CN112799422A - Unmanned aerial vehicle flight control method and device for power inspection - Google Patents
Unmanned aerial vehicle flight control method and device for power inspection Download PDFInfo
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- CN112799422A CN112799422A CN202110365262.8A CN202110365262A CN112799422A CN 112799422 A CN112799422 A CN 112799422A CN 202110365262 A CN202110365262 A CN 202110365262A CN 112799422 A CN112799422 A CN 112799422A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- 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
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- 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
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
Abstract
The invention discloses an unmanned aerial vehicle flight control method and device for power inspection and an unmanned aerial vehicle, wherein the method comprises the following steps: controlling the unmanned aerial vehicle to fly above the tower to be detected; adjusting the posture of the unmanned aerial vehicle to enable a target course angle of the unmanned aerial vehicle to face one side of the tower to be detected; determining the horizontal safe distance of the tower to be detected; controlling the unmanned aerial vehicle to translate towards one side of the tower to be detected for a horizontal flight safety distance, and then controlling the unmanned aerial vehicle to vertically descend at a preset speed; detecting a target object and collecting a target object image in the vertical descending process; the method can effectively reduce the cost of manpower and material resources for routing inspection planning.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to a flight control method and device of an unmanned aerial vehicle for power inspection.
Background
The existing automatic electric power inspection planning of the unmanned aerial vehicle can be used for automatic inspection after the flight route of the unmanned aerial vehicle is planned in advance, the automatic electric power inspection planning mainly comprises two modes of manually teaching a flight point generation route and planning the flight route by using a GIS point cloud map, the manually teaching the flight point generation route requires workers to carry unmanned aerial vehicle equipment to go to the site to photograph all inspection points of an inspection target, an unmanned aerial vehicle flight route file is generated and stored and the site route is verified, and when the subsequent fine inspection is carried out, the unmanned aerial vehicle can directly load the flight route file of the inspection target to carry out route re-flight to complete the inspection of the. The GIS point cloud map track planning firstly needs to manually control an unmanned aerial vehicle to carry a laser radar to carry out laser scanning on a target in a field to generate a point cloud map, and then manually mark a flight point on the three-dimensional point cloud map to generate an unmanned aerial vehicle flight route. When the unmanned aerial vehicle patrols and examines, the power equipment is patrolled and examined according to the air route generated on the point cloud map. Therefore, according to any method, large manpower and material resources are needed to be used for early preparation for realizing full-automatic inspection, the intelligent degree is low, and the cost is high.
In addition, unmanned aerial vehicle is patrolling and examining the in-process in carrying out the electric wire netting shaft tower becomes more meticulous, because cloud platform camera parameter, self positioning accuracy, camera cloud platform rotation accuracy scheduling problem, unmanned aerial vehicle patrols and examines the waypoint position and can have certain deviation, can lead to the target to shoot incomplete or unclear phenomenon when shooing to influence subsequent image processing and target object defect identification's accuracy.
Disclosure of Invention
The invention provides an unmanned aerial vehicle flight control method and device for power inspection, which can effectively reduce the manpower and material resource investment of automatic inspection planning and effectively reduce the cost.
An unmanned aerial vehicle flight control method for power inspection comprises the following steps:
controlling the unmanned aerial vehicle to fly above the tower to be detected;
adjusting the posture of the unmanned aerial vehicle to enable a target course angle of the unmanned aerial vehicle to face one side of the tower to be detected;
determining the horizontal safety distance of the tower to be detected according to the position information of the unmanned aerial vehicle and the position information of the tower to be detected;
controlling the unmanned aerial vehicle to move horizontally towards one side of the tower to be detected and fly for the horizontal safe distance, and then controlling the unmanned aerial vehicle to vertically descend at a preset speed;
and in the vertical descending process, detecting a target object and acquiring a target object image.
Further, the target course angle of the unmanned aerial vehicle is calculated by the following formula:
wherein the content of the first and second substances,
is the target course angle of the drone,
for the resolved heading angle of the drone,
is the deviation angle of the unmanned aerial vehicle and the target direction.
