complex, and certain potential safety hazards exist. In addition, GIS map data used for power grid planning is updated about once in half a year, sometimes, GIS information in partial areas cannot keep up with development and change, so that the information lacks timeliness, and an efficient, visual, intelligent, real-time and effective power grid planning auxiliary tool is needed to solve the problems.
Disclosure of Invention
The purpose of the invention is as follows: the invention aims to provide a power grid project planning method based on unmanned aerial vehicle oblique photography aiming at the defects of the prior art, and provides effective support for fine planning, so that the scientificity and the economy of power grid planning work are comprehensively improved.
The technical scheme is as follows: the power grid project planning method based on the unmanned aerial vehicle oblique camera shooting comprises project early-stage check and project engineering control; the project pre-inspection comprises three-dimensional live-action display, field monitoring calling and three-dimensional video fusion; the project engineering management and control comprises modeling version management and three-dimensional transition evolution;
aiming at the requirement of on-site survey, the three-dimensional live-action display utilizes oblique shooting, acquires pictures through aerial photography of an unmanned aerial vehicle, performs full-automatic real-action three-dimensional reconstruction of resolving and restoring a three-dimensional model from a two-dimensional picture, generates and displays a three-dimensional live-action model of a corresponding area;
the field monitoring calls monitoring signals of a field key area on the three-dimensional live-action model and marks the monitoring signals, and real-time information of the key area is displayed by triggering the marks;
the three-dimensional video fusion fuses two-dimensional monitoring video projections shot by each camera on site to a three-dimensional live-action model, and displays the three-dimensional live-action model through a desktop terminal, a display screen or wearable VR equipment for on-site inspection;
the modeling version management takes a time axis as a main line, adopts an unmanned aerial vehicle to acquire images by aerial photography, and regularly makes a three-dimensional live view aerial view of a site at each stage of a project;
and the three-dimensional transition evolution arranges the three-dimensional live-action aerial view which is manufactured and stored according to a time axis, generates a three-dimensional live-action evolution animation and shows the evolution process of the project site.
Further perfecting the technical scheme, the specific steps of generating the three-dimensional live-action model of the corresponding region comprise:
performing site reconnaissance: collecting data of the area to be detected, wherein the data comprises the geographic position of the area to be detected, the surrounding environment and the local coordinate system information set by the power grid project;
the technical design is as follows: drawing up an aerial photography flying scheme according to data collected by site survey, and carrying out shooting technical design;
image control point layout: according to basic data and requirements of a power grid project, a layout scheme of image control points is prefabricated, after the layout is completed, RTK coordinates of external control points are collected, a picture is shot, and recording is completed;
and (3) aviation planning: setting the flight height, the overlapping degree, the range and the flight time of the flight according to the standard requirements;
aerial photography: setting flight parameters, planning flight tracks and survey area ranges as required, and executing flight operation;
and (3) performing empty three calculation: importing photos and POS data acquired by an unmanned aerial vehicle into three-dimensional modeling software, submitting the three-dimensional computation, adding image control point coordinate data after the three-dimensional computation passes, performing photo pricking, and submitting the three-dimensional computation again;
model reconstruction: and after the three-dimensional results are qualified, carrying out model reconstruction to generate a three-dimensional live-action model of the corresponding area of the power grid project.
Line drawing collection: expressing a geographic information vector data set of the terrain elements in the form of points, lines, surface shapes or map specific graphic symbols by referring to the three-dimensional live-action model data;
field detection point collection: selecting a point which has certain characteristics and is easy to accurately pick on the three-dimensional live-action model, and acquiring coordinate information of the point by using measuring equipment in field work;
and (4) corresponding upper point acquisition: acquiring coordinate information of points corresponding to field works one by one on the three-dimensional live-action model;
and (3) corresponding analysis: comparing X, Y, Z values in the coordinate information of the field detection point and the corresponding point on the three-dimensional real scene model;
and (4) outputting an icon report: and calculating errors of the three coordinates and outputting a precision report.
Furthermore, the three-dimensional live-action aerial view is manufactured by adopting an unmanned aerial vehicle to carry out multi-angle all-around shooting on the scene, the shot pictures are used for establishing a digital model by using a three-dimensional platform, and then the pictures are spliced by using panoramic tool software to generate a three-dimensional scene.
