CN112904896B - Unmanned aerial vehicle autonomous driving route multiplexing method - Google Patents
Unmanned aerial vehicle autonomous driving route multiplexing method Download PDFInfo
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- CN112904896B CN112904896B CN202110082344.1A CN202110082344A CN112904896B CN 112904896 B CN112904896 B CN 112904896B CN 202110082344 A CN202110082344 A CN 202110082344A CN 112904896 B CN112904896 B CN 112904896B
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Abstract
The application discloses an unmanned aerial vehicle autonomous driving route multiplexing method, which comprises the following steps: establishing a coordinate system by taking the current flowing direction as the positive direction of a Y axis, taking the transverse direction of a tower ground wire from left to right as the positive direction of an X axis and taking the direction vertical to the X axis as a Z axis,
three points each represent a vector of a waypoint relative to an origin in the coordinate system. The operation efficiency of workers is greatly improved as the towers of different types are planned; the method comprises the following steps that (1) old planned autonomous patrol routes in the same type of towers are sleeved on the same type of towers needing patrol through a series of basic transformation such as translation, rotation and the like; through route multiplexing, the new waypoints formed through the steps described in the application can be used only by slightly adjusting the shooting angles and shooting distances of local points, the workload of waypoint planners can be greatly reduced, and all planned old routes can be utilized to the maximum extent, so that a large amount of manpower and material resources are saved, and the working efficiency is improved.
Description
Technical Field
The application relates to the technical field of operation and maintenance of power transmission lines, in particular to a multiplexing method of unmanned aerial vehicle autonomous driving routes, which is used for multiplexing the same type of old routes of power transmission towers in the planning process of the unmanned aerial vehicle autonomous driving routes.
Background
The transmission line iron tower is a tower-shaped building for power transmission. The structure features that the various tower types are space truss structure, the rods are mainly composed of single equal angle steel or combined angle steel, the materials are Q235 (A3F) and Q345 (16 Mn), the rods are connected by coarse bolts, the rods are connected by shearing force of the bolts, the whole tower is composed of angle steel, connecting steel plates and bolts, and individual parts such as tower legs are welded by several steel plates into an assembly, so the hot galvanizing corrosion prevention, transportation and construction are very convenient. For the iron tower with the breath height below 60m, a foot nail is arranged on one main material of the iron tower so as to facilitate the climbing operation of construction operators.
At present, the prior art adopts a manual mode to plan an autonomous driving route for each tower needing to be visited, and the autonomous driving route can only be used for the base tower after the planning is finished; the existing solution at present is that if autonomous driving patrol inspection needs to be performed on a section of line, an autonomous driving route needs to be planned for all the base towers at first, but the number of the towers in one line is often hundreds of bases in dozens of bases, and waypoint data needing to be edited for each tower is also dozens of, so that a great amount of human resources are consumed if route editing is performed on each base tower.
Through a large amount of technical staff that compare discovers, a circuit is several hundred base towers, but the shaft tower of different grade type often only is several, based on this kind of condition, this scheme has proposed the multiplexing technique of the old airline of transmission tower of the same type, compare with original technique, this scheme can with the operation that needs to plan hundreds of base towers reduce to only need plan several kinds of different grade type shaft towers can, greatly improved staff's operating efficiency.
Therefore, an unmanned aerial vehicle autonomous driving route multiplexing method is needed.
Disclosure of Invention
The embodiment of the application provides an unmanned aerial vehicle autonomous driving route multiplexing method, which comprises the following steps:
establishing a coordinate system by taking the current flowing direction as the positive direction of a Y axis, taking the transverse direction of a tower ground wire from left to right as the positive direction of an X axis and taking the direction vertical to the X axis as a Z axis,
three points respectively represent vectors of the navigation points relative to an original point in the coordinate system;
also comprises the following steps:
s1, clicking a target tower, selecting the tower, taking the direction of current flow as the positive direction of a Y axis, and when the current flow direction is seen, taking the transverse left to right of a tower ground wire as the positive direction of an X axis, and taking the direction vertical to the X axis as the positive direction of a Z axis to create a coordinate system K;
s2, clicking the position needing to be patrolled in the tower model, automatically calculating the position of the point relative to the origin of the coordinate system by the system, displaying the position in a graph, selecting all the position points needing to be patrolled in the tower by analogy, selecting and storing the position points as templates, and automatically storing the position points of each waypoint by the system
The six-point information is stored in a database;
s3, selecting a new tower, establishing a coordinate system L according to the step S1, translating the coordinate system L, enabling an X axis in the coordinate system L to coincide with an X axis in the K, recording translation and rotation tracks of the coordinate system L, and moving vector coordinates of all waypoints in the coordinate system K in the same translation and rotation tracks;
and S4, adjusting the shooting angle and shooting distance of the local waypoint, storing the new route and exporting the new route.
The embodiment of the application adopts the following technical scheme: in the old autonomous driving route, each route point is recorded with six information which are recorded as
The embodiment of the application adopts the following technical scheme: in that
In six information of (1), wherein { X 1 ,Y 1 ,Z 1 The altitude, latitude and longitude of the waypoint.