Further, the horizontal safety distance of the tower to be detected is calculated through the following formula:
wherein D is the horizontal safe distance of the tower to be detected, R is the radius of the earth,
and
respectively the longitude and latitude of the drone location,
and
respectively the longitude and the latitude of the position of the tower to be detected.
Further, in the vertical descending process, detecting the target object and acquiring the image of the target object, including:
detecting whether a target object appears in a camera picture;
after a target object appears in a camera picture, performing frame selection on the target object to acquire two diagonal coordinates of a selection frame;
calculating the center coordinate of the selection frame according to the two diagonal coordinates;
and generating a pan-tilt control signal to control the pan-tilt to rotate according to the central coordinates of the selection frame, so that the target object is located at the center of the camera picture.
Further, after the target object appears in the camera picture, the method further comprises:
scanning a target object through a laser radar, and resolving a first relative position of the target object and the unmanned aerial vehicle; or calculating a second relative position of the target object and the unmanned aerial vehicle through the angle of the target object in the camera picture;
according to the first relative position or the second relative position of the target object and the unmanned aerial vehicle, the unmanned aerial vehicle is adjusted to a preset shooting position.
Further, the relationship between the first relative position of the unmanned aerial vehicle and the target object obtained by scanning the target object with the laser radar is as follows:
wherein X, Y, Z is the coordinate of the target object in the coordinate system of the unmanned aerial vehicle,
is the distance between the target object and the lidar,
is the installation angle of the laser radar,
in order to set the installation height of the laser radar,
is a scanning angle;
the relationship of the second relative positions of the target object and the drone is as follows:
wherein the content of the first and second substances,
、
、
the pitch angle, the yaw angle and the roll angle of the tripod head are respectively;
is the angle of the target object relative to the drone,
is the angle of the object in the camera view.
Further, the center coordinates of the selection box are calculated by the following formula:
wherein the content of the first and second substances,
and
in order to select the two diagonal coordinates of the box,
is the center coordinate of the selection box.
Further, generating a pan-tilt control signal to control the pan-tilt to rotate according to the center coordinates of the selection frame, so that the target is located at the center of the camera image, including:
calculating a rotation angle required by the target object to be positioned in the camera picture center cradle head according to the center coordinates of the selection frame;
and generating the cradle head control signal according to the rotation angle required by the cradle head to control the rotation of the cradle head.
Further, the required rotation angle of the holder comprises a rotation angle required in the horizontal direction and an angle required in the longitudinal rotation; the required rotation angle in the horizontal direction and the required angle in the longitudinal direction are calculated by the following formula:
wherein the content of the first and second substances,
the required angle of rotation for the horizontal direction,
in order to rotate the required angle in the longitudinal direction,
w is the camera frame width, H is the camera frame height,
the actual focal length of the camera is taken as the width of the pixel;
the pixel width is calculated by the following formula:
length is the diagonal Length of the photosensitive element of the camera,
is the equivalent focal length of the camera.
An unmanned aerial vehicle flight control for power inspection, comprising:
the initial control module is used for controlling the unmanned aerial vehicle to fly above the tower to be detected;
the adjusting module is used for adjusting the posture of the unmanned aerial vehicle to enable a target course angle of the unmanned aerial vehicle to face one side of the tower to be detected;
the distance determining module is used for determining the horizontal safety distance of the tower to be detected according to the position information of the unmanned aerial vehicle and the position information of the tower to be detected;
the inspection control module is used for controlling the unmanned aerial vehicle to horizontally move towards one side of the tower to be inspected and fly for the horizontal safe distance, and then controlling the unmanned aerial vehicle to vertically descend at a preset speed;
and the target detection module is used for detecting a target object and acquiring a target object image in the vertical descending process.