Further, the unmanned aerial vehicle keeps a hovering state with a height of 50-120 meters with the ground when performing multi-angle all-round shooting on site, horizontally shoots a circle at a fixed-point hovering position, shoots a circle 45 degrees downwards in an inclined mode, vertically shoots one picture downwards, and 40% of pictures are overlapped between adjacent pictures.
Further, when the unmanned aerial vehicle executes a flight task, it is required to ensure that the flight time of the aviation planning is matched with the electric quantity of the battery, and the memory card storage space of the unmanned aerial vehicle can at least store the data of the operation of the rack.
Furthermore, when the unmanned aerial vehicle executes aerial photography operation, the flight parameters are set through Pix4D capture and Altizure software, and a flight track and a survey area range are planned.
Furthermore, the three-dimensional live-action aerial view is manufactured by adopting DronePan and Litci for DJI to carry out shooting control, adopting PTGui Pro to carry out shooting picture splicing, adopting Photoshop to carry out sky supplementation, adopting Photoshop to carry out decoration, and adopting skypixel.com and 720yun.com to carry out decoration.
Furthermore, the time axis comprises a sliding time axis and a grid-shaped tiled time axis, the sliding time axis is used for comparing the region construction conditions at different times, and the grid-shaped tiled time axis is used for tiling and displaying the three-dimensional real-scene model.
Has the advantages that: compared with the prior art, the invention has the advantages that: the invention develops relevant applications of unmanned aerial vehicle planning scenes, comprehensively utilizes emerging surveying and mapping technologies such as unmanned aerial vehicle oblique photography and airborne LiDAR, deeply collects and models the information of landform, building, environment, power grid resources and the like in relevant areas of projects, converts the digital surveying and mapping technology into information data service, fuses planning project management services, develops deep applications of three-dimensional real-scene result data, quickly realizes applications such as real-scene site selection and line selection, project early-stage inspection, project planning and arrangement, project progress investigation and the like, and provides effective support for refined planning, thereby comprehensively improving the scientificity and economy of power grid planning work.
Utilize unmanned aerial vehicle can avoid the staff to work under dangerous environment, ensured practitioner's personal safety. Simultaneously, unmanned aerial vehicle has improved work efficiency with its high efficiency, flexible, with low costs attribute, by a wide margin, has reduced the cost of labor. Through the informationized construction, the working efficiency and the planning quality of the power distribution network planning can be improved. The three-dimensional live-action modeling of the production maintenance area is shot through the unmanned aerial vehicle, the results are displayed, analyzed and reviewed under the support of the three-dimensional visualization technology, information blind areas are reduced, the guarantee information is effective in real time, the early-stage working efficiency is accelerated, the project construction period is shortened, and the cost is reduced.
Drawings
FIG. 1 is a flow of the live-action three-dimensional modeling of the present invention;
FIG. 2 is a schematic diagram of a three-dimensional panoramic photography;
FIG. 3 is a three-dimensional panoramic production tool and flow chart.
Detailed Description
The technical solution of the present invention is described in detail below with reference to the accompanying drawings, but the scope of the present invention is not limited to the embodiments.
Example 1: the power grid project planning method based on the unmanned aerial vehicle oblique camera shooting comprises project early-stage check and project progress control.
And (3) checking the project in an early stage: according to the demand of on-site survey in the power grid project early-stage verification process, modeling technologies such as oblique photography and the like are utilized, an unmanned aerial vehicle is used for carrying out aerial photography to acquire pictures, three-dimensional reconstruction is carried out, a high-precision three-dimensional live-action model of a project corresponding area is generated, on-site real-time monitoring videos are combined with the three-dimensional live-action modeling in modes such as image resource calling (on-site monitoring, picture shooting and the like), monitoring signals and three-dimensional live-action modeling fusion and the like, and are displayed in modes such as a desktop terminal, a large screen or a wearable VR device and the like, on-site verification is carried out, and project early. The work of the project pre-inspection application is divided into three-dimensional live-action display, field monitoring calling and three-dimensional video fusion.
(1) And (3) three-dimensional live-action display: and using images from the unmanned aerial vehicle or other cameras and sensors to perform full-automatic reconstruction of the real three-dimensional scene of the three-dimensional model by resolving and restoring the two-dimensional pictures, generating the three-dimensional real modeling of the corresponding region and displaying.