The embodiment of the application adopts the following technical scheme: the waypoints are the places and landmarks recorded in the GPS by the maintenance unmanned aerial vehicle.
The embodiment of the application adopts the following technical scheme: the unmanned aerial vehicle of the autonomous driving air route comprises a flight battery with the capacity of 5000mAh, the flight endurance time of the unmanned aerial vehicle powered by the flight battery is at least 40 minutes, and the maximum image transmission distance of the unmanned aerial vehicle is 9 kilometers.
The embodiment of the application adopts the following technical scheme: unmanned aerial vehicle sets up to the foldable unmanned aerial vehicle who has the high definition camera that zooms.
The embodiment of the application adopts the following technical scheme: the camera of unmanned aerial vehicle sets up the 8K high definition digtal camera that video resolution ratio is 7680 x 4320.
The embodiment of the application adopts the following technical scheme: the unmanned aerial vehicle supports 4K HDR videos, 16EV exposure control is achieved, long, medium and short exposures are fused in a single frame, and 10 hundred million different colors can be recorded when the unmanned aerial vehicle supports 10-bitA-log.
The embodiment of the application adopts the following technical scheme: the unmanned aerial vehicle supports multi-port HDMI high-definition real-time output of aerial pictures and simultaneously records JPEG and RAW format photos.
The embodiment of the application adopts the following technical scheme: the maximum flying height of the unmanned aerial vehicle is set to be 500m.
The embodiment of the application adopts at least one technical scheme which can achieve the following beneficial effects:
1. compared with the prior art, the method has the advantages that the operation of planning hundreds of base towers can be reduced to only planning a plurality of different types of towers by providing the technology for reusing the old route of the same type of transmission towers, so that the operation efficiency of workers is greatly improved; the method comprises the following steps that (1) old planned autonomous patrol routes in the same type of towers are sleeved on the same type of towers needing to be patrolled through a series of basic transformation such as translation, rotation and the like;
2. through route multiplexing, the new waypoints formed through the steps described in the application can be used only by slightly adjusting the shooting angles and the shooting distances of local points, the workload of waypoint planners can be greatly reduced, and all planned old routes can be utilized to the maximum extent, so that a large amount of manpower and material resources are saved, and the working efficiency is improved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
FIG. 1 is a flowchart of a method for creating a template in the unmanned aerial vehicle autonomous driving route multiplexing method according to the present application;
fig. 2 is a flowchart of a method for using a template in the unmanned aerial vehicle autonomous driving route multiplexing method of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the technical solutions of the present application will be described in detail and completely with reference to the following specific embodiments of the present application and the accompanying drawings. It should be apparent that the described embodiments are only some 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.
The technical solutions provided by the embodiments of the present application are described in detail below with reference to the accompanying drawings.
Example 1
An unmanned aerial vehicle autonomous driving route multiplexing method comprises the following steps:
establishing a coordinate system by taking the current flowing direction as the positive direction of a Y axis, taking the transverse direction of a tower ground wire from left to right as the positive direction of an X axis and taking the direction vertical to the X axis as a Z axis,
three points respectively represent the vector of the navigation point relative to the origin in the coordinate system;
also comprises the following steps:
s1, clicking a target tower, selecting the tower, taking the direction of current flow as the positive direction of a Y axis, and when the current flow direction is seen, taking the transverse left to right of a tower ground wire as the positive direction of an X axis, and taking the direction vertical to the X axis as the positive direction of a Z axis to create a coordinate system K;
s2, clicking the position needing to be patrolled in the tower model, automatically calculating the position of the point relative to the origin of the coordinate system by the system, displaying the position in a picture, selecting all the position points needing to be patrolled of the tower by analogy, selecting and storing the position points as templates, and automatically storing the position points as each navigation point by the system at the moment
The six-point information is stored in a database;
s3, selecting a new tower, establishing a coordinate system L according to the step S1, translating the coordinate system L, enabling an X axis in the coordinate system L to coincide with an X axis in the K, recording translation and rotation tracks of the coordinate system L, and moving vector coordinates of all waypoints in the coordinate system K in the same translation and rotation tracks;
and S4, adjusting the shooting angle and shooting distance of the local waypoint, storing the new route and exporting the new route.
In the old autonomous driving route, each route point is recorded with six information which are recorded as
In that
In six information of (1), wherein { X 1 ,Y 1 ,Z 1 The altitude, latitude and longitude of the waypoint.
The waypoints are locations and landmarks recorded in the GPS for maintaining the unmanned aerial vehicle.
The unmanned aerial vehicle of the autonomous driving air route comprises a flight battery with the capacity of 5000mAh, the flight endurance time of the unmanned aerial vehicle powered by the flight battery is at least 40 minutes, and the maximum image transmission distance of the unmanned aerial vehicle is 9 kilometers.