The invention provides an unmanned aerial vehicle flight control method and device for power inspection, which at least have the following beneficial effects:
(1) the inspection planning only needs to determine an inspection starting point according to the position information of the tower to be inspected, then the target is detected and the image of the target is collected in the descending process of the unmanned aerial vehicle, manual demonstration of the waypoint and manual marking of the waypoint are not needed, manpower and material resources for automatic inspection planning are effectively saved, the intelligent degree is high, and the production cost is effectively reduced;
(2) the cloud platform control signal is generated through calculation to adjust the cloud platform, so that the target object is located in the center of the camera picture, the image of the target object is collected at the moment, the obtained target object is more complete and clear, and the accuracy of subsequent image processing and target object defect identification is improved.
Drawings
Fig. 1 is a flowchart of an embodiment of a method for controlling the flight of an unmanned aerial vehicle for power inspection according to the present invention.
Fig. 2 is a schematic diagram of a patrol starting point in an application scenario in the unmanned aerial vehicle flight control method for power patrol provided by the invention.
Fig. 3 is a schematic structural diagram of an embodiment of the unmanned aerial vehicle flight control device for power inspection provided by the invention.
Fig. 4 is a schematic structural diagram of an embodiment of the unmanned aerial vehicle for power inspection provided by the invention.
Detailed Description
In order to better understand the technical solution, the technical solution will be described in detail with reference to the drawings and the specific embodiments.
Referring to fig. 1, in some embodiments, there is provided a method of drone flight control for power routing inspection, comprising:
s1, controlling the unmanned aerial vehicle to fly above the tower to be detected;
s2, adjusting the posture of the unmanned aerial vehicle to enable the target course angle of the unmanned aerial vehicle to face one side of the tower to be detected;
s3, determining the horizontal safety distance of the tower to be detected according to the position information of the unmanned aerial vehicle and the position information of the tower to be detected;
s4, controlling the unmanned aerial vehicle to move horizontally towards one side of the tower to be detected and fly for the horizontal safe distance, and then controlling the unmanned aerial vehicle to vertically descend at a preset speed;
and S5, detecting the target object and acquiring the image of the target object in the vertical descending process.
Specifically, in step S1, control unmanned aerial vehicle to fly to the tower top of examining, include:
s11, determining the coordinate of the position above the tower to be detected according to the height information and the position information of the tower to be detected;
s12, controlling the unmanned aerial vehicle to fly above the tower to be detected according to the coordinates of the position above the tower to be detected.
The height information of the tower to be detected and the position information of the tower to be detected are obtained in advance, and the safe height distances of different types of towers are different. The position information of the tower to be detected comprises a GPS coordinate or an RTK coordinate, the GPS coordinate or the RTK coordinate of the tower to be detected is converted into a coordinate under an unmanned aerial vehicle coordinate system, the height of the tower to be detected and the safe height distance are added, a longitudinal coordinate is obtained, and therefore the coordinate of the position above the tower to be detected is obtained.
Further, in step S2, the target heading angle of the drone is calculated by the following formula:
；（1）
wherein the content of the first and second substances,
is the target course angle of the drone,
for the resolved heading angle of the drone,
is the deviation angle of the unmanned aerial vehicle and the target direction.
Further, in step S3, the horizontal safe distance of the tower to be detected is calculated according to the following formula:
wherein D is the horizontal safe distance of the tower to be detected, R is the radius of the earth,
and
respectively the longitude and latitude of the drone location,
and
respectively the longitude and the latitude of the position of the tower to be detected.
Further, in step S4, the unmanned aerial vehicle is controlled to move horizontally towards one side of the tower to be inspected and fly for the horizontal safety distance to reach the inspection starting point, and then the unmanned aerial vehicle is controlled to vertically descend at a preset speed.
The following further describes a specific application scenario.
Referring to fig. 2, the tower to be inspected is 100, and unmanned aerial vehicle be located a point, and horizontal safe distance is L, and unmanned aerial vehicle translation horizontal safe distance is located B point behind the L, and B point is for patrolling and examining the starting point, descends according to the speed of predetermineeing perpendicularly after arriving B point.
Further, in step S5, during the vertical descent process of the drone, detecting a target object and acquiring an image of the target object, specifically including:
s51, detecting whether a target object appears in the camera picture;
s52, after the target object appears in the camera picture, performing frame selection on the target object to acquire two diagonal coordinates of the selection frame;
s53, calculating the center coordinates of the selection frame according to the two diagonal coordinates;
and S54, generating a pan-tilt control signal to control the pan-tilt to rotate according to the center coordinates of the selection frame, so that the target is located at the center of the camera picture.