(2) And (3) field monitoring and calling: and marking the monitoring signals of the key areas on the three-dimensional live-action modeling, and popping up and displaying the monitoring signals of the selected areas in a mode of clicking the mark or directly selecting the range as supplementary display of real-time information of the key areas.
(3) Three-dimensional video fusion: according to the three-dimensional live-action model of the existing area, the two-dimensional monitoring videos corresponding to the cameras on site are projected and fused into the three-dimensional live-action model so as to present visual and three-dimensional visual effects. In addition, the cameras can be set and switched as needed. The immersive video projection scene display based on the three-dimensional live-action model is more convenient for distribution network planning users to link video content with the actual surrounding environment, so that the scene sense is enhanced.
Engineering progress management and control: utilize modeling technology such as oblique photography to the time axis is the mainline, record and manage the regional construction progress, use unmanned aerial vehicle to carry out the collection picture of taking photo by plane, regularly make three-dimensional live view aerial view to the accessible is dressed VR equipment and is roamed in the model, thereby knows this regional construction process. Through sliding the time axis, the construction site conditions of different times are inspected and compared, and the construction process of the region is clear at a glance through the latticed tiled time axis and the model tiled display, and specifically comprises 'modeling version management' and 'three-dimensional transition evolution'.
(1) And (3) modeling version management: and storing the three-dimensional live-action aerial view of the project area at each stage of the project according to the time nodes, and displaying the three-dimensional live-action aerial view through a time axis, wherein the time axis comprises a sliding time axis and a grid-shaped tiled time axis. By clicking each time node on the time axis, the construction condition of the regional project under the node can be checked, and the progress condition of the project till now can be known.
(2) Three-dimensional transition evolution: sequencing the stored three-dimensional live-action aerial view according to a time axis, generating a smooth three-dimensional live-action evolution animation in modes of frame insertion and the like, and displaying the evolution process of a project site by playing the animation.
At present, three-dimensional live-action modeling based on unmanned aerial vehicle oblique photography is in a rapid development stage, and the application in each field is more and more extensive and deeper, and can be extended to the aspect of public life. The rapid development of the unmanned aerial vehicle technology changes the limitation that the remote sensing photography can only shoot pictures from a vertical angle in the prior aerial measurement process, and the data acquisition is carried out from different angles through a plurality of sensors, so that abundant data resources are rapidly and efficiently obtained, the condition of a shot object is truly and objectively reflected, and the requirement for obtaining three-dimensional information is met.
The oblique photography technology has great impetus for developing intelligent city planning, and a series of ground feature information provided by the oblique photography technology can construct a three-dimensional city model, so that convenience is provided for intelligent management. At present, oblique photography technology has been widely applied in the field of power transmission and transformation, mainly including:
1) the method comprises the steps of constructing a real-scene three-dimensional model of a power transmission line path channel, completing macro control of the power transmission line channel, and realizing the work of routing inspection maintenance and line later-stage line change reconstruction of the power transmission line channel according to a space analysis function;
2) in the early stage of a power transformation project, three-dimensional modeling is carried out on a planning area in a research stage to obtain a real three-dimensional model in the planning area, and three-dimensional design planning work of relevant sites such as a transformer substation is carried out through three-dimensional design software;
with the continuous development of the technology, compared with the problems mainly faced by the previous oblique photography development, the efficiency of unmanned aerial vehicle data acquisition is rapidly increased, the large-scale large-scene modeling processing technology is also rapidly improved, the results from the single previous product mode to the current stage are various, and the application scenes and the application modes of the three-dimensional oblique model are more and more.
In order to complete the three-dimensional live-action modeling of the project, an overall process from data acquisition to data modeling needs to be implemented, as shown in fig. 1, the specific process is as follows:
performing site reconnaissance: firstly, relevant data collection is carried out on a measuring area, including the geographical position of the measuring area, the surrounding environment of the measuring area and the local coordinate system information set by engineering, site reconnaissance is carried out, the collected data are analyzed, an field aerial photography flight scheme is drawn up, and relevant technical design is carried out.
Image control point layout: and (4) according to the basic data and requirements of the project, referring to the Olympic interactive map, considering the feasibility of actual point distribution, and pre-making a distribution scheme of the image control points. In general, the layout requirements are as follows:
1) at least 4 external control points are distributed, namely four corners are distributed and should be uniformly distributed, and the external control points should be added at the positions with larger topographic relief changes;
2) a certain amount of check points are laid besides a certain amount of external control points;
3) external control points can be reduced properly by using only planar results.