The unmanned aerial vehicle is a folding unmanned aerial vehicle with a high-definition zoom camera; the camera of the unmanned aerial vehicle is provided with an 8K high-definition camera with a video resolution of 7680 multiplied by 4320; the unmanned aerial vehicle supports 4KHDR video, 16EV exposure control is realized, long, medium and short exposures are fused in a single frame, and 10 hundred million different colors can be recorded when the unmanned aerial vehicle supports 10-bitA-log; the unmanned aerial vehicle supports multi-port HDMI high-definition real-time output of aerial pictures and supports simultaneous recording of JPEG and RAW format photos; the maximum flying height of the drone is set to 500m.
In summary, the following steps: according to the method, the technology for reusing the old route of the same type of transmission towers is provided, compared with the prior art, the method can reduce the operation of planning hundreds of base towers into the operation of planning several different types of towers, so that the operation efficiency of workers is greatly improved, and the old planned autonomous patrol route of the same type of towers is used on the same type of towers needing to be patrolled through a series of basic transformation sets such as translation, rotation and the like; through route multiplexing, the new waypoints formed through the steps described in the application can be used only by slightly adjusting the shooting angles and the shooting distances of local points, the workload of waypoint planners can be greatly reduced, all planned old routes can be utilized to the maximum extent, and therefore a large amount of manpower and material resources are saved, and the working efficiency is improved.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrases "comprising one of 8230; \8230;" 8230; "does not exclude the presence of additional like elements in a process, method, article, or apparatus that comprises that element.
The above description is only an example of the present application and is not intended to limit the present application. Various modifications and changes may occur to those skilled in the art to which the present application pertains. Any modification, equivalent replacement, improvement or the like made within the spirit and principle of the present application shall be included in the scope of the claims of the present application.
Claims (10)
1. An unmanned aerial vehicle autonomous driving route multiplexing method is characterized by comprising the following steps:
establishing a coordinate system by taking the current flowing direction as the positive direction of a Y axis, taking the transverse direction of a tower ground wire from left to right as the positive direction of an X axis and taking the direction vertical to the X axis as a Z axis,
three points respectively represent the vector of the navigation point relative to the origin in the coordinate system;
also comprises the following steps:
s1, clicking a target tower, selecting the tower, taking the direction of current flow as the positive direction of a Y axis, and when the current flow direction is seen, taking the transverse left to right of a tower ground wire as the positive direction of an X axis, and taking the direction vertical to the X axis as the positive direction of a Z axis to create a coordinate system K;
s2, clicking the position needing to be patrolled in the tower model, automatically calculating the position of the point relative to the origin of the coordinate system by the system, displaying the position in a picture, selecting all the position points needing to be patrolled of the tower by analogy, selecting and storing the position points as templates, and automatically storing the position points as each navigation point by the system at the moment
The six-point information is stored in a database;
s3, selecting a new tower, establishing a coordinate system L according to the step S1, translating the coordinate system L, enabling an X axis in the coordinate system L to coincide with an X axis in the K, recording translation and rotation tracks of the coordinate system L, and moving vector coordinates of all waypoints in the coordinate system K in the same translation and rotation tracks;
and S4, adjusting the shooting angle and shooting distance of the local waypoint, storing the new route and exporting the new route.
2. The unmanned aerial vehicle autonomous driving route multiplexing method of claim 1, wherein in an old autonomous driving route, six pieces of information are recorded in each waypoint and recorded as
3. The unmanned aerial vehicle autonomous driving route multiplexing method of claim 2, wherein the method is characterized in that
In six information of (1), wherein { X 1 ,Y 1 ,Z 1 The altitude, latitude and longitude of the waypoint.
4. The unmanned aerial vehicle autonomous driving route multiplexing method of claim 3, wherein the waypoints are locations and landmarks recorded in the GPS by the maintenance unmanned aerial vehicle.
5. The unmanned aerial vehicle autonomous driving route reusing method as claimed in claim 1, wherein the unmanned aerial vehicle of the autonomous driving route includes a flight battery with a capacity of 5000mAh, a flight duration of the unmanned aerial vehicle powered by the flight battery is at least 40 minutes, and a maximum distance of image transmission of the unmanned aerial vehicle is 9 km.
6. The unmanned aerial vehicle autonomous driving route multiplexing method of claim 5, wherein the unmanned aerial vehicle is a folding unmanned aerial vehicle with a high-definition zoom camera.
7. The unmanned aerial vehicle autonomous driving route multiplexing method of claim 6, wherein the camera of the unmanned aerial vehicle is provided with an 8K high-definition camera with a video resolution of 7680 x 4320.
8. The unmanned aerial vehicle autonomous driving route multiplexing method of claim 7, wherein the unmanned aerial vehicle supports 4K HDR video, 16EV exposure control, and fuses three kinds of exposure of long, medium and short in a single frame, and the unmanned aerial vehicle supports 10-bitA-log and can record 10 hundred million different colors.
9. The unmanned aerial vehicle autonomous driving route multiplexing method of claim 1, wherein the unmanned aerial vehicle supports multi-port HDMI high-definition real-time output of aerial pictures and simultaneous recording of JPEG and RAW format photos.
10. The unmanned aerial vehicle autonomous driving flight path multiplexing method of claim 1, wherein the maximum flying height of the unmanned aerial vehicle is set to 500m.
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