Specifically, after a target object appears in the camera picture, the target object is subjected to frame selection, the center coordinate of the selection frame is calculated, the required rotation angle of the cradle head for enabling the target object to be located at the center of the camera picture is calculated according to the center coordinate, and a cradle head control signal is generated.
Further, in step S51, acquiring an image by a camera, and performing target object recognition based on the YOLOv5 model; the target objects include but are not limited to insulators, cross arm hanging points, wire hanging points and the like.
As an optional implementation manner, after the target object appears in the camera frame, the method further includes:
scanning a target object through a laser radar, and resolving a first relative position of the target object and the unmanned aerial vehicle; or calculating a second relative position of the target object and the unmanned aerial vehicle through the angle of the target object in the camera picture;
according to the first relative position or the second relative position of the target object and the unmanned aerial vehicle, the unmanned aerial vehicle is adjusted to a preset shooting position.
The relationship between the first relative position of the target object and the unmanned aerial vehicle obtained by scanning the target object with the laser radar is as follows:
wherein X, Y, Z is the coordinate of the target object in the coordinate system of the unmanned aerial vehicle,
is the distance between the target object and the lidar,
is the installation angle of the laser radar,
in order to set the installation height of the laser radar,
is a scanning angle;
the relationship of the second relative positions of the target object and the drone is as follows:
wherein the content of the first and second substances,
、
、
the pitch angle, the yaw angle and the roll angle of the tripod head are respectively;
is the angle of the target object relative to the drone,
is the angle of the object in the camera view.
According to the shooting specification of a power grid, shooting a target object at multiple angles is sometimes required, for example, the target object is directly in front of, directly above, directly below, obliquely above, obliquely below and the like, the target object is scanned through a laser radar, a first relative position of the target object and an unmanned aerial vehicle is solved, namely a coordinate of the target object under an unmanned aerial vehicle coordinate system, the position of the unmanned aerial vehicle can be adjusted according to the coordinate, so that the unmanned aerial vehicle is located at a preset shooting position, and the preset shooting position comprises the target object directly in front of, directly above, directly below, obliquely above, obliquely below and the like; or, still can obtain the angle of target object relative unmanned aerial vehicle according to the angle of target object in the camera picture, adjust unmanned aerial vehicle's position through this angle for unmanned aerial vehicle is located and predetermines the shooting position.
Further, in step S52, in the camera coordinate system, the target object is framed, the selection frame is rectangular, and two diagonal coordinates of the selection frame are obtained, each of which is a coordinate of the target object
And
。
further, in step S53, the center coordinates of the selection box are calculated according to the two diagonal coordinates, and the center coordinates of the selection box are calculated according to the following formula:
wherein the content of the first and second substances,
and
in order to select the two diagonal coordinates of the box,
is the center coordinate of the selection box.
Specifically, in step S54, generating a pan/tilt control signal to control the pan/tilt rotation according to the center coordinates of the selection frame, so that the target is located at the center of the camera image, including:
calculating a rotation angle required by the target object to be positioned in the camera picture center cradle head according to the center coordinates of the selection frame;
and generating the cradle head control signal according to the rotation angle required by the cradle head to control the rotation of the cradle head.
Calculating a rotation angle required by the target object to be positioned in the camera picture center cradle head according to the center coordinates of the selection frame; the required rotation angle of the holder comprises a rotation angle required by the horizontal direction and a rotation angle required by the longitudinal rotation, and is specifically calculated by the following formula:
wherein the content of the first and second substances,
the required angle of rotation for the horizontal direction,
in order to rotate the required angle in the longitudinal direction,
w is the camera frame width, H is the camera frame height,
the actual focal length of the camera is taken as the width of the pixel;
the pixel width is calculated by the following formula:
length is the diagonal Length of the photosensitive element of the camera,
is the equivalent focal length of the camera.