After the arrangement is completed, RTK coordinates of the external control points need to be collected, photos are taken, and records of the points.
Planning a route: according to the specification, the resolution is less than or equal to 5cm corresponding to 1:500, and the corresponding precision is about 3 times of the resolution. Therefore, to obtain topographic maps with different scales, the corresponding flight settings are different, and the specific setting principle is as follows:
1) height of the ship: scale and resolution;
2) overlapping degree: 80% of course and 50-70% of lateral direction;
3) the range is as follows: must be larger than the actual measurement area range;
4) time of flight: the control is within 15 minutes.
Aerial photography: in the implementation process of the field aviation flight, aviation flight parameters need to be set in advance on one hand, so that the acquired image data can meet the requirement of the scale of the survey map. On the other hand, the aviation flight track and the survey area range need to be planned as required, and the aviation flight track and the survey area range are mainly realized by two types of related mobile phone application software Pix4D capture and Altizure.
Commonly used functions mainly include GRID For 2D maps (orthographic) and DOUBLE GRID For 3 dmodes (oblique) to ensure that our work coverage is comprehensive. Opening GRID For 2D maps software, clicking to enter, creating a new project, and setting parameters; and (5) opening the Altizure software, selecting acquisition and entering a task operation menu.
After the flight work is ready, the flight work can be carried out, and attention needs to be paid to that: the planned flight time is matched with the electric quantity of the battery before flight, and meanwhile, a memory card of the airplane needs to check whether enough storage space exists for storing the operation data of the shelf, so that useless work caused by repeated operation is avoided.
Data processing and real three-dimensional model generation:
1) image data space-three calculation: and importing the photo and the POS data into three-dimensional modeling software, and submitting the three-dimensional modeling software to the space-three calculation. After the calculation of the blank three is passed, adding coordinate data of image control points, carrying out photo pricking, and submitting the blank three calculation again;
2) and (3) reconstructing a three-dimensional model: and (4) entering a model reconstruction production link after the empty three fruits are qualified. The general project adopts the standard OSGB format, the universality is better, and the supported software is more.
Line drawing collection: expressing a geographic information vector data set of the terrain elements in the form of points, lines, surface shapes or map specific graphic symbols by referring to the three-dimensional live-action model data;
field detection point collection: selecting a point which has characteristics and is easy to accurately pick on the three-dimensional live-action model, and acquiring coordinate information of the point by using measuring equipment in field;
and (4) corresponding upper point acquisition: acquiring coordinate information of points corresponding to field works one by one on the three-dimensional live-action model;
and (3) corresponding analysis: comparing X, Y, Z values in the coordinate information of the field detection point and the corresponding point on the three-dimensional real scene model;
and (4) outputting an icon report: and calculating errors of the three coordinates and outputting a precision report.
Digital precision detection: the method aims at detecting the precision of the geographic coordinates, and the purpose of detection is to accurately fuse a design model and a three-dimensional real scene model and more accurately compare schemes of site selection and line selection of the transformer substation. The method comprises plane precision detection and elevation precision detection.
And (5) a precision detection calculation method. And calculating the data after the plane precision and the elevation precision of the ground object points are detected by adopting a high-precision detection formula as follows:
in the above formula, M represents the error in the outcome; n is the total number of check points; deltaiIs poor. Error values within 2 times (including 2 times) of the allowable median error all participate in the mathematical precision statistics, and errors exceeding 2 times of the allowable median error are regarded as gross errors.
Through the process, deep acquisition modeling can be performed on information such as terrain, buildings, environment, power grid resources and the like of the whole area, the function of converting a digital mapping technology into an information data service is realized, planning project management services are fused, deep application is performed on three-dimensional real-scene achievement data, application such as real-scene site selection line selection, project early-stage verification, project planning arrangement, project progress investigation and the like is rapidly realized, and effective support is provided for fine planning.
The three-dimensional panoramic technology is a virtual reality branch which is rapidly developed and gradually popular at present, and is a static-based virtual reality technology. The method utilizes computer technologies such as digital image processing and the like to process the image of the live-action photo, establishes a virtual environment based on the live-action photo shot on the spot, completes the creation of virtual reality according to the modes of photo shooting, digitalization, image splicing and scene generation, is simpler and more practical, provides simulation of sense organs such as vision, hearing, touch and the like with vivid effect for a user, enables the user to have the same experience as the user, and can observe the things in a three-dimensional space in time without limitation.
And (3) three-dimensional panoramic production: the three-dimensional live-action aerial view is also called 360-degree panoramic view and panoramic all-around view, and is a three-dimensional virtual display technology which is completed by carrying out multi-angle all-around shooting on the existing scene by using a digital camera, then carrying out post stitching by using a computer and loading a playing program. After a plurality of photos shot from multiple angles are obtained, a digital model is established by using a professional three-dimensional platform, and then panoramic tool software is used for manufacturing. The user can watch the user on a common computer by using an IE browser or playing software, and controls the observation angle by using a mouse, so that the user can adjust the distance at will, and the user can feel as if the user is in a real environment to obtain a brand-new feeling.
In order to realize the checking of the project progress and the change analysis of the project overview in the time scale, the project needs to be subjected to the three-dimensional live-action aerial view production in different time periods and multiple periods. The shooting working principle is shown in fig. 2, the unmanned aerial vehicle is required to keep a hovering state with a height of 50-120 meters with the ground when performing multi-angle all-round shooting on the scene, horizontally shoot a circle at a fixed-point hovering position, shoot a circle at an inclined angle of 45 degrees downwards, vertically shoot one picture at a downward angle, and 40% of pictures are overlapped between adjacent pictures.
Generally, compared with a general effect graph and a three-dimensional animation, the three-dimensional live-action aerial view has the following advantages:
1) the defects that the common plane effect graph has a single visual angle and cannot bring all-around feeling are avoided, and the picture effect is completely the same as that of the common effect graph when the machine is played;
2) the interactivity is strong, a user can interactively observe a scene from any angle, the scene is as if the user is personally on the scene, the finally designed result is really felt, and the method is different from three-dimensional animation lacking interactivity;
3) the price is only slightly higher than that of the common effect picture, and the three-dimensional animation is economical and practical compared with hundreds of yuan per second at great distance and has short manufacturing period;
4) all: all-around shows all scenes in a 360-degree spherical range, and can be dragged by pressing a left mouse button in an example to watch all directions of a scene;
5) scene: the real scene is a real scene, and the three-dimensional real scene is mostly an image obtained by splicing on the basis of a photo, so that the reality of the scene is kept to the maximum extent;
6)360: although the photos are planar, 360-degree panoramic views obtained through software processing can give a three-dimensional space feeling to a viewer as if the viewer is in the three-dimensional space feeling.
As shown in fig. 3, a main manufacturing tool at present manufactures a three-dimensional panorama of a test point region in different time periods, and analyzes a specific evolution process of the region in a time period on a time axis, and has main functions of:
1) the engineering investigation progress of each stage of construction is known, and three-dimensional visual recording and archiving are carried out on the engineering investigation progress;
2) recording and archiving the panoramic visualization of project completion;
3) performing most intuitive and vivid result display on related items of the test point area;
4) the method is used for comparative display during the development of the intermediate project (effect of each stage from the front to the rear of the project construction);
5) and a three-dimensional visualization system is built, and a comprehensive solution for intelligent planning demonstration is provided.
As noted above, while the present invention has been shown and described with reference to certain preferred embodiments, it is not to be construed as limited thereto. Various changes in form and detail may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (8)
1. A power grid project planning method based on unmanned aerial vehicle oblique shooting is characterized by comprising project early-stage check and project engineering management and control; the project pre-inspection comprises three-dimensional live-action display, field monitoring calling and three-dimensional video fusion; the project engineering management and control comprises modeling version management and three-dimensional transition evolution;
aiming at the requirement of on-site survey, the three-dimensional live-action display utilizes oblique shooting, acquires pictures through aerial photography of an unmanned aerial vehicle, performs full-automatic real-action three-dimensional reconstruction of resolving and restoring a three-dimensional model from a two-dimensional picture, generates and displays a three-dimensional live-action model of a corresponding area;
the field monitoring calls monitoring signals of a field key area on the three-dimensional live-action model and marks the monitoring signals, and real-time information of the key area is displayed by triggering the marks;
the three-dimensional video fusion fuses two-dimensional monitoring video projections shot by each camera on site to a three-dimensional live-action model, and displays the three-dimensional live-action model through a desktop terminal, a display screen or wearable VR equipment for on-site inspection;
the modeling version management takes a time axis as a main line, adopts an unmanned aerial vehicle to acquire images by aerial photography, and regularly makes a three-dimensional live view aerial view of a site at each stage of a project;
and the three-dimensional transition evolution arranges the three-dimensional live-action aerial view which is manufactured and stored according to a time axis, generates a three-dimensional live-action evolution animation and shows the evolution process of the project site.