After the holder is rotated, the target object is located in the center of the camera picture, the image of the target object is collected at the moment, the obtained target object is more complete and clear, and the accuracy of subsequent image processing and target object defect identification is improved.
The method provided by the embodiment at least comprises the following beneficial effects:
(1) the inspection planning only needs to determine an inspection starting point according to the position information of the tower to be inspected, then the target is detected and the image of the target is collected in the descending process of the unmanned aerial vehicle, manual demonstration of the waypoint and manual marking of the waypoint are not needed, manpower and material resources for automatic inspection planning are effectively saved, the intelligent degree is high, and the production cost is effectively reduced;
(2) the cloud platform control signal is generated through calculation to adjust the cloud platform, so that the target object is located in the center of the camera picture, the image of the target object is collected at the moment, the obtained target object is more complete and clear, and the accuracy of subsequent image processing and target object defect identification is improved.
Referring to fig. 3, in some embodiments, there is provided a drone flight control for power routing inspection comprising:
the initial control module 201 is used for controlling the unmanned aerial vehicle to fly above the tower to be detected;
the adjusting module 202 is used for adjusting the posture of the unmanned aerial vehicle to enable a target course angle of the unmanned aerial vehicle to face one side of the tower to be detected;
the distance determining module 203 is used for determining the horizontal safety distance of the tower to be detected according to the position information of the unmanned aerial vehicle and the position information of the tower to be detected;
the inspection control module 204 is used for controlling the unmanned aerial vehicle to horizontally move towards one side of the tower to be inspected and fly for the horizontal safe distance, and then controlling the unmanned aerial vehicle to vertically descend at a preset speed;
and the target detection module 205 is used for detecting a target object and acquiring a target object image in the vertical descending process.
Specifically, the initial control module 201 is further configured to determine a coordinate of a position above the tower to be detected according to the height information and the position information of the tower to be detected; and controlling the unmanned aerial vehicle to fly to the position above the tower to be detected according to the coordinates of the position above the tower to be detected.
The height information of the tower to be detected and the position coordinate information of the tower to be detected are obtained in advance, and the safe height distances of different types of towers are different. The position information of the tower to be detected comprises a GPS coordinate or an RTK coordinate, the GPS coordinate or the RTK coordinate of the tower to be detected is converted into a coordinate under an unmanned aerial vehicle coordinate system, the height of the tower to be detected and the safe height distance are added, a longitudinal coordinate is obtained, and therefore the coordinate of the position above the tower to be detected is obtained.
Further, the adjusting module 202 calculates a target heading angle of the drone by equation (1).
Further, the distance determining module 203 determines the horizontal safe distance of the tower to be detected by the formula (2).
Further, the target detection module 205 is configured to detect whether a target object appears in the camera frame; after a target object appears in a camera picture, performing frame selection on the target object to acquire two diagonal coordinates of a selection frame; calculating the center coordinate of the selection frame according to the two diagonal coordinates; and generating a pan-tilt control signal to control the pan-tilt to rotate according to the central coordinates of the selection frame, so that the target object is located at the center of the camera picture.
Further, the target detection module 205 is further configured to calculate, according to the center coordinate of the selection box, a rotation angle required for enabling the target object to be located at the center of the camera image cradle head; and generating the cradle head control signal according to the rotation angle required by the cradle head to control the rotation of the cradle head.
Wherein the target objects include but are not limited to insulators, cross arm hanging points and wire hanging points.
Further, the target detection module 205 is further configured to select a rectangular selection frame for the target object, and obtain two diagonal coordinates of the selection frame, where the two diagonal coordinates are respectively
And
。
and calculating the center coordinate of the selection frame according to the two diagonal coordinates, wherein the center coordinate of the selection frame is calculated through a formula (7) and a formula (8).
The required rotation angle of the holder comprises a rotation angle required in the horizontal direction and a rotation angle required in the longitudinal direction, and is specifically calculated through a formula (9) -a formula (12).