2. The power grid project planning method based on unmanned aerial vehicle oblique photography according to claim 1, characterized in that: the specific steps of generating the three-dimensional live-action model of the corresponding region comprise:
performing site reconnaissance: collecting data of the area to be detected, wherein the data comprises the geographic position of the area to be detected, the surrounding environment and the local coordinate system information set by the power grid project;
the technical design is as follows: drawing up an aerial photography flying scheme according to data collected by site survey, and carrying out shooting technical design;
image control point layout: according to basic data and requirements of a power grid project, a layout scheme of image control points is prefabricated, after the layout is completed, RTK coordinates of external control points are collected, a picture is shot, and recording is completed;
and (3) aviation planning: setting the flight height, the overlapping degree, the range and the flight time of the flight according to the standard requirements;
aerial photography: setting flight parameters, planning flight tracks and survey area ranges as required, and executing flight operation;
and (3) performing empty three calculation: importing photos and POS data acquired by an unmanned aerial vehicle into three-dimensional modeling software, submitting the three-dimensional computation, adding image control point coordinate data after the three-dimensional computation passes, performing photo pricking, and submitting the three-dimensional computation again;
model reconstruction: after the empty three fruits are qualified, carrying out model reconstruction to generate a three-dimensional live-action model of the area corresponding to the power grid project;
line drawing collection: expressing a geographic information vector data set of the terrain elements in the form of points, lines, surface shapes or map specific graphic symbols by referring to the three-dimensional live-action model data;
field detection point collection: selecting a point which has characteristics and is easy to accurately pick on the three-dimensional live-action model, and acquiring coordinate information of the point by using measuring equipment in field;
and (4) corresponding upper point acquisition: acquiring coordinate information of points corresponding to field works one by one on the three-dimensional live-action model;
and (3) corresponding analysis: comparing X, Y, Z values in the coordinate information of the field detection point and the corresponding point on the three-dimensional real scene model;
and (4) outputting an icon report: and calculating errors of the three coordinates and outputting a precision report.
3. The power grid project planning method based on unmanned aerial vehicle oblique photography according to claim 1, characterized in that: the three-dimensional live-action aerial view is manufactured by adopting an unmanned aerial vehicle to carry out multi-angle all-around shooting on the scene, a digital model is built on the shot pictures by using a three-dimensional platform, and then the pictures are spliced by using panoramic tool software to generate a three-dimensional scene.
4. The power grid project planning method based on unmanned aerial vehicle oblique photography of claim 3, characterized in that: the unmanned aerial vehicle keeps a hovering state with a height of 50-120 meters with the ground when performing multi-angle panoramic shooting on the scene, horizontally shoots a circle, obliquely shoots a circle downwards by 45 degrees, vertically shoots a piece downwards at a fixed-point hovering position, and 40% of pictures are overlapped between adjacent pictures.
5. The power grid project planning method based on unmanned aerial vehicle oblique photography according to claim 2, characterized in that: when the unmanned aerial vehicle executes a flight task, it is required to ensure that the flight time of aviation planning is matched with the electric quantity of a battery, and the data of the operation of the rack can be at least stored in the memory card storage space of the unmanned aerial vehicle.
6. The power grid project planning method based on unmanned aerial vehicle oblique photography according to claim 2, characterized in that: when the unmanned aerial vehicle executes aerial photography operation, aviation flight parameters are set through Pix4D capture and Altizure software, and an aviation flight track and a survey area range are planned.
7. The power grid project planning method based on unmanned aerial vehicle oblique photography of claim 3, characterized in that: the three-dimensional live-action aerial view is manufactured by adopting DronePan and Litchi for DJI to carry out shooting control, adopting PTGui Pro to carry out shooting picture splicing, adopting Photoshop to carry out sky supplementation, adopting Photoshop to carry out decoration and adopting skypixel.com and 720yun.com to carry out decoration.