After the holder is rotated, the target object is located in the center of the camera picture, the image of the target object is collected at the moment, the obtained target object is more complete and clear, and the accuracy of subsequent image processing and target object defect identification is improved.
In addition, the device further comprises a relative position adjusting module 206, which is used for scanning the target object through a laser radar after the target object appears in the plane picture, and resolving a first relative position of the target object and the unmanned plane; or calculating a second relative position of the target object and the unmanned aerial vehicle through the angle of the target object in the camera picture; according to the first relative position or the second relative position of the target object and the unmanned aerial vehicle, the unmanned aerial vehicle is adjusted to a preset shooting position.
The first relative positional relationship is shown in equations (3) to (4), and the second relative positional relationship is shown in equations (5) to (6).
The device provided by the embodiment at least comprises the following beneficial effects:
(1) the inspection planning only needs to determine an inspection starting point according to the position information of the tower to be inspected, then the target is detected and the image of the target is collected in the descending process of the unmanned aerial vehicle, manual demonstration of the waypoint and manual marking of the waypoint are not needed, manpower and material resources for automatic inspection planning are effectively saved, the intelligent degree is high, and the production cost is effectively reduced;
(2) the cloud platform control signal is generated through calculation to adjust the cloud platform, so that the target object is located in the center of the camera picture, the image of the target object is collected at the moment, the obtained target object is more complete and clear, and the accuracy of subsequent image processing and target object defect identification is improved.
Referring to fig. 4, in some embodiments, a drone 301 is provided, where the drone 301 is loaded with a processor 305 and a storage module 306; the storage module 306 stores a plurality of instructions, and the processor 305 is configured to read the plurality of instructions and execute the method according to the above embodiment, for example: controlling the unmanned aerial vehicle to fly above the tower to be detected; adjusting the posture of the unmanned aerial vehicle to enable a target course angle of the unmanned aerial vehicle to face one side of the tower to be detected; determining the horizontal safety distance of the tower to be detected according to the position information of the unmanned aerial vehicle and the position information of the tower to be detected; controlling the unmanned aerial vehicle to move horizontally towards one side of the tower to be detected and fly for the horizontal safe distance, and then controlling the unmanned aerial vehicle to vertically descend at a preset speed; and in the vertical descending process, detecting a target object and acquiring a target object image.
In addition, the unmanned aerial vehicle is also provided with a pan/tilt head 303 and a camera 304, the camera 304 is arranged in cooperation with the pan/tilt head 303, and the processor 305 is connected with the pan/tilt head 303 and the camera 304.
In some embodiments, there is also provided a computer-readable storage medium storing a plurality of instructions readable by a processor and performing the method of the above embodiments; for example: controlling the unmanned aerial vehicle to fly above the tower to be detected; adjusting the posture of the unmanned aerial vehicle to enable a target course angle of the unmanned aerial vehicle to face one side of the tower to be detected; determining the horizontal safety distance of the tower to be detected according to the position information of the unmanned aerial vehicle and the position information of the tower to be detected; controlling the unmanned aerial vehicle to move horizontally towards one side of the tower to be detected and fly for the horizontal safe distance, and then controlling the unmanned aerial vehicle to vertically descend at a preset speed; and in the vertical descending process, detecting a target object and acquiring a target object image.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the invention. It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (10)
1. The utility model provides an unmanned aerial vehicle flight control method for electric power inspection, its characterized in that includes:
controlling the unmanned aerial vehicle to fly above the tower to be detected;
adjusting the posture of the unmanned aerial vehicle to enable a target course angle of the unmanned aerial vehicle to face one side of the tower to be detected;
determining the horizontal safety distance of the tower to be detected according to the position information of the unmanned aerial vehicle and the position information of the tower to be detected;
controlling the unmanned aerial vehicle to move horizontally towards one side of the tower to be detected and fly for the horizontal safe distance, and then controlling the unmanned aerial vehicle to vertically descend at a preset speed;
and in the vertical descending process, detecting a target object and acquiring a target object image.
2. The method of claim 1, wherein the target heading angle of the drone is calculated by the formula:
wherein the content of the first and second substances,
is the target course angle of the drone,
for the resolved heading angle of the drone,
is the deviation angle of the unmanned aerial vehicle and the target direction.