8. The power grid project planning method based on unmanned aerial vehicle oblique photography according to claim 1, characterized in that: the time axis comprises a sliding time axis and a latticed tiled time axis, the sliding time axis is used for comparing the region construction conditions at different times, and the latticed tiled time axis is used for tiling and displaying the three-dimensional live-action model.
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| CN112947576A (en) * | 2021-03-17 | 2021-06-11 | 四川一电航空技术有限公司 | Unmanned aerial vehicle inspection method, device and system and computer readable storage medium |
| CN112950763A (en) * | 2021-03-04 | 2021-06-11 | 国网河北省电力有限公司经济技术研究院 | Live-action modeling method in transformer substation engineering |
| CN113340277A (en) * | 2021-06-18 | 2021-09-03 | 深圳市武测空间信息有限公司 | High-precision positioning method based on unmanned aerial vehicle oblique photography |
| CN113554747A (en) * | 2021-07-28 | 2021-10-26 | 上海大风技术有限公司 | Unmanned aerial vehicle inspection data viewing method based on three-dimensional model |
| CN113650783A (en) * | 2021-07-08 | 2021-11-16 | 江苏省地质测绘院 | Fixed wing oblique photography cadastral mapping method, system and equipment |
| CN114362042A (en) * | 2021-12-16 | 2022-04-15 | 浙江大学德清先进技术与产业研究院 | Unmanned aerial vehicle inclination three-dimensional-based power inspection method |
| CN114662985A (en) * | 2022-04-19 | 2022-06-24 | 武汉广旺科技有限公司 | Mountain area power engineering site selection method and device based on oblique photography modeling and computer storage medium |
| CN115657706A (en) * | 2022-09-22 | 2023-01-31 | 中铁八局集团第一工程有限公司 | Landform measuring method and system based on unmanned aerial vehicle |
| CN116316233A (en) * | 2023-05-17 | 2023-06-23 | 广东电网有限责任公司江门供电局 | Intelligent substation inspection system, method, equipment and storage medium |
| CN116844074A (en) * | 2023-07-25 | 2023-10-03 | 北京爱科农科技有限公司 | Panoramic display linkage method for three-dimensional scene and key area of orchard |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112950763A (en) * | 2021-03-04 | 2021-06-11 | 国网河北省电力有限公司经济技术研究院 | Live-action modeling method in transformer substation engineering |
| CN112947576A (en) * | 2021-03-17 | 2021-06-11 | 四川一电航空技术有限公司 | Unmanned aerial vehicle inspection method, device and system and computer readable storage medium |
| CN113340277A (en) * | 2021-06-18 | 2021-09-03 | 深圳市武测空间信息有限公司 | High-precision positioning method based on unmanned aerial vehicle oblique photography |
| CN113650783A (en) * | 2021-07-08 | 2021-11-16 | 江苏省地质测绘院 | Fixed wing oblique photography cadastral mapping method, system and equipment |
| CN113554747A (en) * | 2021-07-28 | 2021-10-26 | 上海大风技术有限公司 | Unmanned aerial vehicle inspection data viewing method based on three-dimensional model |
| CN114362042A (en) * | 2021-12-16 | 2022-04-15 | 浙江大学德清先进技术与产业研究院 | Unmanned aerial vehicle inclination three-dimensional-based power inspection method |
| CN114662985A (en) * | 2022-04-19 | 2022-06-24 | 武汉广旺科技有限公司 | Mountain area power engineering site selection method and device based on oblique photography modeling and computer storage medium |
| CN114662985B (en) * | 2022-04-19 | 2022-12-27 | 佛山电力设计院有限公司 | Mountain area power engineering site selection method and device based on oblique photography modeling and computer readable storage medium |
| CN115657706A (en) * | 2022-09-22 | 2023-01-31 | 中铁八局集团第一工程有限公司 | Landform measuring method and system based on unmanned aerial vehicle |
| CN116316233A (en) * | 2023-05-17 | 2023-06-23 | 广东电网有限责任公司江门供电局 | Intelligent substation inspection system, method, equipment and storage medium |
| CN116844074A (en) * | 2023-07-25 | 2023-10-03 | 北京爱科农科技有限公司 | Panoramic display linkage method for three-dimensional scene and key area of orchard |
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