3. The method according to claim 1, characterized in that the horizontal safety distance of the tower to be inspected is calculated by the following formula:
wherein D is the horizontal safe distance of the tower to be detected, R is the radius of the earth,
and
respectively the longitude and latitude of the drone location,
and
respectively the longitude and the latitude of the position of the tower to be detected.
4. The method of claim 1, wherein detecting the target object and acquiring an image of the target object during the vertical descent comprises:
detecting whether a target object appears in a camera picture;
after a target object appears in a camera picture, performing frame selection on the target object to acquire two diagonal coordinates of a selection frame;
calculating the center coordinate of the selection frame according to the two diagonal coordinates;
and generating a pan-tilt control signal to control the pan-tilt to rotate according to the central coordinates of the selection frame, so that the target object is located at the center of the camera picture.
5. The method of claim 4, wherein after the object appears in the camera view, further comprising:
scanning a target object through a laser radar, and resolving a first relative position of the target object and the unmanned aerial vehicle; or calculating a second relative position of the target object and the unmanned aerial vehicle through the angle of the target object in the camera picture;
according to the first relative position or the second relative position of the target object and the unmanned aerial vehicle, the unmanned aerial vehicle is adjusted to a preset shooting position.
6. The method of claim 5, wherein the first relative position of the drone and the target obtained by scanning the target with the lidar are in relation to one another as follows:
wherein X, Y, Z is the coordinate of the target object in the coordinate system of the unmanned aerial vehicle,
is the distance between the target object and the lidar,
is the installation angle of the laser radar,
in order to set the installation height of the laser radar,
is a scanning angle;
the relationship of the second relative positions of the target object and the drone is as follows:
wherein the content of the first and second substances,
、
、
the pitch angle, the yaw angle and the roll angle of the tripod head are respectively;
is the angle of the target object relative to the drone,
is the angle of the object in the camera view.
7. The method of claim 4, wherein the center coordinates of the selection box are calculated by the following formula:
wherein the content of the first and second substances,
and
in order to select the two diagonal coordinates of the box,
is the center coordinate of the selection box.
8. The method of claim 4, wherein generating a pan-tilt control signal to control the pan-tilt rotation according to the center coordinates of the selection frame so that the target is located at the center of the camera frame comprises:
calculating a rotation angle required by the target object to be positioned in the camera picture center cradle head according to the center coordinates of the selection frame;
and generating the cradle head control signal according to the rotation angle required by the cradle head to control the rotation of the cradle head.
9. The method of claim 8, wherein the desired rotational angle of the pan/tilt head comprises a desired rotational angle in a horizontal direction and a desired rotational angle in a longitudinal direction; the required rotation angle in the horizontal direction and the required angle in the longitudinal direction are calculated by the following formula:
wherein the content of the first and second substances,
the required angle of rotation for the horizontal direction,
in order to rotate the required angle in the longitudinal direction,
w is the camera frame width, H is the camera frame height,
the actual focal length of the camera is taken as the width of the pixel;
the pixel width is calculated by the following formula:
length is the diagonal Length of the photosensitive element of the camera,
is the equivalent focal length of the camera.
10. The utility model provides an unmanned aerial vehicle flight control device for electric power is patrolled and examined, its characterized in that includes:
the initial control module is used for controlling the unmanned aerial vehicle to fly above the tower to be detected;
the adjusting module is used for adjusting the posture of the unmanned aerial vehicle to enable a target course angle of the unmanned aerial vehicle to face one side of the tower to be detected;
the distance determining module is used for determining the horizontal safety distance of the tower to be detected according to the position information of the unmanned aerial vehicle and the position information of the tower to be detected;
the inspection control module is used for controlling the unmanned aerial vehicle to horizontally move towards one side of the tower to be inspected and fly for the horizontal safe distance, and then controlling the unmanned aerial vehicle to vertically descend at a preset speed;
and the target detection module is used for detecting a target object and acquiring a target object image in the vertical descending process.
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